adhoc

completed
2026-09-18T17:55:17.832433+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1800
duration
795.3 s
total steps
518
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

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start with the left arm: fly above the left white container to check alignment in the wrist camera.
agent noteTwo white bottles sit mid-table with a blue and a red cup behind them; the left bottle appears ~24 cm to the right of the left arm and ~40 cm forward. Moving the left arm above it, gripper open, to check alignment.
move_to
left_x0.4000left_y-0.2400left_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]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6102, -0.3775, -0.0128, -0.0227, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1826 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6632, -1.4564, 9.4974, 1.7607, -0.0464, 0.1685, -0.0513, -1.0462, -1.2786, 9.9214, 1.7802, -0.105, 0.0415, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start with the left arm: fly above the left white container to check alignment in the wrist camera.
move_to({"targets": {"left_x": 0.4, "left_y": -0.24, "left_z": 0.22, "left_gripper": 1.0}, "note": "Two white bottles sit mid-table with a blue and a red cup behind them; the left bottle appears ~24 cm to the right of the left arm and ~40 cm forward. Moving the left arm above it, gripper open, to check alignment."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteLeft wrist cam shows the left bottle just left of the jaw column and slightly forward; shifting the gripper ~3 cm left and ~2.5 cm forward to center over it.
move_to
left_x0.4200left_y-0.2100left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7731, 1.6558, 1.33, -0.4519, -0.6296, -0.5285, 0.9996, -0.0147, 0.7979, 0.6086, -0.3843, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.394 left_y=-0.2341 left_z=0.2043 left_yaw=0.0083 left_pitch=-0.0388 left_roll=0.0135 left_gripper=0.9996 right_x=0.295 right_y=0.0014 right_z=0.1801 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4991, -7.9248, 9.5658, 1.6484, -0.3834, 0.1587, -0.0562, -0.4444, -1.3333, 7.3778, 1.8144, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.21, "left_z": 0.22}, "note": "Left wrist cam shows the left bottle just left of the jaw column and slightly forward; shifting the gripper ~3 cm left and ~2.5 cm forward to center over it."})
tool
executing move_to over 3 steps (0.3s)
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 noteBottle now nearly on the jaw column, slightly left; nudging 1.5 cm left and descending to z=0.12 so the jaws straddle the bottle body.
move_to
left_x0.4200left_y-0.1900left_z0.1200
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]: [-0.6868, 1.6558, 1.338, -0.4782, -0.5755, -0.4858, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4086 left_y=-0.2061 left_z=0.1997 left_yaw=0.0324 left_pitch=-0.0791 left_roll=0.0326 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.5675, -7.8427, 10.7145, 1.7949, -0.0659, 0.3492, -0.0122, -0.3897, -1.1692, 7.0496, 1.7167, -0.0317, -0.0269, -0.0122] 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": 0.42, "left_y": -0.19, "left_z": 0.12}, "note": "Bottle now nearly on the jaw column, slightly left; nudging 1.5 cm left and descending to z=0.12 so the jaws straddle the bottle body."})
tool
executing move_to over 6 steps (0.6s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe descent stalled at z=0.20 — the jaws seem to be resting on the bottle's shoulder. Backing toward the base to approach the bottle body from the side instead.
move_to
left_x0.3300left_y-0.1900left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.667, 1.6558, 1.3521, -0.4824, -0.5674, -0.4793, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4137 left_y=-0.2004 left_z=0.2042 left_yaw=0.0423 left_pitch=-0.0755 left_roll=0.027 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0008 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3897, -7.8974, 9.9897, 1.6728, -0.1392, 0.2857, -0.0122, -0.3487, -1.265, 7.0359, 1.7021, -0.0513, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.19, "left_z": 0.22}, "note": "The descent stalled at z=0.20 \u2014 the jaws seem to be resting on the bottle's shoulder. Backing toward the base to approach the bottle body from the side instead."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe bottle is now ahead of the fingertips on the jaw column. Descending to mid-bottle height (z=0.10) before sliding forward to straddle it.
move_to
left_x0.3300left_y-0.1900left_z0.1000
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]: [-0.8265, 1.4612, 1.1923, -0.6125, -0.6247, -0.5751, 0.9996, -0.0143, 0.8024, 0.6083, -0.3893, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.3354 left_y=-0.2064 left_z=0.2027 left_yaw=-0.0181 left_pitch=-0.1132 left_roll=0.0477 left_gripper=0.9996 right_x=0.2946 right_y=0.0016 right_z=0.1777 right_yaw=0.0016 right_pitch=-0.0191 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [3.0154, -6.9538, 7.0632, 1.9658, -0.7448, -0.0562, -0.0171, -0.1573, -1.0735, 7.1179, 1.7558, -0.0464, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.19, "left_z": 0.1}, "note": "The bottle is now ahead of the fingertips on the jaw column. Descending to mid-bottle height (z=0.10) before sliding forward to straddle it."})
tool
executing move_to over 7 steps (0.7s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteBottle body sits centered ahead of the open jaws at mid height. Sliding forward ~9 cm so the jaws straddle the bottle body; also re-leveling the tool pitch.
move_to
left_x0.4200left_y-0.1800left_z0.1000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8062, 1.4834, 0.8268, -0.2485, -0.6052, -0.564, 0.9996, -0.0147, 0.8032, 0.6075, -0.392, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.3248 left_y=-0.1883 left_z=0.1038 left_yaw=-0.0152 left_pitch=-0.1409 left_roll=0.0628 left_gripper=0.9996 right_x=0.2942 right_y=0.0015 right_z=0.1766 right_yaw=0.0012 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.3897, -5.3128, 6.1607, 1.3797, -0.2906, 0.0904, -0.0122, -0.253, -1.347, 7.0769, 1.7363, -0.0806, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.18, "left_z": 0.1, "left_pitch": 0.0}, "note": "Bottle body sits centered ahead of the open jaws at mid height. Sliding forward ~9 cm so the jaws straddle the bottle body; also re-leveling the tool pitch."})
tool
executing move_to over 8 steps (0.8s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bottle body is right at the jaw tips; advancing another ~3 cm so it sits deep between the jaws before closing.
move_to
left_x0.4300left_y-0.1700left_z0.0900left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6136, 1.7061, 0.8738, 0.0692, -0.5491, -0.3752, 0.9996, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4022 left_y=-0.1661 left_z=0.0803 left_yaw=0.0252 left_pitch=-0.0693 left_roll=0.0866 left_gripper=0.9996 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1846, -7.665, 9.265, 1.6142, -0.1197, 0.2076, -0.0171, -0.2667, -1.4701, 7.0222, 1.7607, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.17, "left_z": 0.09, "left_pitch": 0.0}, "note": "The bottle body is right at the jaw tips; advancing another ~3 cm so it sits deep between the jaws before closing."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe bottle body fills the wrist view between the jaw wedges. Closing the left gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5919, 1.7573, 0.8852, 0.1295, -0.5499, -0.3473, 0.9996, -0.0147, 0.8051, 0.6075, -0.3931, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4146 left_y=-0.1632 left_z=0.0734 left_yaw=0.0319 left_pitch=-0.0539 left_roll=0.0975 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.2256, -8.1436, 9.4564, 1.7949, -0.2759, 0.2564, -0.0171, -0.3077, -1.265, 7.2274, 1.707, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle body fills the wrist view between the jaw wedges. Closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteEmpty close (reading 0.012): the bottle is still just beyond the fingertips. Opening and advancing another ~4 cm before retrying.
move_to
left_x0.4700left_y-0.1650left_z0.0900left_gripper1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5838, 1.7775, 0.8925, 0.1448, -0.5533, -0.3351, 0.0123, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4191 left_y=-0.1613 left_z=0.0703 left_yaw=0.036 left_pitch=-0.0514 left_roll=0.108 left_gripper=0.0123 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4855, -8.9504, 8.9094, 1.6874, -0.2125, 0.1392, 1.0623, -0.294, -1.3197, 7.2957, 1.7167, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.165, "left_z": 0.09, "left_gripper": 1.0, "left_pitch": 0.0}, "note": "Empty close (reading 0.012): the bottle is still just beyond the fingertips. Opening and advancing another ~4 cm before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteBottle body now sits deep between the open jaws in the wrist view. Closing the gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.522, 1.8755, 1.0328, 0.1268, -0.5453, -0.3027, 0.9954, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4583 left_y=-0.1538 left_z=0.0759 left_yaw=0.0738 left_pitch=-0.0365 left_roll=0.1163 left_gripper=0.9954 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.7726, 9.1556, 1.8291, -0.0904, 0.3297, -0.1929, -0.2393, -1.1692, 7.0496, 1.707, -0.0122, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bottle body now sits deep between the open jaws in the wrist view. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteEmpty again: the top view shows I pushed the left bottle forward ~10 cm toward the cups instead of straddling it. Opening and rising above it to re-locate the bottle top from the wrist camera and grasp from above.
move_to
left_x0.4600left_y-0.1600left_z0.2600left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5213, 1.8778, 1.0336, 0.12, -0.5457, -0.3134, 0.0126, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4577 left_y=-0.153 left_z=0.0741 left_yaw=0.0807 left_pitch=-0.0426 left_roll=0.1124 left_gripper=0.0126 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1709, -9.6205, 5.9419, 1.5946, -0.2222, 0.0708, 0.9695, -0.3761, -1.2923, 7.2274, 1.7265, -0.0366, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.16, "left_z": 0.26, "left_gripper": 1.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Empty again: the top view shows I pushed the left bottle forward ~10 cm toward the cups instead of straddling it. Opening and rising above it to re-locate the bottle top from the wrist camera and grasp from above."})
tool
executing move_to over 12 steps (1.2s)
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 noteFrom above I see the jug's neck ahead of the fingertips, near the reach limit. Pitching the tool forward and moving out to hover over the neck so I can grasp it there for pouring.
move_to
left_x0.5000left_y-0.1700left_z0.2400left_pitch0.5000left_yaw0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5201, 1.7245, 1.4776, -0.4652, -0.5148, -0.3965, 0.9955, -0.0147, 0.8051, 0.6075, -0.3927, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.4634 left_y=-0.1611 left_z=0.2251 left_yaw=0.1019 left_pitch=-0.0409 left_roll=0.0203 left_gripper=0.9955 right_x=0.2942 right_y=0.0015 right_z=0.1759 right_yaw=0.0012 right_pitch=-0.0259 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1162, -12.0684, 9.4017, 1.5507, -0.1148, 0.2076, -0.1978, -0.212, -1.1009, 7.0496, 1.7118, -0.0562, -0.0464, -0.0122] 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": 0.5, "left_y": -0.17, "left_z": 0.24, "left_pitch": 0.5, "left_yaw": 0.0, "left_roll": 0.0}, "note": "From above I see the jug's neck ahead of the fingertips, near the reach limit. Pitching the tool forward and moving out to hover over the neck so I can grasp it there for pouring."})
tool
executing move_to over 19 steps (1.9s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe jug's neck opening is right on the jaw column just ahead of the fingertips. Descending ~6 cm so the open jaws straddle the neck below the rim.
move_to
left_x0.5100left_y-0.1650left_z0.1650left_pitch0.5000
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]: [-0.4957, 1.7557, 1.0607, 0.5461, -0.5224, -0.0933, 0.9968, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4976 left_y=-0.1648 left_z=0.2278 left_yaw=0.0239 left_pitch=0.4352 left_roll=0.0042 left_gripper=0.9968 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1299, -8.4718, 6.4479, 2.0195, 0.1392, 0.1636, 0.1148, -0.2256, -1.3333, 7.0222, 1.7411, -0.0415, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.165, "left_z": 0.165, "left_pitch": 0.5}, "note": "The jug's neck opening is right on the jaw column just ahead of the fingertips. Descending ~6 cm so the open jaws straddle the neck below the rim."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe wrist camera is now filled by the jug's white body, consistent with the jaws straddling the neck. Closing the gripper on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4873, 1.9625, 0.9668, 0.8215, -0.519, -0.0734, 0.9968, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5064 left_y=-0.1651 left_z=0.1446 left_yaw=0.012 left_pitch=0.4127 left_roll=0.0387 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1162, -10.7692, 6.0513, 2.4249, 0.0122, 0.1685, -0.0024, -0.1436, -1.3197, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist camera is now filled by the jug's white body, consistent with the jaws straddling the neck. Closing the gripper on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteGripper settled at 0.25 (~2.4 cm), so something is held — possibly the neck rim or the handle. Lifting 6 cm to verify the jug comes with the jaws.
move_to
left_z0.2200left_pitch0.5000
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]: [-0.4828, 1.9766, 0.9657, 0.9287, -0.5194, -0.0597, 0.2491, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5102 left_y=-0.1643 left_z=0.1608 left_yaw=0.0304 left_pitch=0.4929 left_roll=0.0044 left_gripper=0.2491 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2667, -10.5778, 5.6684, 1.7949, 0.0171, -0.0317, 1.033, -0.3624, -1.265, 7.1179, 1.7411, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_pitch": 0.5}, "note": "Gripper settled at 0.25 (~2.4 cm), so something is held \u2014 possibly the neck rim or the handle. Lifting 6 cm to verify the jug comes with the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteLift fell short (z 0.18) and the top view is ambiguous about whether the jug is rising. Pulling back and up to a more reachable pose to see if the jug comes along.
move_to
left_x0.4700left_z0.2600left_pitch0.4000
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]: [-0.4828, 1.8938, 1.0042, 0.7506, -0.5278, -0.0673, 0.2524, -0.0147, 0.8051, 0.6075, -0.3923, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.5084 left_y=-0.162 left_z=0.1792 left_yaw=0.0288 left_pitch=0.4439 left_roll=0.028 left_gripper=0.2524 right_x=0.2943 right_y=0.0015 right_z=0.176 right_yaw=0.0012 right_pitch=-0.0256 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.294, -13.053, 9.2376, 2.0342, 0.0366, 0.0708, 1.033, -0.253, -1.1282, 7.0496, 1.7607, -0.0659, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_z": 0.26, "left_pitch": 0.4}, "note": "Lift fell short (z 0.18) and the top view is ambiguous about whether the jug is rising. Pulling back and up to a more reachable pose to see if the jug comes along."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe jug is confirmed in hand (the wrist view of it is unchanged after moving). Carrying it up and to the right, over the blue cup, to approach the red cup which sits right of the table centre.
move_to
left_x0.5000left_y-0.3000left_z0.3000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.527, 1.6592, 1.0313, 0.4004, -0.5694, -0.1074, 0.2524, -0.0147, 0.8062, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4735 left_y=-0.1612 left_z=0.2305 left_yaw=0.0266 left_pitch=0.3725 left_roll=0.041 left_gripper=0.2524 right_x=0.2943 right_y=0.0014 right_z=0.1756 right_yaw=0.0009 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5128, -10.5504, 10.2769, 1.8877, 0.0122, 0.0269, 1.0232, -0.3624, -1.388, 7.0222, 1.7216, -0.0659, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.3, "left_z": 0.3, "left_pitch": 0.3}, "note": "The jug is confirmed in hand (the wrist view of it is unchanged after moving). Carrying it up and to the right, over the blue cup, to approach the red cup which sits right of the table centre."})
tool
executing move_to over 13 steps (1.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe red cup appears at the bottom-right of the left wrist view, i.e. just right of and slightly behind the fingertips. Moving the held jug ~4 cm right and down so its spout will be just left of and above the cup before tilting.
move_to
left_x0.4900left_y-0.3300left_z0.2500left_pitch0.3000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.749, 2.0125, 1.805, -0.1833, -0.7795, -0.2615, 0.2525, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5016 left_y=-0.2919 left_z=0.2845 left_yaw=0.0408 left_pitch=0.2892 left_roll=0.0422 left_gripper=0.2525 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.7316, -11.7265, 9.4427, 1.6923, -0.105, 0.149, 0.8669, -0.253, -1.4427, 7.0632, 1.7411, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.33, "left_z": 0.25, "left_pitch": 0.3, "left_roll": 0.0}, "note": "The red cup appears at the bottom-right of the left wrist view, i.e. just right of and slightly behind the fingertips. Moving the held jug ~4 cm right and down so its spout will be just left of and above the cup before tilting."})
tool
executing move_to over 4 steps (0.4s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe red cup is just right of and slightly behind the fingertips; the jug spout is a few cm ahead of the grasp point. Shifting back and right so the spout is over the cup, and starting to roll the jug toward the cup (rightward).
move_to
left_x0.4400left_y-0.3400left_z0.2500left_pitch0.3000left_roll-0.7000
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]: [-0.8078, 2.0731, 1.7695, -0.1383, -0.812, -0.3103, 0.2547, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4907 left_y=-0.3225 left_z=0.2456 left_yaw=0.0257 left_pitch=0.2649 left_roll=0.0414 left_gripper=0.2547 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4171, -12.0821, 6.735, 2.1221, -0.3053, -0.0269, 0.569, -0.253, -1.2239, 7.0359, 1.7363, -0.0171, -0.0366, -0.0171] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.34, "left_z": 0.25, "left_pitch": 0.3, "left_roll": -0.7}, "note": "The red cup is just right of and slightly behind the fingertips; the jug spout is a few cm ahead of the grasp point. Shifting back and right so the spout is over the cup, and starting to roll the jug toward the cup (rightward)."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe arm did not track the combined move-and-roll (pose barely changed). Splitting it: first reposition the grasp point back and right without rolling.
move_to
left_x0.4500left_y-0.3400left_z0.2400left_pitch0.3000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8082, 2.0815, 1.7145, -0.1143, -0.7822, -0.3599, 0.2552, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4882 left_y=-0.3255 left_z=0.2202 left_yaw=0.0209 left_pitch=0.2296 left_roll=0.0136 left_gripper=0.2552 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.335, -15.4872, 7.1179, 1.873, -0.1734, 0.0024, 0.3248, -0.2803, -1.306, 7.2, 1.7167, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.34, "left_z": 0.24, "left_pitch": 0.3, "left_roll": 0.0}, "note": "The arm did not track the combined move-and-roll (pose barely changed). Splitting it: first reposition the grasp point back and right without rolling."})
tool
executing move_to over 3 steps (0.3s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteArm is lagging the target (still at x 0.47, y −0.32); re-issuing the same pouring-position target to let it converge.
move_to
left_x0.4500left_y-0.3400left_z0.2400left_pitch0.3000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.823, 2.0174, 1.5776, -0.0231, -0.7654, -0.411, 0.2573, -0.0147, 0.8104, 0.6075, -0.3916, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4719 left_y=-0.3236 left_z=0.2121 left_yaw=0.0236 left_pitch=0.2359 left_roll=-0.0553 left_gripper=0.2573 right_x=0.2947 right_y=0.0014 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-2.6188, -14.7214, 9.0188, 2.6593, -0.1148, -0.0562, 0.7595, -0.2667, -1.3333, 7.2137, 1.7949, -0.0464, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.34, "left_z": 0.24, "left_pitch": 0.3, "left_roll": 0.0}, "note": "Arm is lagging the target (still at x 0.47, y \u22120.32); re-issuing the same pouring-position target to let it converge."})
tool
executing move_to over 3 steps (0.3s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteGrasp point is now ~4–5 cm left of and above the red cup, with the jug spout ahead of the jaws. Rolling the wrist rightward (−0.8 rad) to start tipping the jug toward the cup.
move_to
left_x0.4500left_y-0.3400left_z0.2400left_pitch0.3000left_roll-0.8000
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]: [-0.873, 2.0037, 1.5681, -0.0185, -0.8326, -0.4183, 0.2593, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4551 left_y=-0.3338 left_z=0.2199 left_yaw=0.0348 left_pitch=0.2641 left_roll=-0.0498 left_gripper=0.2593 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-1.5932, -11.0427, 10.6188, 1.7607, -0.2955, 0.3053, 0.4225, -0.1436, -1.2923, 7.0906, 1.7656, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.34, "left_z": 0.24, "left_pitch": 0.3, "left_roll": -0.8}, "note": "Grasp point is now ~4\u20135 cm left of and above the red cup, with the jug spout ahead of the jaws. Rolling the wrist rightward (\u22120.8 rad) to start tipping the jug toward the cup."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe roll command was not tracked (roll still ≈0). Trying a smaller roll step of −0.4 rad alone to see whether the wrist will rotate at all in this pose.
move_to
left_roll-0.4000
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]: [-0.8955, 2.0037, 1.5768, -0.041, -0.8764, -0.3847, 0.2611, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.4477 left_y=-0.3361 left_z=0.2224 left_yaw=0.0267 left_pitch=0.2714 left_roll=0.0071 left_gripper=0.2611 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -11.453, 9.9077, 1.6484, -0.2613, 0.2027, 0.1783, -0.1573, -1.1419, 7.1043, 1.7363, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_roll": -0.4}, "note": "The roll command was not tracked (roll still \u22480). Trying a smaller roll step of \u22120.4 rad alone to see whether the wrist will rotate at all in this pose."})
tool
executing move_to over 6 steps (0.6s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteRoll now tracks (−0.29) and the jug body sits ahead of the jaws with the red cup hidden behind it, forward-right. Continuing the roll to −1.0 rad to tip the spout toward the red cup.
move_to
left_roll-1.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8474, 1.9369, 1.38, 0.1543, -0.6682, -0.5777, 0.2639, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4464 left_y=-0.3348 left_z=0.1983 left_yaw=0.0184 left_pitch=0.23 left_roll=-0.2915 left_gripper=0.2639 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.8821, -13.559, 6.6393, 2.0635, -0.1197, -0.0073, 0.2759, -0.1299, -1.265, 7.2, 1.7167, -0.0415, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_roll": -1.0, "left_z": 0.22}, "note": "Roll now tracks (\u22120.29) and the jug body sits ahead of the jaws with the red cup hidden behind it, forward-right. Continuing the roll to \u22121.0 rad to tip the spout toward the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
assistant
agent noteRoll stalled at −0.34; the IK seems stuck with the tool pitched forward. Leveling pitch to 0 and asking for a moderate roll of −0.6 to find a configuration the wrist can follow.
move_to
left_roll-0.6000left_pitch0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8352, 1.9354, 1.3617, 0.1825, -0.6277, -0.6071, 0.2658, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.3355 left_z=0.195 left_yaw=0.013 left_pitch=0.2209 left_roll=-0.3391 left_gripper=0.2658 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3214, -13.6547, 6.9675, 2.1172, -0.1783, -0.0171, 0.1929, -0.2393, -1.2103, 7.2274, 1.7363, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_roll": -0.6, "left_pitch": 0.0, "left_z": 0.22}, "note": "Roll stalled at \u22120.34; the IK seems stuck with the tool pitched forward. Leveling pitch to 0 and asking for a moderate roll of \u22120.6 to find a configuration the wrist can follow."})
tool
executing move_to over 8 steps (0.8s)
step 209
assistant
agent noteRoll is now following (−0.52) and the jug is visibly tipping rightward in the top view. Continuing the roll to −1.1 rad to pour.
move_to
left_roll-1.1000left_pitch0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7738, 1.9129, 1.4719, -0.112, -0.4313, -0.8761, 0.268, -0.0143, 0.8158, 0.6067, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.449 left_y=-0.3305 left_z=0.1895 left_yaw=0.025 left_pitch=-0.0132 left_roll=-0.5226 left_gripper=0.268 right_x=0.2948 right_y=0.0015 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0374 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.2256, -13.1897, 10.4821, 1.8974, -0.0269, -0.0464, 0.2173, -0.0479, -1.2103, 7.1863, 1.7509, -0.0366, -0.0806, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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_roll": -1.1, "left_pitch": 0.0, "left_z": 0.22}, "note": "Roll is now following (\u22120.52) and the jug is visibly tipping rightward in the top view. Continuing the roll to \u22121.1 rad to pour."})
tool
executing move_to over 8 steps (0.8s)
step 217
assistant
agent noteWith the jug tipped (roll −0.95) the red cup now peeks out above/behind the jug rim in the wrist view, so the spout is still short of the cup. Advancing the grasp point ~5 cm forward.
move_to
left_x0.5000left_z0.2200left_roll-1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.712, 1.8641, 1.2362, 0.2337, -0.2428, -1.1854, 0.2692, -0.0147, 0.8158, 0.6067, -0.3923, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.4488 left_y=-0.3265 left_z=0.1768 left_yaw=0.0351 left_pitch=-0.0701 left_roll=-0.9521 left_gripper=0.2692 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0012 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.253, -13.4906, 7.0906, 2.2344, -0.0073, -0.0415, 0.1197, -0.3214, -1.2376, 7.0496, 1.7363, -0.0708, -0.0562, -0.0171] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_z": 0.22, "left_roll": -1.0, "left_pitch": 0.0}, "note": "With the jug tipped (roll \u22120.95) the red cup now peeks out above/behind the jug rim in the wrist view, so the spout is still short of the cup. Advancing the grasp point ~5 cm forward."})
tool
executing move_to over 4 steps (0.4s)
step 221
assistant
agent noteTop view shows the tipped jug spout a few cm short of (behind) the red cup, roughly laterally aligned. Advancing ~5 cm more so the spout hangs over the cup rim.
move_to
left_x0.5400left_y-0.3300left_z0.2000left_roll-1.0000left_pitch0.1000
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]: [-0.6357, 1.9522, 1.3949, 0.1745, -0.2081, -1.1843, 0.2695, -0.0143, 0.8185, 0.6067, -0.3931, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4933 left_y=-0.3142 left_z=0.1878 left_yaw=0.0776 left_pitch=-0.0698 left_roll=-0.9686 left_gripper=0.2695 right_x=0.2949 right_y=0.0015 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-1.0188, -11.3162, 10.441, 2.2491, 0.2711, 0.232, 0.022, -0.1436, -1.5521, 7.0769, 1.6825, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.54, "left_y": -0.33, "left_z": 0.2, "left_roll": -1.0, "left_pitch": 0.1}, "note": "Top view shows the tipped jug spout a few cm short of (behind) the red cup, roughly laterally aligned. Advancing ~5 cm more so the spout hangs over the cup rim."})
tool
executing move_to over 6 steps (0.6s)
step 227
assistant
agent noteThe arm is at its forward reach limit (x stuck at 0.50). Pitching the tool forward to extend the spout further toward the red cup while keeping the tip rolled.
move_to
left_x0.5200left_y-0.3300left_z0.2000left_roll-1.0000left_pitch0.4000
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]: [-0.6327, 1.9583, 1.4193, 0.1493, -0.2016, -1.1751, 0.2704, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4956 left_y=-0.3151 left_z=0.19 left_yaw=0.072 left_pitch=-0.0726 left_roll=-0.9584 left_gripper=0.2704 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4581, -11.3983, 10.0718, 2.2686, 0.1294, 0.1685, 0.0806, -0.0342, -1.3333, 7.0222, 1.746, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.33, "left_z": 0.2, "left_roll": -1.0, "left_pitch": 0.4}, "note": "The arm is at its forward reach limit (x stuck at 0.50). Pitching the tool forward to extend the spout further toward the red cup while keeping the tip rolled."})
tool
executing move_to over 16 steps (1.6s)
step 243
assistant
agent noteThe red cup is now large and right beside the jug in the wrist view, and the top view shows the spout over the cup. Rolling further to −1.45 rad to pour into it.
move_to
left_x0.5200left_y-0.3300left_z0.1900left_roll-1.4500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6399, 2.1536, 1.2934, 0.8032, -0.2886, -0.9367, 0.2708, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5214 left_y=-0.321 left_z=0.1725 left_yaw=0.098 left_pitch=0.2946 left_roll=-0.9544 left_gripper=0.2708 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0009 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4444, -11.2889, 7.159, 2.4249, 0.3932, 0.1734, 0.0366, -0.1983, -1.3744, 7.0359, 1.663, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.33, "left_z": 0.19, "left_roll": -1.45, "left_pitch": 0.3}, "note": "The red cup is now large and right beside the jug in the wrist view, and the top view shows the spout over the cup. Rolling further to \u22121.45 rad to pour into it."})
tool
executing move_to over 7 steps (0.7s)
step 250
assistant
agent noteThe jug is tipped nearly horizontal with its spout over the red cup — pour done. Rolling the jug back upright and lifting it clear before setting it down.
move_to
left_x0.4800left_y-0.3000left_z0.2400left_roll0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6098, 2.2547, 1.2663, 1.0512, -0.1894, -1.2415, 0.271, -0.0143, 0.8192, 0.6067, -0.3923, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.5253 left_y=-0.322 left_z=0.1606 left_yaw=0.1233 left_pitch=0.2367 left_roll=-1.3149 left_gripper=0.271 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3487, -11.7538, 6.8034, 2.6398, 0.4274, -0.0659, 0.0024, -0.0615, -1.388, 7.0496, 1.7314, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.3, "left_z": 0.24, "left_roll": 0.0, "left_pitch": 0.0}, "note": "The jug is tipped nearly horizontal with its spout over the red cup \u2014 pour done. Rolling the jug back upright and lifting it clear before setting it down."})
tool
executing move_to over 17 steps (1.7s)
step 267
assistant
agent noteJug is upright again. Carrying it back left toward its original area, away from the cups and the right container, to set it down.
move_to
left_x0.3600left_y-0.1600left_z0.2400left_roll0.0000left_pitch0.3000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7635, 2.1284, 2.059, -0.6506, -0.6853, -0.683, 0.2723, -0.0143, 0.8215, 0.6067, -0.3931, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4871 left_y=-0.3065 left_z=0.2426 left_yaw=0.141 left_pitch=0.0237 left_roll=-0.1343 left_gripper=0.2723 right_x=0.295 right_y=0.0015 right_z=0.171 right_yaw=0.0012 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.8137, -11.3573, 8.6359, 1.3309, -0.4371, 0.3639, 0.1343, -0.1299, -1.2786, 7.3504, 1.707, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.16, "left_z": 0.24, "left_roll": 0.0, "left_pitch": 0.3, "left_yaw": 0.0}, "note": "Jug is upright again. Carrying it back left toward its original area, away from the cups and the right container, to set it down."})
tool
executing move_to over 14 steps (1.4s)
step 281
assistant
agent noteJug is over a clear spot left of the cups. Lowering it to the height it was grasped at (z≈0.16) so its base rests on the table before releasing.
move_to
left_x0.3600left_y-0.1600left_z0.1600left_pitch0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7231, 1.2881, 0.8211, 0.038, -0.6926, -0.2939, 0.2737, -0.0143, 0.8253, 0.6067, -0.3927, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.3617 left_y=-0.164 left_z=0.2233 left_yaw=0.0046 left_pitch=0.2383 left_roll=0.0112 left_gripper=0.2737 right_x=0.2953 right_y=0.0015 right_z=0.17 right_yaw=0.001 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.4855, -5.3538, 7.7744, 2.0781, -0.1929, 0.1783, 0.1343, -0.0752, -1.2103, 7.0222, 1.7363, -0.0659, -0.0269, -0.0171] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.16, "left_z": 0.16, "left_pitch": 0.3}, "note": "Jug is over a clear spot left of the cups. Lowering it to the height it was grasped at (z\u22480.16) so its base rests on the table before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 286
assistant
agent noteThe jug's base appears to be on the table (descent settled, shoulder load dropped). Opening the left gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7242, 1.3823, 0.5823, 0.3733, -0.7036, -0.2607, 0.2742, -0.0147, 0.8253, 0.6067, -0.3931, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3559 left_y=-0.1574 left_z=0.1528 left_yaw=-0.0052 left_pitch=0.2424 left_roll=0.0456 left_gripper=0.2742 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0009 right_pitch=-0.0473 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0615, -4.3282, 5.8188, 1.6874, -0.2125, 0.1197, 0.0415, -0.0615, -1.4291, 7.0496, 1.6923, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The jug's base appears to be on the table (descent settled, shoulder load dropped). Opening the left gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 294
assistant
agent noteLeft jug is released and standing. Parking the left arm home, and moving the right arm up over the tall clear bottle, which sits ~8 cm left of the right arm and ~40 cm forward.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.4000right_y0.0800right_z0.3000right_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]: [-0.7242, 1.3998, 0.5659, 0.466, -0.7036, -0.2512, 0.9957, -0.0147, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.3593 left_y=-0.1605 left_z=0.1576 left_yaw=0.0 left_pitch=0.2863 left_roll=0.0148 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0007 right_pitch=-0.0473 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1573, -5.135, 5.8325, 1.9658, -0.2857, -0.0122, -0.2418, -0.2803, -1.306, 7.0085, 1.7216, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0, "right_x": 0.4, "right_y": 0.08, "right_z": 0.3, "right_gripper": 1.0}, "note": "Left jug is released and standing. Parking the left arm home, and moving the right arm up over the tall clear bottle, which sits ~8 cm left of the right arm and ~40 cm forward."})
tool
executing move_to over 15 steps (1.5s)
step 309
assistant
agent noteRight wrist view shows the tall bottle almost on the jaw column with its base several cm ahead of the fingertips. Advancing ~6 cm and 1 cm right to get directly above it before descending.
move_to
right_x0.4600right_y0.0700right_z0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0551, 0.8368, 0.6514, -0.3676, -0.102, -0.0845, 0.9989, 0.2832, 1.367, 1.3693, -0.6621, 0.21, 0.1272, 0.9998] state[eef_state]: left_x=0.3051 left_y=0.0048 left_z=0.1929 left_yaw=0.0594 left_pitch=0.0145 left_roll=-0.0016 left_gripper=0.9989 right_x=0.3967 right_y=0.0808 right_z=0.2824 right_yaw=0.0303 right_pitch=-0.0786 right_roll=-0.0146 right_gripper=0.9998 state[joint_eff]: [-0.1573, -2.2359, 9.7026, 1.6777, 0.105, 0.1148, -0.1245, 0.4308, -5.7915, 9.1829, 1.5018, 0.3053, 0.1783, -0.0366] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.07, "right_z": 0.3}, "note": "Right wrist view shows the tall bottle almost on the jaw column with its base several cm ahead of the fingertips. Advancing ~6 cm and 1 cm right to get directly above it before descending."})
tool
executing move_to over 5 steps (0.5s)
step 314
assistant
agent noteThe bottle opening is visible just ahead-right of the jaws with the body directly below. Descending to mid-body height (z=0.15), 2 cm forward and 1 cm right, so the open jaws straddle the body.
move_to
right_x0.4800right_y0.0600right_z0.1500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8394, 0.6563, -0.3943, -0.0914, -0.0826, 0.9984, 0.207, 1.5982, 1.5921, -0.7132, 0.1516, 0.0761, 0.9998] state[eef_state]: left_x=0.3024 left_y=0.0026 left_z=0.1888 left_yaw=0.0479 left_pitch=-0.0104 left_roll=-0.003 left_gripper=0.9984 right_x=0.4518 right_y=0.0713 right_z=0.2733 right_yaw=0.0293 right_pitch=-0.1453 right_roll=-0.031 right_gripper=0.9998 state[joint_eff]: [0.1162, -1.6752, 6.8308, 1.9707, -0.1636, -0.0806, -0.0611, -0.7316, -8.4581, 9.6615, 1.7363, 0.0366, 0.022, -0.0122] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.06, "right_z": 0.15, "right_pitch": 0.0}, "note": "The bottle opening is visible just ahead-right of the jaws with the body directly below. Descending to mid-body height (z=0.15), 2 cm forward and 1 cm right, so the open jaws straddle the body."})
tool
executing move_to over 8 steps (0.8s)
step 322
assistant
agent noteThe descent did not move (z held at 0.28) — the jaws appear to rest on the tall bottle's shoulder. Switching to the neck grasp that worked on the first jug: pitching forward and positioning just above the neck opening.
move_to
right_x0.5000right_y0.0500right_z0.3000right_pitch0.5000
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]: [-0.0566, 0.8398, 0.6559, -0.3805, -0.0967, -0.086, 0.9983, 0.2012, 1.6104, 1.6184, -0.7139, 0.1448, 0.0669, 0.9998] state[eef_state]: left_x=0.3042 left_y=0.0034 left_z=0.1914 left_yaw=0.0542 left_pitch=0.0028 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4565 right_y=0.0708 right_z=0.279 right_yaw=0.0346 right_pitch=-0.1331 right_roll=-0.0313 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.5385, 7.241, 1.58, -0.0171, -0.0269, -0.0269, -0.4855, -8.5128, 9.3744, 1.7265, -0.0513, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.05, "right_z": 0.3, "right_pitch": 0.5}, "note": "The descent did not move (z held at 0.28) \u2014 the jaws appear to rest on the tall bottle's shoulder. Switching to the neck grasp that worked on the first jug: pitching forward and positioning just above the neck opening."})
tool
executing move_to over 22 steps (2.2s)
step 344
assistant
agent noteThe neck opening sits right on the jaw column at the fingertip row. Descending ~8 cm so the open jaws straddle the neck below the rim.
move_to
right_x0.5050right_y0.0500right_z0.2000right_pitch0.5000
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]: [-0.0566, 0.8433, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1413, 1.5341, 1.0615, 0.3191, 0.1184, -0.0345, 0.9998] state[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4961 right_y=0.0531 right_z=0.2804 right_yaw=0.0445 right_pitch=0.4114 right_roll=-0.0413 right_gripper=0.9998 state[joint_eff]: [-0.0205, -1.7026, 7.0359, 1.7021, -0.0806, -0.0611, -0.0171, -0.9915, -6.7897, 7.5282, 2.3565, -0.0611, 0.0269, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.505, "right_y": 0.05, "right_z": 0.2, "right_pitch": 0.5}, "note": "The neck opening sits right on the jaw column at the fingertip row. Descending ~8 cm so the open jaws straddle the neck below the rim."})
tool
executing move_to over 6 steps (0.6s)
step 350
assistant
Wrist view is filled by the jug body, same as the successful first grasp. Closing.
agent noteThe right wrist view is now filled by the jug's body, meaning the jaws straddle its neck/handle. Closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1368, 1.726, 0.836, 0.709, 0.1139, -0.0425, 0.9998] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.501 right_y=0.0523 right_z=0.1763 right_yaw=0.0498 right_pitch=0.3838 right_roll=-0.0518 right_gripper=0.9998 state[joint_eff]: [-0.1573, -1.5658, 7.0359, 1.7118, -0.0806, -0.0708, -0.0122, -0.7453, -8.294, 6.3932, 2.2393, -0.0171, -0.0562, -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
Wrist view is filled by the jug body, same as the successful first grasp. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The right wrist view is now filled by the jug's body, meaning the jaws straddle its neck/handle. Closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteEmpty close: the jug handle/neck is directly ahead of the closed jaws, a few cm forward. Opening and advancing ~4 cm before retrying.
move_to
right_x0.5400right_y0.0550right_z0.2000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.136, 1.7317, 0.8291, 0.7136, 0.1036, -0.0471, 0.0119] state[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5002 right_y=0.0536 right_z=0.1715 right_yaw=0.0613 right_pitch=0.3755 right_roll=-0.0553 right_gripper=0.0119 state[joint_eff]: [-0.2256, -1.3607, 7.241, 1.7021, -0.0855, -0.0659, -0.0122, -0.1709, -8.5812, 6.6667, 1.9707, 0.0806, -0.0513, 0.8474] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.54, "right_y": 0.055, "right_z": 0.2, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "Empty close: the jug handle/neck is directly ahead of the closed jaws, a few cm forward. Opening and advancing ~4 cm before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 370
assistant
agent noteThe jug handle now sits between the open jaw wedges in the right wrist view. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1326, 1.8462, 0.9417, 0.7666, 0.0921, -0.0681, 0.9947] state[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5313 right_y=0.0581 right_z=0.177 right_yaw=0.0792 right_pitch=0.4257 right_roll=-0.0722 right_gripper=0.9947 state[joint_eff]: [-0.0889, -1.5248, 7.0222, 1.7167, -0.0952, -0.0513, -0.0073, -0.8547, -8.212, 9.1282, 2.2442, 0.0073, 0.1392, -0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The jug handle now sits between the open jaw wedges in the right wrist view. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 380
assistant
agent noteEmpty again — the handle is still a few cm ahead of the closed jaws and the arm is near its reach limit. Opening, pitching further forward and pushing 3 cm more to reach the handle.
move_to
right_x0.5600right_y0.0600right_z0.1900right_pitch0.6000right_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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1314, 1.8481, 0.9413, 0.7532, 0.091, -0.0715, 0.0107] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5309 right_y=0.0576 right_z=0.1726 right_yaw=0.0814 right_pitch=0.4099 right_roll=-0.0766 right_gripper=0.0107 state[joint_eff]: [-0.0342, -1.5795, 7.2, 1.707, -0.105, -0.0562, -0.0122, -0.0752, -9.3197, 6.147, 2.0049, 0.0122, 0.0269, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_x": 0.56, "right_y": 0.06, "right_z": 0.19, "right_pitch": 0.6, "right_gripper": 1.0}, "note": "Empty again \u2014 the handle is still a few cm ahead of the closed jaws and the arm is near its reach limit. Opening, pitching further forward and pushing 3 cm more to reach the handle."})
tool
executing move_to over 10 steps (1.0s)
step 390
assistant
agent noteThe handle now fills the wrist view right between the jaw wedges. Closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9976, 0.9886, 0.955, 0.0784, -0.0902, 0.9955] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5533 right_y=0.0624 right_z=0.1639 right_yaw=0.1017 right_pitch=0.5085 right_roll=-0.0915 right_gripper=0.9955 state[joint_eff]: [-0.0479, -1.5521, 7.0359, 1.7021, -0.0562, -0.022, -0.0122, -0.3487, -9.4701, 8.5675, 2.3223, 0.1148, 0.0122, -0.1441] 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": {"right_gripper": 0.0}, "note": "The handle now fills the wrist view right between the jaw wedges. Closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 400
assistant
agent noteThird empty close; the top view suggests the jug is actually ~6 cm to the left of the jaws while the wrist view says straight ahead. Opening and shifting 5 cm left to test which is right.
move_to
right_x0.5500right_y0.1100right_z0.1900right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9995, 0.9882, 0.9352, 0.0731, -0.094, 0.0114] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5529 right_y=0.0633 right_z=0.1579 right_yaw=0.1095 right_pitch=0.4862 right_roll=-0.096 right_gripper=0.0114 state[joint_eff]: [-0.0615, -1.5521, 7.1179, 1.7363, -0.1001, -0.0366, -0.0122, -0.212, -10.441, 5.7504, 2.1074, 0.0611, -0.0171, 0.9304] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.55, "right_y": 0.11, "right_z": 0.19, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "Third empty close; the top view suggests the jug is actually ~6 cm to the left of the jaws while the wrist view says straight ahead. Opening and shifting 5 cm left to test which is right."})
tool
executing move_to over 10 steps (1.0s)
step 410
assistant
agent noteThe lateral test confirms the wrist view was right: the jug is straight ahead but beyond the fingertips, likely pushed forward by my earlier approaches. Trying a maximal forward reach at handle height (z≈0.23) to see if the jaws can still get around the handle.
move_to
right_x0.5900right_y0.0600right_z0.2300right_pitch0.6000right_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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2443, 1.99, 1.0191, 0.8272, 0.1654, -0.0982, 0.9946] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0546 left_pitch=-0.0002 left_roll=-0.0047 left_gripper=0.9983 right_x=0.547 right_y=0.1101 right_z=0.1501 right_yaw=0.1408 right_pitch=0.4193 right_roll=-0.1166 right_gripper=0.9946 state[joint_eff]: [-0.1573, -1.5385, 7.0496, 1.7216, -0.0757, -0.0562, -0.0122, 0.4581, -13.9145, 8.9231, 2.0586, 0.1636, 0.1636, 0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.59, "right_y": 0.06, "right_z": 0.23, "right_pitch": 0.6, "right_gripper": 1.0}, "note": "The lateral test confirms the wrist view was right: the jug is straight ahead but beyond the fingertips, likely pushed forward by my earlier approaches. Trying a maximal forward reach at handle height (z\u22480.23) to see if the jaws can still get around the handle."})
tool
executing move_to over 7 steps (0.7s)
step 417
assistant
agent noteAt full reach the jug's handle runs straight down between the jaw wedges in the wrist view. Closing the right gripper on the handle.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1169, 1.9942, 1.1725, 0.804, 0.0364, -0.1143, 0.9986] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5824 right_y=0.0655 right_z=0.2101 right_yaw=0.1438 right_pitch=0.5434 right_roll=-0.1174 right_gripper=0.9986 state[joint_eff]: [-0.2667, -1.5658, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.9504, -9.5795, 9.265, 2.1514, -0.0024, -0.0269, -0.1587] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "At full reach the jug's handle runs straight down between the jaw wedges in the wrist view. Closing the right gripper on the handle."})
tool
executing move_to over 10 steps (1.0s)
step 427
assistant
agent noteGripper settled at 0.15 (~1.4 cm) — the handle is held. Lifting the jug and pulling it back toward the base to a more comfortable reach.
move_to
right_x0.5200right_y0.0800right_z0.2700right_pitch0.4000
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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1165, 1.9949, 1.1713, 0.7971, 0.0212, -0.1131, 0.1488] state[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5821 right_y=0.068 right_z=0.2074 right_yaw=0.1576 right_pitch=0.5347 right_roll=-0.1153 right_gripper=0.1488 state[joint_eff]: [-0.0752, -1.388, 7.0496, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.7692, 6.4889, 1.917, 0.0806, -0.0366, 1.0085] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.08, "right_z": 0.27, "right_pitch": 0.4}, "note": "Gripper settled at 0.15 (~1.4 cm) \u2014 the handle is held. Lifting the jug and pulling it back toward the base to a more comfortable reach."})
tool
executing move_to over 5 steps (0.5s)
step 432
assistant
agent noteThe jug is up and the red cup shows at the lower-left of the right wrist view. Carrying the jug left so its spout will sit just right of and above the red cup.
move_to
right_x0.4700right_y0.2100right_z0.2500right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1696, 1.6962, 1.1194, 0.4263, 0.0521, -0.1131, 0.1529] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.5284 right_y=0.0848 right_z=0.2539 right_yaw=0.1796 right_pitch=0.4107 right_roll=-0.1149 right_gripper=0.1529 state[joint_eff]: [-0.0889, -1.6342, 7.2274, 1.7167, -0.0904, -0.0415, -0.0122, -0.212, -10.0308, 8.7453, 2.2589, 0.1929, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 432): [image omitted: streamed camera frame] camera 'left_cam' (step 432): [image omitted: streamed camera frame] camera 'right_cam' (step 432): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.21, "right_z": 0.25, "right_pitch": 0.2, "right_roll": 0.0}, "note": "The jug is up and the red cup shows at the lower-left of the right wrist view. Carrying the jug left so its spout will sit just right of and above the red cup."})
tool
executing move_to over 11 steps (1.1s)
step 443
assistant
agent noteThe red cup is just left of and slightly beyond the jug's spout in the right wrist view. Shifting 2 cm left and beginning to roll the jug toward the cup (+roll = toward the arm's left).
move_to
right_x0.4800right_y0.2300right_z0.2400right_pitch0.0000right_roll0.6000
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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.5026, 1.6661, 1.2194, 0.0212, 0.279, 0.0692, 0.153] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4693 right_y=0.2065 right_z=0.2242 right_yaw=0.2203 right_pitch=0.1558 right_roll=-0.0374 right_gripper=0.153 state[joint_eff]: [-0.0889, -1.4838, 7.0359, 1.7363, -0.0611, -0.0562, -0.0122, 0.2256, -9.5385, 10.4957, 2.0342, 0.2857, 0.1587, 1.033] camera 'top_cam' (step 443): [image omitted: streamed camera frame] camera 'left_cam' (step 443): [image omitted: streamed camera frame] camera 'right_cam' (step 443): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.23, "right_z": 0.24, "right_pitch": 0.0, "right_roll": 0.6}, "note": "The red cup is just left of and slightly beyond the jug's spout in the right wrist view. Shifting 2 cm left and beginning to roll the jug toward the cup (+roll = toward the arm's left)."})
tool
executing move_to over 9 steps (0.9s)
step 452
assistant
agent noteRoll is tracking (0.5) and the red cup sits right beside the jug's neck opening in the wrist view. Continuing the roll to 1.2 rad to pour into the red cup.
move_to
right_x0.4800right_y0.2400right_z0.2300right_pitch0.0000right_roll1.2000
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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.395, 1.7226, 1.3495, -0.1444, -0.1081, 0.5022, 0.153] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4746 right_y=0.2224 right_z=0.2182 right_yaw=0.2231 right_pitch=-0.0252 right_roll=0.4963 right_gripper=0.153 state[joint_eff]: [-0.0889, -1.4564, 7.0085, 1.707, -0.0708, -0.0757, -0.0122, -0.4034, -8.9368, 10.9333, 1.956, -0.0073, 0.1636, 1.0085] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 452): [image omitted: streamed camera frame] camera 'left_cam' (step 452): [image omitted: streamed camera frame] camera 'right_cam' (step 452): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.24, "right_z": 0.23, "right_pitch": 0.0, "right_roll": 1.2}, "note": "Roll is tracking (0.5) and the red cup sits right beside the jug's neck opening in the wrist view. Continuing the roll to 1.2 rad to pour into the red cup."})
tool
executing move_to over 9 steps (0.9s)
step 461
assistant
agent noteThe jug is tipped ~60° with its spout at the red cup's rim in both views. Rolling a little further to complete the pour.
move_to
right_x0.4800right_y0.2500right_z0.2300right_pitch0.0000right_roll1.4500
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]: [-0.0566, 0.8452, 0.6559, -0.3794, -0.0967, -0.0868, 0.9983, 0.3271, 1.7611, 1.1534, 0.2707, -0.3943, 1.042, 0.1566] state[eef_state]: left_x=0.3048 left_y=0.0034 left_z=0.1901 left_yaw=0.0546 left_pitch=-0.0013 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4748 right_y=0.2365 right_z=0.2037 right_yaw=0.2215 right_pitch=-0.0684 right_roll=1.0895 right_gripper=0.1566 state[joint_eff]: [-0.1436, -1.5795, 7.0085, 1.7949, -0.0415, -0.0757, -0.0122, -0.6632, -9.1282, 7.2821, 2.4151, -0.149, 0.2027, 0.6716] camera 'top_cam' (step 461): [image omitted: streamed camera frame] camera 'left_cam' (step 461): [image omitted: streamed camera frame] camera 'right_cam' (step 461): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.25, "right_z": 0.23, "right_pitch": 0.0, "right_roll": 1.45}, "note": "The jug is tipped ~60\u00b0 with its spout at the red cup's rim in both views. Rolling a little further to complete the pour."})
tool
executing move_to over 5 steps (0.5s)
step 466
assistant
agent notePour completed with the jug tipped ~77° over the red cup. Rolling the jug back upright and moving it right, away from the cups, to set it down.
move_to
right_x0.4800right_y0.1500right_z0.2600right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3271, 1.8179, 1.0782, 0.5388, -0.4358, 1.3262, 0.1569] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4785 right_y=0.2449 right_z=0.2015 right_yaw=0.2113 right_pitch=-0.0766 right_roll=1.3524 right_gripper=0.1569 state[joint_eff]: [-0.1299, -1.5385, 7.0496, 1.7411, -0.0415, -0.0562, -0.0122, 0.0752, -9.5521, 6.9812, 2.3468, -0.2466, 0.1734, 0.4469] camera 'top_cam' (step 466): [image omitted: streamed camera frame] camera 'left_cam' (step 466): [image omitted: streamed camera frame] camera 'right_cam' (step 466): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.15, "right_z": 0.26, "right_pitch": 0.2, "right_roll": 0.0}, "note": "Pour completed with the jug tipped ~77\u00b0 over the red cup. Rolling the jug back upright and moving it right, away from the cups, to set it down."})
tool
executing move_to over 18 steps (1.8s)
step 484
assistant
agent noteJug appears upright relative to the wrist camera as the roll returns to 0. Moving it further right, clear of the cups, to its set-down spot.
move_to
right_x0.4800right_y0.1000right_z0.2600right_pitch0.3000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3328, 1.6047, 1.224, -0.0284, 0.0536, 0.2691, 0.1564] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1595 right_z=0.2427 right_yaw=0.1355 right_pitch=0.1392 right_roll=0.2411 right_gripper=0.1564 state[joint_eff]: [-0.212, -1.6068, 7.0906, 1.7265, -0.0904, -0.0708, -0.0122, 0.4034, -10.0581, 7.665, 2.083, 0.0269, -0.1001, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 484): [image omitted: streamed camera frame] camera 'left_cam' (step 484): [image omitted: streamed camera frame] camera 'right_cam' (step 484): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.1, "right_z": 0.26, "right_pitch": 0.3, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Jug appears upright relative to the wrist camera as the roll returns to 0. Moving it further right, clear of the cups, to its set-down spot."})
tool
executing move_to over 6 steps (0.6s)
step 490
assistant
agent noteJug is upright in the right gripper over a clear spot right of the cups. Lowering it to the grasp height it stood at (z≈0.20) so its base touches the table.
move_to
right_x0.4800right_y0.1000right_z0.2000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.308, 1.5761, 1.0988, 0.0921, 0.2329, 0.0978, 0.1562] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1134 right_z=0.2261 right_yaw=0.0477 right_pitch=0.1901 right_roll=0.0183 right_gripper=0.1562 state[joint_eff]: [-0.0889, -1.5932, 7.2, 1.7509, -0.0806, -0.0317, -0.0122, -0.4718, -10.9607, 7.2, 2.2589, 0.1538, 0.0024, 0.652] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.48, "right_y": 0.1, "right_z": 0.2, "right_pitch": 0.3, "right_roll": 0.0}, "note": "Jug is upright in the right gripper over a clear spot right of the cups. Lowering it to the grasp height it stood at (z\u22480.20) so its base touches the table."})
tool
executing move_to over 4 steps (0.4s)
step 494
assistant
agent noteDescent stopped at z=0.21 and the shoulder load dropped, so the jug is standing on the table. Opening the right gripper to release it.
move_to
right_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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2871, 1.5806, 0.9367, 0.3637, 0.2306, 0.0582, 0.1596] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0546 left_pitch=-0.0017 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4779 right_y=0.1027 right_z=0.2102 right_yaw=0.0442 right_pitch=0.2918 right_roll=0.0072 right_gripper=0.1596 state[joint_eff]: [-0.253, -1.6205, 7.1726, 1.7363, -0.0757, -0.0659, -0.0073, -0.8684, -5.5316, 6.2427, 1.5214, -0.0757, -0.1538, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 494): [image omitted: streamed camera frame] camera 'left_cam' (step 494): [image omitted: streamed camera frame] camera 'right_cam' (step 494): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stopped at z=0.21 and the shoulder load dropped, so the jug is standing on the table. Opening the right gripper to release it."})
tool
executing move_to over 9 steps (0.9s)
step 503
assistant
Both jugs have been tipped over the red cup and set back down upright. I'll park the right arm and finish.
agent noteThe right jug is released and standing; both containers have been poured over the red cup. Retracting the right arm to its home pose.
move_to
right_x0.3000right_y0.0000right_z0.2200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.281, 1.6032, 0.9073, 0.4088, 0.2237, 0.0429, 0.9955] state[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4784 right_y=0.101 right_z=0.1965 right_yaw=0.0531 right_pitch=0.2846 right_roll=-0.0079 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.6205, 7.2, 1.707, -0.0904, -0.0659, -0.0122, -0.6085, -7.5829, 6.7077, 2.0391, -0.0708, 0.0073, -0.1832] camera 'top_cam' (step 503): [image omitted: streamed camera frame] camera 'left_cam' (step 503): [image omitted: streamed camera frame] camera 'right_cam' (step 503): [image omitted: streamed camera frame]
assistant
Both jugs have been tipped over the red cup and set back down upright. I'll park the right arm and finish.
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.22, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The right jug is released and standing; both containers have been poured over the red cup. Retracting the right arm to its home pose."})
tool
executing move_to over 14 steps (1.4s)
step 517
assistant
agent noteGrasped the left jug by its handle/neck with the left arm, carried it over the red cup, rolled it ~75° to pour, returned it upright and set it down. Then grasped the right jug's handle with the right arm at full reach, carried it over the red cup, rolled ~77° to pour, and set it back down upright. Both arms parked home.
done
hindsight1) The containers are ~20 cm and ~27 cm tall plastic jugs with handles; their bodies (~10 cm) are too wide for the 9.5 cm jaws — grasp the handle/neck (settled gripper ≈0.15–0.25) from above with pitch ≈0.4–0.5, hovering so the neck opening sits at wrist-image (110,135), then descend ~6–8 cm. 2) Sliding forward at body height with open jaws just pushes the jug forward (I pushed both jugs ~5–10 cm toward the cups, to x≈0.51 and ≈0.58) — never approach a jug radially at body height. 3) The wrist camera's forward tilt is severe: an object whose base is at image row ~150–170 is still 4–9 cm beyond the fingertips; expect 2–3 forward corrections. 4) Roll commands stall when combined with forward pitch or large position changes; command roll alone with pitch 0 in steps ≤0.6 rad and it tracks. 5) Cups sit at x≈0.47–0.52 near the centre line (red cup left_y≈−0.38 / right_y≈0.27); the jug spout is ~6 cm forward of a handle grasp, so put the grasp point ~5 cm to the side of the cup and 3–5 cm behind it, z≈0.20–0.23, then roll toward the cup (left arm negative, right arm positive). 6) Reach limit for grasp point at z≈0.2 is x≈0.50 with the tool vertical, ≈0.58 with pitch 0.55. 7) Setting a jug down: descend to the z at which it was grasped standing and watch shoulder effort drop by ~half.
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]: [-0.0566, 0.8494, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, -0.0067, 0.8581, 0.7448, -0.4126, 0.0154, -0.009, 0.9964] state[eef_state]: left_x=0.305 left_y=0.0034 left_z=0.1888 left_yaw=0.0544 left_pitch=-0.0059 left_roll=-0.0038 left_gripper=0.9983 right_x=0.3111 right_y=-0.0012 right_z=0.22 right_yaw=-0.0221 right_pitch=0.0385 right_roll=-0.0027 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.9077, 7.159, 1.7167, -0.105, -0.0366, -0.0122, -0.2803, -1.6205, 9.1145, 1.9219, -0.0513, -0.0464, 0.0757] camera 'top_cam' (step 517): [image omitted: streamed camera frame] camera 'left_cam' (step 517): [image omitted: streamed camera frame] camera 'right_cam' (step 517): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the left jug by its handle/neck with the left arm, carried it over the red cup, rolled it ~75\u00b0 to pour, returned it upright and set it down. Then grasped the right jug's handle with the right arm at full reach, carried it over the red cup, rolled ~77\u00b0 to pour, and set it back down upright. Both arms parked home.", "hindsight": "1) The containers are ~20 cm and ~27 cm tall plastic jugs with handles; their bodies (~10 cm) are too wide for the 9.5 cm jaws \u2014 grasp the handle/neck (settled gripper \u22480.15\u20130.25) from above with pitch \u22480.4\u20130.5, hovering so the neck opening sits at wrist-image (110,135), then descend ~6\u20138 cm. 2) Sliding forward at body height with open jaws just pushes the jug forward (I pushed both jugs ~5\u201310 cm toward the cups, to x\u22480.51 and \u22480.58) \u2014 never approach a jug radially at body height. 3) The wrist camera's forward tilt is severe: an object whose base is at image row ~150\u2013170 is still 4\u20139 cm beyond the fingertips; expect 2\u20133 forward corrections. 4) Roll commands stall when combined with forward pitch or large position changes; command roll alone with pitch 0 in steps \u22640.6 rad and it tracks. 5) Cups sit at x\u22480.47\u20130.52 near the centre line (red cup left_y\u2248\u22120.38 / right_y\u22480.27); the jug spout is ~6 cm forward of a handle grasp, so put the grasp point ~5 cm to the side of the cup and 3\u20135 cm behind it, z\u22480.20\u20130.23, then roll toward the cup (left arm negative, right arm positive). 6) Reach limit for grasp point at z\u22480.2 is x\u22480.50 with the tool vertical, \u22480.58 with pitch 0.55. 7) Setting a jug down: descend to the z at which it was grasped standing and watch shoulder effort drop by ~half."})
tool
done: Grasped the left jug by its handle/neck with the left arm, carried it over the red cup, rolled it ~75° to pour, returned it upright and set it down. Then grasped the right jug's handle with the right arm at full reach, carried it over the red cup, rolled ~77° to pour, and set it back down upright. Both arms parked home.
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 · 22.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6102, -0.3775, -0.0128, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1826 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4564, 9.4974, 1.7607, -0.0464, 0.1685, -0.0513, -1.0462, -1.2786, 9.9214, 1.7802, -0.105, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e48f66223afa735e4b3d259ec53c96acc04118483381e58f20be3a802de74df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814a2150314a1c17f98b2f717b493e0020a6304ec337f8d4a4633caf03054205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa4e592ad7b6d4c9a284a8d4d28d4a8d72b875d85eb9772d3adebdda50835c6e",
        "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 · 13.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6102, -0.3775, -0.0128, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1826 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4564, 9.4974, 1.7607, -0.0464, 0.1685, -0.0513, -1.0462, -1.2786, 9.9214, 1.7802, -0.105, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e48f66223afa735e4b3d259ec53c96acc04118483381e58f20be3a802de74df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814a2150314a1c17f98b2f717b493e0020a6304ec337f8d4a4633caf03054205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4e592ad7b6d4c9a284a8d4d28d4a8d72b875d85eb9772d3adebdda50835c6e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start with the left arm: fly above the left white container to check alignment in the wrist camera.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRtkaroVrU2TnJiRRFqm2h",
      "input": {
        "note": "Two white bottles sit mid-table with a blue and a red cup behind them; the left bottle appears ~24 cm to the right of the left arm and ~40 cm forward. Moving the left arm above it, gripper open, to check alignment.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.24,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01CRtkaroVrU2TnJiRRFqm2h",
      "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]: [-0.7731, 1.6558, 1.33, -0.4519, -0.6296, -0.5285, 0.9996, -0.0147, 0.7979, 0.6086, -0.3843, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.394 left_y=-0.2341 left_z=0.2043 left_yaw=0.0083 left_pitch=-0.0388 left_roll=0.0135 left_gripper=0.9996 right_x=0.295 right_y=0.0014 right_z=0.1801 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -7.9248, 9.5658, 1.6484, -0.3834, 0.1587, -0.0562, -0.4444, -1.3333, 7.3778, 1.8144, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8182ba132e4d5cd2da806b830353ecd3974f8e8c505b5ba8e0a7c2bd32d845bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afb0d1f32e369531e4e2f1d2dd25130781aa85bc068e7c2cbcd2cd198538f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06d3e60d201581b9dd8585fba9b790e031b9077e9fd3e857b200f3b023de06da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 16.04 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6102, -0.3775, -0.0128, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1826 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4564, 9.4974, 1.7607, -0.0464, 0.1685, -0.0513, -1.0462, -1.2786, 9.9214, 1.7802, -0.105, 0.0415, -0.0317]",
      "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]: [-0.7731, 1.6558, 1.33, -0.4519, -0.6296, -0.5285, 0.9996, -0.0147, 0.7979, 0.6086, -0.3843, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.394 left_y=-0.2341 left_z=0.2043 left_yaw=0.0083 left_pitch=-0.0388 left_roll=0.0135 left_gripper=0.9996 right_x=0.295 right_y=0.0014 right_z=0.1801 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -7.9248, 9.5658, 1.6484, -0.3834, 0.1587, -0.0562, -0.4444, -1.3333, 7.3778, 1.8144, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8182ba132e4d5cd2da806b830353ecd3974f8e8c505b5ba8e0a7c2bd32d845bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afb0d1f32e369531e4e2f1d2dd25130781aa85bc068e7c2cbcd2cd198538f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d3e60d201581b9dd8585fba9b790e031b9077e9fd3e857b200f3b023de06da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VNMMwuJdKupLUi18u3RBpw",
      "input": {
        "note": "Left wrist cam shows the left bottle just left of the jaw column and slightly forward; shifting the gripper ~3 cm left and ~2.5 cm forward to center over it.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.21,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VNMMwuJdKupLUi18u3RBpw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6868, 1.6558, 1.338, -0.4782, -0.5755, -0.4858, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2061 left_z=0.1997 left_yaw=0.0324 left_pitch=-0.0791 left_roll=0.0326 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -7.8427, 10.7145, 1.7949, -0.0659, 0.3492, -0.0122, -0.3897, -1.1692, 7.0496, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32d4c3d01063c7a126165a79edd495f2b808598e161c5741af47928e7cd3c198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba77aa5621648dc87ada69bf17ce2a0fb9a6e3a4ea271aa1a3c936b7524b7df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecc949cc7d2479f4f208c397662214557954f19c0a5e68132ba053fe9a6ee3f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 12.07 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6102, -0.3775, -0.0128, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1826 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4564, 9.4974, 1.7607, -0.0464, 0.1685, -0.0513, -1.0462, -1.2786, 9.9214, 1.7802, -0.105, 0.0415, -0.0317]",
      "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]: [-0.7731, 1.6558, 1.33, -0.4519, -0.6296, -0.5285, 0.9996, -0.0147, 0.7979, 0.6086, -0.3843, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.394 left_y=-0.2341 left_z=0.2043 left_yaw=0.0083 left_pitch=-0.0388 left_roll=0.0135 left_gripper=0.9996 right_x=0.295 right_y=0.0014 right_z=0.1801 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -7.9248, 9.5658, 1.6484, -0.3834, 0.1587, -0.0562, -0.4444, -1.3333, 7.3778, 1.8144, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6868, 1.6558, 1.338, -0.4782, -0.5755, -0.4858, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2061 left_z=0.1997 left_yaw=0.0324 left_pitch=-0.0791 left_roll=0.0326 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -7.8427, 10.7145, 1.7949, -0.0659, 0.3492, -0.0122, -0.3897, -1.1692, 7.0496, 1.7167, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32d4c3d01063c7a126165a79edd495f2b808598e161c5741af47928e7cd3c198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba77aa5621648dc87ada69bf17ce2a0fb9a6e3a4ea271aa1a3c936b7524b7df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc949cc7d2479f4f208c397662214557954f19c0a5e68132ba053fe9a6ee3f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7QoKEAgRGAI4AUIIdGhpbmtpbmcSDB6cAnxWAyh1wEEZLBoMECuY+NPR30gP52vyIjDeTxx6rdHZObLYgSci6vuZlCZLbGuWNe5/sjfw38bQuWnNDjRMxf203akKuGNFq/wqigpTPy4QG99zoeytaKcCcEYt/r1uGO9rOGo6QTAZjVDy/J2OedCQ0DPEWaJBM6U4i5NjX8FAyqT/9kEZzCIiq74vdjE4PzV0xSNoDyl8oHR9fTJqZa9CmYWywLukptWkQFHgYR+XREFycxGUDxe/wHqXE6qiP5JuuJAyUJh1XMWOb8iWYH+uJ7QHs/JCTjIzrDias9R0KaZtdhLghFSzKMGb9GKOOPKcJnSx6XBlcTDxaSj/64qAb4PGn3VyLpnoZodK30FNiefGqtTlN6AxmleRpxsULWDwzG/ivPSW762bMv2oA5QurS3L35uVlXahCHA/FoyO0JJqFezNin1T7H5Pj73jzwPpvjdhrkDeJmYKGA+FtoNrOoF93UKlQRxdKt2y1nWmN38N7J1sVdhB6O1yFHjhDuxHvz5SNorqWa0LMTQx6Pipy7Nco8gTeGyu1NNFpSXOzEQwGwEIOjx2EbLWkevk3j3M2YiKmR4YL0KGc/NVehjeXUlxVH+cQwkNcNoOGTfNsH14hbTSrdJZlG5ePoMqNUSdfj0ZQ7VYVyXwzzc9wyxLI5uI9dU6RwvS0+Cd4nVyK2FSjDDtylRdbmts6t7vuVrvmV8dWtcXEEqEnBIv0NZUX6s7/+yeA2Q0kWezbMvlIg2kYgUfNRHeAf34p4gUeHiERjnJWIXoi4bPRQm3a4Rclt1fXe3fdvF95B8RRDjM/A5xmd5VnlyCvy0BwViYdJRETQZW9BTKhEgSDUr3LepkJl/i/b9Kg/0ArFDEIzh3lB5MzkuNoXOYQKFQPP09DL7+IdOmBc9d28wSeV8A2KfjMKJTTUKqsQ7+KbOMgIC5vVO1XpDU2/EplY53yopP1vtQcO+2KLjgdX8jV2Hv9D/YN8A/hpBPusOhCiWb+MuUVvjeafabrFPIPOd+/rMOeV83kh+SCxIeZM4M9G1wR0CNRJjYeIkp3eSJgXBjJ425ExLHvTgSnGI7u9lk6TtUYA5VlogpFDKZg9+7AXSoYqRr3DKDohtUZdO/GB8vWz35oZN8//CZIymO/6tI6564Xg+i9/uqITDcMCrl2NCWUKEExdkJ71uEsWrR0/p7poe2Skjr+kw8v72OnP76KfizEbRFflxeWLFcptI0NP4GvvtvFUf0ZM3HFjYo1PvoxNlGy9JY+wWR62yo7EwT7GDfbmR3vN+YAAorBgbZLdBeV4H5Z/PIKxUOJF7l9Tl65Dic/N+wwiaqFSoFkCFReuk5S7PUFjTcX3Fyj238UoQxIgnR689JoLYl2BqclsWk1lSund+j902kchKxrfayi5onE5FRnbHdLju+OzYX6mg59usQdS3tjlBkee9ADR+jFKpWJqVL41X1Fzhpkk8Oo+pXi/EDFWK7CQ/0/qn7CqwpjN5SDxkZIfdnZejL2bO1It2XZyqFYGmvrVa5WglZEJ1VCn5N87yE3InW3UJJ0+/dSXDeEEEMInoi9+Mv7DaHqqloxciTZjQySLq89GpD8TvYX2EhlC2XBFb3i2MgXWoEG6fguSCHu3u30guZxIQ2KejqRY6YOWAfaOob+Ktab6Uj2UPxvJ20qshwmic4rIW5xlj/DSQih8LVaSY/moXQ4CEGcjNmCwxoNcrzH5HCPt+M/mvYskIZ41fo90S9LrKVW1qAYayMO93g7nQjAAiqv99KJeEYlGSu3f3iLROu59xIHOrZO6kGubB6DjkXtBJLpoInmMRqr4YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4PenzhDnrHdv12wZWrqzH",
      "input": {
        "note": "Bottle now nearly on the jaw column, slightly left; nudging 1.5 cm left and descending to z=0.12 so the jaws straddle the bottle body.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.19,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01E4PenzhDnrHdv12wZWrqzH",
      "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]: [-0.667, 1.6558, 1.3521, -0.4824, -0.5674, -0.4793, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.2004 left_z=0.2042 left_yaw=0.0423 left_pitch=-0.0755 left_roll=0.027 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0008 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.8974, 9.9897, 1.6728, -0.1392, 0.2857, -0.0122, -0.3487, -1.265, 7.0359, 1.7021, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdad6610236c95c892c8e78d9b2331d993155b0560b48565ec1a46d82cf3b88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9426d582ac8ccca6695d3408ba2de7c11de3ab8bf534e41765562912a8a037ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b944fcad0a87bc13b2a561a044a5a020a2cebd68f4b4a07d032a3aa8fbd96360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 10.95 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]: [-0.7731, 1.6558, 1.33, -0.4519, -0.6296, -0.5285, 0.9996, -0.0147, 0.7979, 0.6086, -0.3843, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.394 left_y=-0.2341 left_z=0.2043 left_yaw=0.0083 left_pitch=-0.0388 left_roll=0.0135 left_gripper=0.9996 right_x=0.295 right_y=0.0014 right_z=0.1801 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -7.9248, 9.5658, 1.6484, -0.3834, 0.1587, -0.0562, -0.4444, -1.3333, 7.3778, 1.8144, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6868, 1.6558, 1.338, -0.4782, -0.5755, -0.4858, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2061 left_z=0.1997 left_yaw=0.0324 left_pitch=-0.0791 left_roll=0.0326 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -7.8427, 10.7145, 1.7949, -0.0659, 0.3492, -0.0122, -0.3897, -1.1692, 7.0496, 1.7167, -0.0317, -0.0269, -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]: [-0.667, 1.6558, 1.3521, -0.4824, -0.5674, -0.4793, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.2004 left_z=0.2042 left_yaw=0.0423 left_pitch=-0.0755 left_roll=0.027 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0008 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.8974, 9.9897, 1.6728, -0.1392, 0.2857, -0.0122, -0.3487, -1.265, 7.0359, 1.7021, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdad6610236c95c892c8e78d9b2331d993155b0560b48565ec1a46d82cf3b88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9426d582ac8ccca6695d3408ba2de7c11de3ab8bf534e41765562912a8a037ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b944fcad0a87bc13b2a561a044a5a020a2cebd68f4b4a07d032a3aa8fbd96360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KL5XYqA6C8HuuhtKmey8cW",
      "input": {
        "note": "The descent stalled at z=0.20 — the jaws seem to be resting on the bottle's shoulder. Backing toward the base to approach the bottle body from the side instead.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.19,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KL5XYqA6C8HuuhtKmey8cW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8265, 1.4612, 1.1923, -0.6125, -0.6247, -0.5751, 0.9996, -0.0143, 0.8024, 0.6083, -0.3893, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3354 left_y=-0.2064 left_z=0.2027 left_yaw=-0.0181 left_pitch=-0.1132 left_roll=0.0477 left_gripper=0.9996 right_x=0.2946 right_y=0.0016 right_z=0.1777 right_yaw=0.0016 right_pitch=-0.0191 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [3.0154, -6.9538, 7.0632, 1.9658, -0.7448, -0.0562, -0.0171, -0.1573, -1.0735, 7.1179, 1.7558, -0.0464, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f801350eefb5bcc5a57dd43d9c7410f6656c7219c0ca9605fecf11039a58a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f937afcb506a61163a434eedbccdbf0f19068bdb7096a38697f9c162cd7c1b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63c0fac949da73969738687d8f4f7033ff612e67d89619629763e2e40417dd64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 7.757 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]: [-0.6868, 1.6558, 1.338, -0.4782, -0.5755, -0.4858, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2061 left_z=0.1997 left_yaw=0.0324 left_pitch=-0.0791 left_roll=0.0326 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -7.8427, 10.7145, 1.7949, -0.0659, 0.3492, -0.0122, -0.3897, -1.1692, 7.0496, 1.7167, -0.0317, -0.0269, -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]: [-0.667, 1.6558, 1.3521, -0.4824, -0.5674, -0.4793, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.2004 left_z=0.2042 left_yaw=0.0423 left_pitch=-0.0755 left_roll=0.027 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0008 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.8974, 9.9897, 1.6728, -0.1392, 0.2857, -0.0122, -0.3487, -1.265, 7.0359, 1.7021, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8265, 1.4612, 1.1923, -0.6125, -0.6247, -0.5751, 0.9996, -0.0143, 0.8024, 0.6083, -0.3893, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3354 left_y=-0.2064 left_z=0.2027 left_yaw=-0.0181 left_pitch=-0.1132 left_roll=0.0477 left_gripper=0.9996 right_x=0.2946 right_y=0.0016 right_z=0.1777 right_yaw=0.0016 right_pitch=-0.0191 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [3.0154, -6.9538, 7.0632, 1.9658, -0.7448, -0.0562, -0.0171, -0.1573, -1.0735, 7.1179, 1.7558, -0.0464, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f801350eefb5bcc5a57dd43d9c7410f6656c7219c0ca9605fecf11039a58a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f937afcb506a61163a434eedbccdbf0f19068bdb7096a38697f9c162cd7c1b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63c0fac949da73969738687d8f4f7033ff612e67d89619629763e2e40417dd64",
        "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_01Xr919y3PU22sJrfBjjdG8e",
      "input": {
        "note": "The bottle is now ahead of the fingertips on the jaw column. Descending to mid-bottle height (z=0.10) before sliding forward to straddle it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.19,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Xr919y3PU22sJrfBjjdG8e",
      "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]: [-0.8062, 1.4834, 0.8268, -0.2485, -0.6052, -0.564, 0.9996, -0.0147, 0.8032, 0.6075, -0.392, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3248 left_y=-0.1883 left_z=0.1038 left_yaw=-0.0152 left_pitch=-0.1409 left_roll=0.0628 left_gripper=0.9996 right_x=0.2942 right_y=0.0015 right_z=0.1766 right_yaw=0.0012 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.3128, 6.1607, 1.3797, -0.2906, 0.0904, -0.0122, -0.253, -1.347, 7.0769, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cb61fd346eca9b403c990c93f0b48add527a9e58c7a5d2ece483c108685dc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8600abed111f9190ecec5fb02f6a61b80b59b3a776e7eb6b49aa928f2a018ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94fb6963caea82f58aad19bf11128355c73270b4dcad7603fe6a89f0372be987",
        "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 · 9.335 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]: [-0.667, 1.6558, 1.3521, -0.4824, -0.5674, -0.4793, 0.9996, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.2004 left_z=0.2042 left_yaw=0.0423 left_pitch=-0.0755 left_roll=0.027 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0008 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.8974, 9.9897, 1.6728, -0.1392, 0.2857, -0.0122, -0.3487, -1.265, 7.0359, 1.7021, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8265, 1.4612, 1.1923, -0.6125, -0.6247, -0.5751, 0.9996, -0.0143, 0.8024, 0.6083, -0.3893, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3354 left_y=-0.2064 left_z=0.2027 left_yaw=-0.0181 left_pitch=-0.1132 left_roll=0.0477 left_gripper=0.9996 right_x=0.2946 right_y=0.0016 right_z=0.1777 right_yaw=0.0016 right_pitch=-0.0191 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [3.0154, -6.9538, 7.0632, 1.9658, -0.7448, -0.0562, -0.0171, -0.1573, -1.0735, 7.1179, 1.7558, -0.0464, -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 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]: [-0.8062, 1.4834, 0.8268, -0.2485, -0.6052, -0.564, 0.9996, -0.0147, 0.8032, 0.6075, -0.392, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3248 left_y=-0.1883 left_z=0.1038 left_yaw=-0.0152 left_pitch=-0.1409 left_roll=0.0628 left_gripper=0.9996 right_x=0.2942 right_y=0.0015 right_z=0.1766 right_yaw=0.0012 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.3128, 6.1607, 1.3797, -0.2906, 0.0904, -0.0122, -0.253, -1.347, 7.0769, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cb61fd346eca9b403c990c93f0b48add527a9e58c7a5d2ece483c108685dc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8600abed111f9190ecec5fb02f6a61b80b59b3a776e7eb6b49aa928f2a018ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fb6963caea82f58aad19bf11128355c73270b4dcad7603fe6a89f0372be987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgRGAI4AUIIdGhpbmtpbmcSDGtN7FwVqLoOu3cIOhoMiVmSjVfUYvpUhdsEIjBS3wpU5t6FWzCymN322VHxzzF0QGzHUnEYHlXGuMYkbieulB5SgmnFNvAwaPovYZoqjQl0ffjm89gTuLg2RG9cMZSQcACtJ955+q5FMGxsH7AIV9eK7BTvLe19M5jMXGoDIfdldY2W+7W4oJ6KHXnXrOxWd7EY6lVPeMZgQs84ASePiQBE9m6gOqjR1i97teQs+f3MmgynRhXyWaj+toNXqm0X3ZWenfMer76T/7A/K0vIthSoIciqX+fVUY9QZWA9icOC4kIUINaciAj/LYf2FzEEB9ssPZRNNT84CeW/5steGHqjfNHMP87o28RRA/vPjAqMzWNBFtQKT4m+KfM31GOW3bTh6WZYesJ38iR4F+mw9+4dkTsKOue4dx6pPREnmqQ8B8rXYmzb7BEOGS56K1zmojTPgRjTqLeUdrOb98ZqOZ2uQn5c7Lm8yN7Apq0v2uq9zcCvsP4YE/rlfQS8ho5o/ddav+y5GThQ2MxP+WJnbfugyflQA/uHvnj2W/JhqmRIcy3pyYdyC9tAnAr0THWw/a3cSpLRx8FVIhQDCm4S//JquB540Qd9ETWdDZ2mvphOHE3SMayD557sQrLQe64Jd4caBexM101k0rPjk7v5mHrg6PboiFWzALVsnWnoE+b1+oYNu08Cg9YkqFtWF4Z79ffK27XMZHg3XotwqDJZmnmQodSTvmwc8E1pNsgrsvClidDW2XUbGyl/nFzzhaz7Cg6wehY+4l6raGfjXP46756YWlb+yVgR1p0RnQ+kteCnzA2Qh/VVd1cWefeQY+38QZ6b4x4gu+gwpYanKmdTL9LI4/LGzI6cqLHz7oa0dDmWCH3Wf7vBs/nwraiXwdY3APNmd8ULrr7NOWrmGzOxYbxVUXZavXovbLQ/yWMv4LrtsV2V9gS2cuut+pPI35bVr0AcGYjuzjnTxQmjNaPH83d4h9adbMvBUFn2EsrcISI2PPECILJIHFONtSTk5xXiYToTGmcaSzSgpzAiyW3DIPsuRuW76wqqRfslBYzZUXA1d1tqECccYUwjfi0uUCT09rTi3mgXeBb8S5IOF9CJd/io/ttSZ/Urtw8Yh4GlQQFVBwEVOijxkCoqiShJVDjzLJA2ookwA6Slvy/DfyDmMQGWOMPD9mptTwV31uf4YtyBCQsmXBvPyfpiU7B1jaHPrewJ3jl0eYXvLAYLpGEOj5rnPgu4Utnou2JbQOmDRmplbXY+cO7KsaVohVWUtRWFKtKvAlN9q8WwXD6DakPbhj/unoi5eQkckiDwhppvi1UuFMQvR6sWh7gK6sj+cPmrFu6Umk7SJCndZCuABvwozr/PN0yMlU21mcqOyd/QdsyuT73gqgKyQHsEO9jmBntLbO15RZO0u4tGP5jmhweymr2161MO0k+PACWyLh5jb8gh17prD3onL8Y01iNUzM/gED6TVOHNq3IS4cdjb/1rRJ7mU6XblsvdW4KBQUVj0B2ipCwlcp27TjG7mguQ2dHQw0LVKE+bKnPTraHVEZUMBIf4HhpYaSZQ0/0bxmqEHzaQRqPtRQLXATZD5RxXkQRoE7MSt6r4W7ZF0SpUWdqNcevU0he51sKeLNst8cQkLRtzhZEY3iJrcLqB0XkSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3AeB3WUZppVwYgPMePRJL",
      "input": {
        "note": "Bottle body sits centered ahead of the open jaws at mid height. Sliding forward ~9 cm so the jaws straddle the bottle body; also re-leveling the tool pitch.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.42,
          "left_y": -0.18,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U3AeB3WUZppVwYgPMePRJL",
      "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]: [-0.6136, 1.7061, 0.8738, 0.0692, -0.5491, -0.3752, 0.9996, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1661 left_z=0.0803 left_yaw=0.0252 left_pitch=-0.0693 left_roll=0.0866 left_gripper=0.9996 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.665, 9.265, 1.6142, -0.1197, 0.2076, -0.0171, -0.2667, -1.4701, 7.0222, 1.7607, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebccd7a317a4db14d323ce8e26c38153adeccb21878f3c2b3b77e20919516c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2164c59364a03c7df10b9f19215f9e30c42d09727ff25c7e8b4b1c48cbbff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f329ddfb0a318fd3e755894791ebb1abc92910d6088f3bf8e9a25683b36b661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.497 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]: [-0.8265, 1.4612, 1.1923, -0.6125, -0.6247, -0.5751, 0.9996, -0.0143, 0.8024, 0.6083, -0.3893, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3354 left_y=-0.2064 left_z=0.2027 left_yaw=-0.0181 left_pitch=-0.1132 left_roll=0.0477 left_gripper=0.9996 right_x=0.2946 right_y=0.0016 right_z=0.1777 right_yaw=0.0016 right_pitch=-0.0191 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [3.0154, -6.9538, 7.0632, 1.9658, -0.7448, -0.0562, -0.0171, -0.1573, -1.0735, 7.1179, 1.7558, -0.0464, -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 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]: [-0.8062, 1.4834, 0.8268, -0.2485, -0.6052, -0.564, 0.9996, -0.0147, 0.8032, 0.6075, -0.392, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3248 left_y=-0.1883 left_z=0.1038 left_yaw=-0.0152 left_pitch=-0.1409 left_roll=0.0628 left_gripper=0.9996 right_x=0.2942 right_y=0.0015 right_z=0.1766 right_yaw=0.0012 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.3128, 6.1607, 1.3797, -0.2906, 0.0904, -0.0122, -0.253, -1.347, 7.0769, 1.7363, -0.0806, -0.0464, -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 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]: [-0.6136, 1.7061, 0.8738, 0.0692, -0.5491, -0.3752, 0.9996, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1661 left_z=0.0803 left_yaw=0.0252 left_pitch=-0.0693 left_roll=0.0866 left_gripper=0.9996 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.665, 9.265, 1.6142, -0.1197, 0.2076, -0.0171, -0.2667, -1.4701, 7.0222, 1.7607, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebccd7a317a4db14d323ce8e26c38153adeccb21878f3c2b3b77e20919516c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2164c59364a03c7df10b9f19215f9e30c42d09727ff25c7e8b4b1c48cbbff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f329ddfb0a318fd3e755894791ebb1abc92910d6088f3bf8e9a25683b36b661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RfbBZ1kY19TjktN7hcJkPP",
      "input": {
        "note": "The bottle body is right at the jaw tips; advancing another ~3 cm so it sits deep between the jaws before closing.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.17,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RfbBZ1kY19TjktN7hcJkPP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5919, 1.7573, 0.8852, 0.1295, -0.5499, -0.3473, 0.9996, -0.0147, 0.8051, 0.6075, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.1632 left_z=0.0734 left_yaw=0.0319 left_pitch=-0.0539 left_roll=0.0975 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1436, 9.4564, 1.7949, -0.2759, 0.2564, -0.0171, -0.3077, -1.265, 7.2274, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65cee64fada02c05063eb8c347825a70d09319342f87e5c4bdafb2cb034445b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9f01294a2125db5bc8dc80abc4398af691556f434d2cdf9a7dffee9e8940aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:068c0c8050ed58c985200e0266a9a4e8e32a27c0b295137b5b51084ce174efae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.802 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]: [-0.8062, 1.4834, 0.8268, -0.2485, -0.6052, -0.564, 0.9996, -0.0147, 0.8032, 0.6075, -0.392, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3248 left_y=-0.1883 left_z=0.1038 left_yaw=-0.0152 left_pitch=-0.1409 left_roll=0.0628 left_gripper=0.9996 right_x=0.2942 right_y=0.0015 right_z=0.1766 right_yaw=0.0012 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -5.3128, 6.1607, 1.3797, -0.2906, 0.0904, -0.0122, -0.253, -1.347, 7.0769, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6136, 1.7061, 0.8738, 0.0692, -0.5491, -0.3752, 0.9996, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1661 left_z=0.0803 left_yaw=0.0252 left_pitch=-0.0693 left_roll=0.0866 left_gripper=0.9996 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.665, 9.265, 1.6142, -0.1197, 0.2076, -0.0171, -0.2667, -1.4701, 7.0222, 1.7607, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5919, 1.7573, 0.8852, 0.1295, -0.5499, -0.3473, 0.9996, -0.0147, 0.8051, 0.6075, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.1632 left_z=0.0734 left_yaw=0.0319 left_pitch=-0.0539 left_roll=0.0975 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1436, 9.4564, 1.7949, -0.2759, 0.2564, -0.0171, -0.3077, -1.265, 7.2274, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65cee64fada02c05063eb8c347825a70d09319342f87e5c4bdafb2cb034445b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9f01294a2125db5bc8dc80abc4398af691556f434d2cdf9a7dffee9e8940aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:068c0c8050ed58c985200e0266a9a4e8e32a27c0b295137b5b51084ce174efae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wYKEAgRGAI4AUIIdGhpbmtpbmcSDIHEyWnsUwG1XcC/BRoMxz/RlL6Byl3n0sXyIjBP8ENxX103LYkyThdq04r0EVZqO9rDX565O/BfNmREMP29yHKpHT8NCkAi8OeOaYUqhAaA+sMKQmzUFK6gTwoAhy6EMxMa2+BYLy8u/NvizrvtNi4ruAaMY725Zbrh4fZdk7k3fCQ8K7UiklST0l+b5XabRgKwJwO/S4ODIUgFN8A8MRlplKT7nuvCp9HPqUzPNBQD+0/C54f4tMtmy6leXnnaJGSaNUjllKLTvY7B9ly+0lUe0eYbeiR5cN/Xl3aPAkLLW7SdooAY+Xj35MJLFadgNWv2nE1dZ5atPLjMYxrparSQlcjhZgS0ASqSmSLAJhDvPnboulSCeHOE5DbcZP+JzcXz9sBfJhAqWTK2TGWRgkTqmcfJ7liX+i0fa3/8JOUW0I7rXbS60rAM41qgG6vziQRE62iDJRT4Lf7oO2dDew2ais/lMJOEJS3TMz7UHKKGVznnSjwvenlM/Bl6lnVUnkL9GkBDvgGj3PVl3ZpM/KM0sQcVeTqHWavT8E18EfQZ91kh5+vHrKJIac3dxSqz9Pr5VNSNA6LvwgRsLY/GEpG1LIklOFpZzCzdD0/M7zMXHEwyr+2j3pT6ftR1TVdkqiZ36TX+XAIQmyIAd+muDNUMe4JkTbe53mhN2D2gWrVtXadBCpeWYGhIZiyTQJMG141JACSDMlyVI9JogZSx5P7cpw63k1ULi6WeNStFPqBfy0N6JrcDMpckKF0BM+iwu8unDW3+KsYymoIb67UA7n69JmKhYcD3MFNELxzkCyJXBNry2OldVJ+3nu5BqG28R7ESi8qWikjGaX0DcNaFBsGWRGh/ujN3hOBNl9hqZb9VeMQYocFoQpyBWMaYh+pINfQfDouhoDc0B/PSFPSYZK7atYoKtxTTDnXsJWC8XkhhbAE7kkFFeLA3359/w7xNRek7ytqtTzM8yvkJAaFSwF/IGtKPai9NZDkYbbpLYVZhCPWc49qbKpvMHXEIt2ZBvu4jZenycdptP40ejNUbSsTKbDZhh9FE41+GRvgIlGYxPrHvrX2WczoKkkxqnMC5Irm7hPUvNCmGPwEDy3MyLCbaxuv9O9+3+OBtDnB6vXqSpxmZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BqtLbMNWD6N7bpkaH2TnxM",
      "input": {
        "note": "The bottle body fills the wrist view between the jaw wedges. Closing the left gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BqtLbMNWD6N7bpkaH2TnxM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5838, 1.7775, 0.8925, 0.1448, -0.5533, -0.3351, 0.0123, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.1613 left_z=0.0703 left_yaw=0.036 left_pitch=-0.0514 left_roll=0.108 left_gripper=0.0123 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.9504, 8.9094, 1.6874, -0.2125, 0.1392, 1.0623, -0.294, -1.3197, 7.2957, 1.7167, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23fadff1d3568f573ddd46e95dd3051015b4f77573e14b6e3c6a4a6a2cabcecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfcf4fc745c75c682595dd63cca16db3a280e255ab561f0550d834c1ce036c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c062c903943bec71545daedcf9385c929d4f0ba579eec5260f3647fdd341cb75",
        "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 · 5.111 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]: [-0.6136, 1.7061, 0.8738, 0.0692, -0.5491, -0.3752, 0.9996, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1661 left_z=0.0803 left_yaw=0.0252 left_pitch=-0.0693 left_roll=0.0866 left_gripper=0.9996 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.665, 9.265, 1.6142, -0.1197, 0.2076, -0.0171, -0.2667, -1.4701, 7.0222, 1.7607, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5919, 1.7573, 0.8852, 0.1295, -0.5499, -0.3473, 0.9996, -0.0147, 0.8051, 0.6075, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.1632 left_z=0.0734 left_yaw=0.0319 left_pitch=-0.0539 left_roll=0.0975 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1436, 9.4564, 1.7949, -0.2759, 0.2564, -0.0171, -0.3077, -1.265, 7.2274, 1.707, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.5838, 1.7775, 0.8925, 0.1448, -0.5533, -0.3351, 0.0123, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.1613 left_z=0.0703 left_yaw=0.036 left_pitch=-0.0514 left_roll=0.108 left_gripper=0.0123 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.9504, 8.9094, 1.6874, -0.2125, 0.1392, 1.0623, -0.294, -1.3197, 7.2957, 1.7167, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23fadff1d3568f573ddd46e95dd3051015b4f77573e14b6e3c6a4a6a2cabcecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfcf4fc745c75c682595dd63cca16db3a280e255ab561f0550d834c1ce036c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c062c903943bec71545daedcf9385c929d4f0ba579eec5260f3647fdd341cb75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAgKEAgRGAI4AUIIdGhpbmtpbmcSDErB52oTc1YT8DBuGRoMQIkZ64Tay9lUn35LIjCsM24XA4HzMHJdEZDhQNgUtbDCJg1uOJfrwWpKI4JEo2oTv3I5Atu5cHa4F4LJYh8qxQeUwTCAXumywAqd0jjzdMJmhOasRPwJIIjJXrIIrDccj/9kqgEXqjsw29Xri0QaOTz7Eq9gwLDyYnpxWZZL0Dh1UnP91ndVJaHbVdG0w2ooZhPeky0dB85gjvjjiS81cgHgPeR3+YpmpRakOXc7lHDClgR/ozBzTlq6Fbx3ba8DZM06fzjqQqm9l7UdH2PfwMb+BI5LHHBtHxY7RbsDRktNLxv2cqq3FOtCJt/idMASfwKiEQqay60KitM1XO8IDNdASbyDU/9ZVebIjvbSnDqaIBxBqDFwZXAA90XZa9PVCeCm+mY+nfsVdKIWH7zL7kyFTOEaO1B4XpOSaKBNFmuCOVpRWwEqstn+XgzqdZ4hrxceSql89seTJizhZlSG0aZjICH6Q5hrqzQcHiqW1QHJIqMuu+AzhKXcsCdfaY/jlik8xY95KCKMXWn1wALCpJbndPzWt41hHeJxuZjBFvHMapjlKBxInUZkLZXehSbjD0nPXFGwKQXHLVGc516s5XDmNE9ofDfEJYCrLCyd4NP7Daye+aQMVhiMFSgX+iSgqYUo5c1vYc5b4cVbyD50xO9HFhmU5NSzRlUK/9dtvyaMVi+vL/S/gXP8VX7fgiyErI8Cg09hBUSW9LiS5lQBmSP5DtaPdK18CdgVAER0hr3QHbPsZmXOg384dEEF89Z1rooXuTbKiuIymDBpFl0S3jEgb6Ti/8byCv/lPIU+gaBg1vG0KCvjC6Z1vVF/Ao8PHwt4nyOBdIJfKwXPxt+alBpDZyOJaVmmEtlHU17Ujxn2OTcdUexyfTkKZIsdAyTTs/pWhnHnN1TSvo7WIYuaZK+pJONuXbSCKlwx+oE8PBPIi2ycOaFNo25t7byLqlYXLR2n0BGlY+ou4INkzXahEq79ocoyL35o864i16hlVlYUay7uIjpAsJca8qiq5Y9NpPAz/g0fWKSIxk6c4T4pfhxKvng0cAwL/jPl487ikHu4XrqTFmdaA65Lg2wGvQJ1ehtuZzBTO4QFNIK0Pfq9rvT9mWOHQrpGvhpJfxzhTPT2nQVRcmrjpgok7yQM5pmOHElvJjzucLieOrMTUb1xMnLI9E5FMnL89I7n054H9zgcqfRvB05TR/wMLMCenfoXxV/csFJueAbkh7L69UD2ll+2VDb4cLVn6mCZpTe3PpELD3/VrE5leNR6P+HZif/uyC4TOXWv3m/8eVmePwy7+xtNzmtOUsDyxIoKn4WIRPQzYzllCcie+2HNEL2soOKxmQKOvGTdQvg1C0Q6ZnzVLotgm91oExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KZ52TXzmrjV88MdxTq93Ki",
      "input": {
        "note": "Empty close (reading 0.012): the bottle is still just beyond the fingertips. Opening and advancing another ~4 cm before retrying.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.47,
          "left_y": -0.165,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KZ52TXzmrjV88MdxTq93Ki",
      "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]: [-0.522, 1.8755, 1.0328, 0.1268, -0.5453, -0.3027, 0.9954, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1538 left_z=0.0759 left_yaw=0.0738 left_pitch=-0.0365 left_roll=0.1163 left_gripper=0.9954 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.7726, 9.1556, 1.8291, -0.0904, 0.3297, -0.1929, -0.2393, -1.1692, 7.0496, 1.707, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c537e510c0dba15afa0fa863f02271e7258f3da5c98f569d07aadc533b5fb16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8688ea5928e89f7eaf3061e554270151dfb223d0dffd5e4c8b3ab109d2b8980c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8fbb40e81a4359da0457d9cebf00bfb14067072e845678b182539675f434e80",
        "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 · 29.86 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]: [-0.5919, 1.7573, 0.8852, 0.1295, -0.5499, -0.3473, 0.9996, -0.0147, 0.8051, 0.6075, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.1632 left_z=0.0734 left_yaw=0.0319 left_pitch=-0.0539 left_roll=0.0975 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1436, 9.4564, 1.7949, -0.2759, 0.2564, -0.0171, -0.3077, -1.265, 7.2274, 1.707, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.5838, 1.7775, 0.8925, 0.1448, -0.5533, -0.3351, 0.0123, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.1613 left_z=0.0703 left_yaw=0.036 left_pitch=-0.0514 left_roll=0.108 left_gripper=0.0123 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.9504, 8.9094, 1.6874, -0.2125, 0.1392, 1.0623, -0.294, -1.3197, 7.2957, 1.7167, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.522, 1.8755, 1.0328, 0.1268, -0.5453, -0.3027, 0.9954, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1538 left_z=0.0759 left_yaw=0.0738 left_pitch=-0.0365 left_roll=0.1163 left_gripper=0.9954 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.7726, 9.1556, 1.8291, -0.0904, 0.3297, -0.1929, -0.2393, -1.1692, 7.0496, 1.707, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c537e510c0dba15afa0fa863f02271e7258f3da5c98f569d07aadc533b5fb16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8688ea5928e89f7eaf3061e554270151dfb223d0dffd5e4c8b3ab109d2b8980c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fbb40e81a4359da0457d9cebf00bfb14067072e845678b182539675f434e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QYKEAgRGAI4AUIIdGhpbmtpbmcSDC14t7Kj/LcBsgPN5hoMFelIWiNuhQJfGEYdIjC/xh+uNR4dCc0y536cIyTzPMdv3AjWTeUknyyUw8R3LfsMJLvYp+g19/E/KO/E9AAqmgaGjfY1MF0GuJ5aMo4j1hoza2P4hCAIMc7BAtN8laN2r5c7k1Qv4MSdZ8TXGoc0VoX2ymWT3zaZfGuz88pm+woQDC5LBTHCP3/FMhvBDo4bSjKY9mviKMhrZ8qhNvWdeCVQGfvdPGbauWIjyUz7ZebSmws71MLv+IXIeyhAVyNyoPaIHNOyf48FmuNT9V/1XArd9CMnHxNyNTDbvaLm9ESmwMb3sW8YPGK9lZEgi0n7tcvcFskxvIdofeVIeAGRkuLVXuAtJEQ67Uwglxt2acUMXiAN1mG8XeECn7/f8pV9/n55U9tgZeU7mKU8r3Js/0ZgVIcffZeG71mGKNX8lSjsbIVBcol7R9jG5r5ywGebLu9QEZXV1FK/fjaQgSdlE99DNwEztHuGYN6sbuL8n0d1d8dKGFKqDWEPnJduHsUMewOVCBpgrI5bWsKDtmB+JbXQt2ky6UyAtEf0afw0ugnu4LkGEzfHavBzjHBEFbonj7ixcIDTDdylxnlKAGEIYkDhDDX2DcZ/3gcv2nHpPFAIFnv47NKmNeoP8pdpjyYGtzK3H+ty0ZLllxgohH3BS0xhFjC9YPtj+LV0FODcj2zMJ9luB0UkBLTk4vfbq4URWLjtNFEzYX9BsQx+jEi+VKgS4fWe75WrAhQazZ7WmMT/7irwYN42cEMgjZp4yyuxn6auJs4Og2q2/ZRUZ7rvHUDj3xfugwsE9P5J0FXG+h7q6sxDGjfMxnCdJXWWx4idhGFKpl8sKOZRYP5ZEDrBe+9r8rtuRHPh491cQH3SKYdFSTUOnHwDLbsliNfaGVNnosHWwziP4moz29wYDGv+zcdzs15VdfbqhZFUuCqmkxPP7JbpdgcOSXDLm+K4poEMxtUAcj+k/n7fNiRLxeCEugO0GCd0y4qYxYebfhlOpI+WBwmeP+Jdt3JNbf34IyR3qq1tnCU70qVegUOUtpRJmViOOOAi7Kn4i2mPxvVChASHJyyuW/Sx/wIZVcRtzuskTKDU1VEyy6Ely6OL3h0KctDqbbOJ3dd4zL7NKbihTF927HCLxKQ2WDBGPhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0123wgqSdSAfPN4BHGbSEnY7",
      "input": {
        "note": "Bottle body now sits deep between the open jaws in the wrist view. Closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0123wgqSdSAfPN4BHGbSEnY7",
      "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]: [-0.5213, 1.8778, 1.0336, 0.12, -0.5457, -0.3134, 0.0126, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.153 left_z=0.0741 left_yaw=0.0807 left_pitch=-0.0426 left_roll=0.1124 left_gripper=0.0126 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6205, 5.9419, 1.5946, -0.2222, 0.0708, 0.9695, -0.3761, -1.2923, 7.2274, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9bd8f1b0c4aae5af557f97caba57baed3384f8f2fce63db065009a9d9f64f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4f173acf719d8eb9e3886c2f74c63e817774c0be9be6e711ddf0044fee251a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f7abbace6981711d4ef3387023bf5e6b4ad38473ff7b3fec309d9b6028f691f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 20.62 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]: [-0.5838, 1.7775, 0.8925, 0.1448, -0.5533, -0.3351, 0.0123, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.1613 left_z=0.0703 left_yaw=0.036 left_pitch=-0.0514 left_roll=0.108 left_gripper=0.0123 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.9504, 8.9094, 1.6874, -0.2125, 0.1392, 1.0623, -0.294, -1.3197, 7.2957, 1.7167, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.522, 1.8755, 1.0328, 0.1268, -0.5453, -0.3027, 0.9954, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1538 left_z=0.0759 left_yaw=0.0738 left_pitch=-0.0365 left_roll=0.1163 left_gripper=0.9954 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.7726, 9.1556, 1.8291, -0.0904, 0.3297, -0.1929, -0.2393, -1.1692, 7.0496, 1.707, -0.0122, -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 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]: [-0.5213, 1.8778, 1.0336, 0.12, -0.5457, -0.3134, 0.0126, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.153 left_z=0.0741 left_yaw=0.0807 left_pitch=-0.0426 left_roll=0.1124 left_gripper=0.0126 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6205, 5.9419, 1.5946, -0.2222, 0.0708, 0.9695, -0.3761, -1.2923, 7.2274, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9bd8f1b0c4aae5af557f97caba57baed3384f8f2fce63db065009a9d9f64f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4f173acf719d8eb9e3886c2f74c63e817774c0be9be6e711ddf0044fee251a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7abbace6981711d4ef3387023bf5e6b4ad38473ff7b3fec309d9b6028f691f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HVqmQ6vuR3jtXpjCVora9g",
      "input": {
        "note": "Empty again: the top view shows I pushed the left bottle forward ~10 cm toward the cups instead of straddling it. Opening and rising above it to re-locate the bottle top from the wrist camera and grasp from above.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.46,
          "left_y": -0.16,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01HVqmQ6vuR3jtXpjCVora9g",
      "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]: [-0.5201, 1.7245, 1.4776, -0.4652, -0.5148, -0.3965, 0.9955, -0.0147, 0.8051, 0.6075, -0.3927, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4634 left_y=-0.1611 left_z=0.2251 left_yaw=0.1019 left_pitch=-0.0409 left_roll=0.0203 left_gripper=0.9955 right_x=0.2942 right_y=0.0015 right_z=0.1759 right_yaw=0.0012 right_pitch=-0.0259 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.0684, 9.4017, 1.5507, -0.1148, 0.2076, -0.1978, -0.212, -1.1009, 7.0496, 1.7118, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d475ab3189d0908900c3fc3c6915474b4dad523a5a780685e8ac01527f37477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19540abd14ebf8ee1368c7013c4d6bac24fb7499d4867fefc03eea8e3904bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4653a331e36ba3bc9178b58c4f96325f7a85b243aee348e43448b433ef437f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 8.45 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]: [-0.522, 1.8755, 1.0328, 0.1268, -0.5453, -0.3027, 0.9954, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1538 left_z=0.0759 left_yaw=0.0738 left_pitch=-0.0365 left_roll=0.1163 left_gripper=0.9954 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.7726, 9.1556, 1.8291, -0.0904, 0.3297, -0.1929, -0.2393, -1.1692, 7.0496, 1.707, -0.0122, -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 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]: [-0.5213, 1.8778, 1.0336, 0.12, -0.5457, -0.3134, 0.0126, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.153 left_z=0.0741 left_yaw=0.0807 left_pitch=-0.0426 left_roll=0.1124 left_gripper=0.0126 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6205, 5.9419, 1.5946, -0.2222, 0.0708, 0.9695, -0.3761, -1.2923, 7.2274, 1.7265, -0.0366, -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 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]: [-0.5201, 1.7245, 1.4776, -0.4652, -0.5148, -0.3965, 0.9955, -0.0147, 0.8051, 0.6075, -0.3927, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4634 left_y=-0.1611 left_z=0.2251 left_yaw=0.1019 left_pitch=-0.0409 left_roll=0.0203 left_gripper=0.9955 right_x=0.2942 right_y=0.0015 right_z=0.1759 right_yaw=0.0012 right_pitch=-0.0259 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.0684, 9.4017, 1.5507, -0.1148, 0.2076, -0.1978, -0.212, -1.1009, 7.0496, 1.7118, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d475ab3189d0908900c3fc3c6915474b4dad523a5a780685e8ac01527f37477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19540abd14ebf8ee1368c7013c4d6bac24fb7499d4867fefc03eea8e3904bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4653a331e36ba3bc9178b58c4f96325f7a85b243aee348e43448b433ef437f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T9vGf8xCxEFNWsDV3bDHvg",
      "input": {
        "note": "From above I see the jug's neck ahead of the fingertips, near the reach limit. Pitching the tool forward and moving out to hover over the neck so I can grasp it there for pouring.",
        "targets": {
          "left_pitch": 0.5,
          "left_roll": 0.0,
          "left_x": 0.5,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01T9vGf8xCxEFNWsDV3bDHvg",
      "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]: [-0.4957, 1.7557, 1.0607, 0.5461, -0.5224, -0.0933, 0.9968, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1648 left_z=0.2278 left_yaw=0.0239 left_pitch=0.4352 left_roll=0.0042 left_gripper=0.9968 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.4718, 6.4479, 2.0195, 0.1392, 0.1636, 0.1148, -0.2256, -1.3333, 7.0222, 1.7411, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e74ee807bdef44e84b47f39729ff936e32ff92ac448a91f62b55e0426ed46407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499629a662a81a651d5dc0ac24123854e062fd30e8875a439dcb3d1377265874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae913ca72410adc56164856ffe99be04c3e4057951a735df5b2b9fe731957ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.234 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]: [-0.5213, 1.8778, 1.0336, 0.12, -0.5457, -0.3134, 0.0126, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.153 left_z=0.0741 left_yaw=0.0807 left_pitch=-0.0426 left_roll=0.1124 left_gripper=0.0126 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0006 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6205, 5.9419, 1.5946, -0.2222, 0.0708, 0.9695, -0.3761, -1.2923, 7.2274, 1.7265, -0.0366, -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 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]: [-0.5201, 1.7245, 1.4776, -0.4652, -0.5148, -0.3965, 0.9955, -0.0147, 0.8051, 0.6075, -0.3927, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4634 left_y=-0.1611 left_z=0.2251 left_yaw=0.1019 left_pitch=-0.0409 left_roll=0.0203 left_gripper=0.9955 right_x=0.2942 right_y=0.0015 right_z=0.1759 right_yaw=0.0012 right_pitch=-0.0259 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.0684, 9.4017, 1.5507, -0.1148, 0.2076, -0.1978, -0.212, -1.1009, 7.0496, 1.7118, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.4957, 1.7557, 1.0607, 0.5461, -0.5224, -0.0933, 0.9968, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1648 left_z=0.2278 left_yaw=0.0239 left_pitch=0.4352 left_roll=0.0042 left_gripper=0.9968 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.4718, 6.4479, 2.0195, 0.1392, 0.1636, 0.1148, -0.2256, -1.3333, 7.0222, 1.7411, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e74ee807bdef44e84b47f39729ff936e32ff92ac448a91f62b55e0426ed46407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499629a662a81a651d5dc0ac24123854e062fd30e8875a439dcb3d1377265874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae913ca72410adc56164856ffe99be04c3e4057951a735df5b2b9fe731957ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgRGAI4AUIIdGhpbmtpbmcSDPijGGkJAVpCcwoI6xoML2FVhbilE65/i3QJIjBSaq0TxV1rNrKlnOkPiDxT+pW0SAwQdDHglsVLnn43KVENy3FrRKLOLvBooOKQpKsqkwl1LiM779ZZN4owjcH8Er5T9qoSJUIybbSQlSLUe3+IaXO+McyyqDmwuJUrEVWsO5FDsxK9/JzjzoYJ2ki4XrV1CFnaECH0pAu8xZNL4+hsHfwEOgg953dO6Uf+qKOWbw4Z/JWsVoz6AOFFEV19+Z2q1FllJySS0noQDL/yJiDxhsS55UXy8RTS2g/L0E7EoQgmq1T8GLHAOd/MBfanzXjOazJg7DlUao7hzIa0U31/cGAIzYd6LYNdftV/6hcCPRXSfWWiV6v2TjWELd5mcbPciyrMuMxkp9Id4id8e/nLl4dD/uVhkbt/HR0Bit7Xfqz/0AyGtNtgvnp5mLF6Vy0pdBBi7HHdOFaKjEVq8h/ncNbaTMcPQrH3bobqr6RRO0qTJm43S6hKtOLud1RVIeg52Wfur0HOf7uW3aolvVl8Gionko14Hm3RcSXXy9t8XynneubjDouKPzGr+B2BY3nq8Sx+e9uIc0kSmdX7TEWHkGgMJRnUF3Oi4KpOQv0hntoyGFTEtM3wvcby0rkI4z5QNHKf81T3exQ1OdUK1zrdwC+zOW78NoFDpP8s+8hsDVOzt3jUw0+XKPMJVDpzIDLfB10m0cnP77npN8PYtMyFGhduFhDj3JhWZ89wn/JCVOBNmYoyfuo1ej6tte5/5qI/V5qqa3kfdVXcoDJCWf4+ZUJHG2W4IzI2imlgcUarqSsFrispqhrG4IxHBTsOdJhsaKeyP32fuUnmahVL+DnyNk8zETBdy3P/hV6AAZbUN6utAPWii4Coxn5Q8SidqcrHOhDEleIOM1glP9LVxERQ/waOcF85GF3IWzUZadw7MztcCCA5QZr4BPqUVGtyk/gZ9SYX3wQYX/02fQgAJABcgZPqWrtxbk5ifREvugwWci8E5GgdnXkoGneZz/Xa3U4IjPkAz13CSHhjXySEtrfJvW2zMMLx8ToYQElZjtxZ22WwR6SCP5pEBu1MF9i9cfiS4i5F+5yBlvK1Be043KggpahCZG41EQqHAY5FdDyxCP4sKWKUR9dexAi11qLMVvrr9rAKQ1Pir6lJrZHgreyDDZWdZL4g+rE0WoQFdp3U55KuXCJv4U622+5/2i44jsf6U2197pDlXnwEXsqAOmKdc0B8xk8GMWeeT5RELPEoP14YW8M68kTt2SkVMTzIIWnYsfFdjKRvLL62o6LwZeNQ3ttQErC5I4K2xTMlXG068HcKzj8+mUuRNJx/zWnK6gsS3MMqT1L47SvYcYOulMmznvjeuLh4OmXYjH9vLjrFLPr1YV0WOvQXzi9/APoi+moiO3l+cAbUw+oEO4mayxZxuiDXMy/mVSEQeWkdxj7v1o9RxDlos1jZZlflniHXnieJY+18A6d50oIgjuCrmEMAr4+DNvSCSL8RDpLINz8IiiGFT0fgQ8YAk3NiqdIPVKGn6cYGhUA/dgYLJ3uGz8Uc+runR/cdEU+VDf2t+yXBCkuV6pCGli6vzDYdldxLkdk2fGIqneoGjGsnUJEsUUk4Y8RCu1hWmGDoyS/876uXrzYci8U0BO+tejd649T+m9oBQq+NGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017hLKygwaviwtGqx1CXcnG8",
      "input": {
        "note": "The jug's neck opening is right on the jaw column just ahead of the fingertips. Descending ~6 cm so the open jaws straddle the neck below the rim.",
        "targets": {
          "left_pitch": 0.5,
          "left_x": 0.51,
          "left_y": -0.165,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017hLKygwaviwtGqx1CXcnG8",
      "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]: [-0.4873, 1.9625, 0.9668, 0.8215, -0.519, -0.0734, 0.9968, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5064 left_y=-0.1651 left_z=0.1446 left_yaw=0.012 left_pitch=0.4127 left_roll=0.0387 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7692, 6.0513, 2.4249, 0.0122, 0.1685, -0.0024, -0.1436, -1.3197, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0535db7bd87a2d45e9c30774d78ba98cc5508b63fad79ca209a5bce7dc1d6ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bf338885407146164b1b60b9b6848cb1316c916ac04f10ba1c7c5bb7ef1327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fef8d3624ded24bcb2bb3805964abd4a01c2817cd72f0e872f6324133661d01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 7.272 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]: [-0.5201, 1.7245, 1.4776, -0.4652, -0.5148, -0.3965, 0.9955, -0.0147, 0.8051, 0.6075, -0.3927, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4634 left_y=-0.1611 left_z=0.2251 left_yaw=0.1019 left_pitch=-0.0409 left_roll=0.0203 left_gripper=0.9955 right_x=0.2942 right_y=0.0015 right_z=0.1759 right_yaw=0.0012 right_pitch=-0.0259 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.0684, 9.4017, 1.5507, -0.1148, 0.2076, -0.1978, -0.212, -1.1009, 7.0496, 1.7118, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.4957, 1.7557, 1.0607, 0.5461, -0.5224, -0.0933, 0.9968, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1648 left_z=0.2278 left_yaw=0.0239 left_pitch=0.4352 left_roll=0.0042 left_gripper=0.9968 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.4718, 6.4479, 2.0195, 0.1392, 0.1636, 0.1148, -0.2256, -1.3333, 7.0222, 1.7411, -0.0415, -0.022, -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 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]: [-0.4873, 1.9625, 0.9668, 0.8215, -0.519, -0.0734, 0.9968, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5064 left_y=-0.1651 left_z=0.1446 left_yaw=0.012 left_pitch=0.4127 left_roll=0.0387 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7692, 6.0513, 2.4249, 0.0122, 0.1685, -0.0024, -0.1436, -1.3197, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0535db7bd87a2d45e9c30774d78ba98cc5508b63fad79ca209a5bce7dc1d6ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bf338885407146164b1b60b9b6848cb1316c916ac04f10ba1c7c5bb7ef1327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fef8d3624ded24bcb2bb3805964abd4a01c2817cd72f0e872f6324133661d01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQgKEAgRGAI4AUIIdGhpbmtpbmcSDBolhysm1HnspxK1whoMv0VZmjhgLhSY9GLfIjCLEssnwPqzeLV0+ma13ZlMR1bFW0Hj2zGL4TKHcBslV7zoKhoQY5kTXbXkqZD7X78qtgfoF7qRdsqb+nm6Px7e9+f4vCaGihhxuXV3CkjiEKtFurUXrs6mv8Nmz/RAd1AOIp89u3wUFruZu/R8v1ysXQHp/RqPHJAwB2SphnrGCksVTJ6KSmQllDKIxMPLPn1xhC4mMkmx4tQH2mMWRyPKoxg9il+BmVzN0r56t4NvwMvF/8lHNBerBvgJbS2B8sPyM8xKziaQCf4ws4Tn+P9Z5qs3CFrV77a0y+OP5rh824h3qju5G36ypmcQ92VAy9AlxjTHTSIqdswGoMjXFSXXsFfNOLst4oZhQZNd3Ki30xmQjG4BlNPxYR7Y8HyCqb+m0e68fXpkamWaSWhsFUI74ofjgcbAj3zB1zfp5XcwKxl9ERFa8F2Qm8+G+peYu3JtrB/yh9B2J8JnR1LgaXcaydxiUUjMVYtOB7pouAVo/NS9rH6WrRsWAP0Has96Cua6ru87fclwamg+G7WNLTdzGXmtFKO2TYAWeapQPhmyLO+mvEgo9qZiyk/6oeKRC8HHIYbLPUkZKKM3lWHSz9SPFk1g1OfubeuJs1MbMXdpBl+WwmVWtMw7ItB4U7l7Xya6UUUEKS96uXmOV/5VkIl88mN/aTY3gnGpL2opum+4lE5cHESAwXgWMBH6G0uvN2N7zRHeNtGwh2gH7E9h/tvLwjwYiBq1tiB5W3dv5S1AkdgQuv2zbyxk59DewPhGYIepW14CEQSTFaQAivdk/lczXfEjF7XyehcCINZhIQi23EhNxTNuRS97HRqQmSu1J+KILinDxISeTv2voxzRYmvId3/PC29RvoqjZeI+0sjVsNEX5XSKccn/tI6j+O8jbAsNDmE8rdLjIUHHZCr360ZpvFhunIzbynBl/npOrKLl3LHd92UuB5sMRAdNgB45wJn5qBQgoIRLhfFzsk/4me8gy7Ntx+5o8dUhxbBIsDFcpgn77flN+P61qMxMfYw4Pvx81XSRe8T1YpUziy4Vk2W1SWILFkXTYNiazLZZz/PP0f+E4q60l1TFC9YZxg7KhvhBVuiizaiy08467j8Me7Ztx3/1o9atsiUYiyCGldgch/fLHbF7jRgmxATjmYKpAq4tWUxvXSGrJj1BOjd4EN3i87y93kKuvdTi18eY6C1ZDfRArzHSAEe9EdCCtNexCz6Rj0fXwA6bDpWTdnzoJFCjo92DOyk6JKaGBgxamdCrJyCnQgHhHJX66erIeTalBBb3E1sh4YdqssK8GJTnDtAueZkWJnS2NVnNrZqba4m7xAfYm+TZUZ+nixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HqwFouBvDkJvzvdCVyZqLv",
      "input": {
        "note": "The wrist camera is now filled by the jug's white body, consistent with the jaws straddling the neck. Closing the gripper on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HqwFouBvDkJvzvdCVyZqLv",
      "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]: [-0.4828, 1.9766, 0.9657, 0.9287, -0.5194, -0.0597, 0.2491, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5102 left_y=-0.1643 left_z=0.1608 left_yaw=0.0304 left_pitch=0.4929 left_roll=0.0044 left_gripper=0.2491 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.5778, 5.6684, 1.7949, 0.0171, -0.0317, 1.033, -0.3624, -1.265, 7.1179, 1.7411, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808a8a1ee23a4cf8e2d6eaf572161fa0f187795c4d53ec10253c1ed4268f5bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc16e11067deae2f5773aeaa5e0c7290b35462c147939bf360f800e5033f209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7a5606f113c97f8adafde61b7826c8595400f500389a35f39b353aa5f0425fd",
        "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 · 11.91 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]: [-0.4957, 1.7557, 1.0607, 0.5461, -0.5224, -0.0933, 0.9968, -0.0147, 0.8051, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1648 left_z=0.2278 left_yaw=0.0239 left_pitch=0.4352 left_roll=0.0042 left_gripper=0.9968 right_x=0.2942 right_y=0.0014 right_z=0.1759 right_yaw=0.0009 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.4718, 6.4479, 2.0195, 0.1392, 0.1636, 0.1148, -0.2256, -1.3333, 7.0222, 1.7411, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4873, 1.9625, 0.9668, 0.8215, -0.519, -0.0734, 0.9968, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5064 left_y=-0.1651 left_z=0.1446 left_yaw=0.012 left_pitch=0.4127 left_roll=0.0387 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7692, 6.0513, 2.4249, 0.0122, 0.1685, -0.0024, -0.1436, -1.3197, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4828, 1.9766, 0.9657, 0.9287, -0.5194, -0.0597, 0.2491, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5102 left_y=-0.1643 left_z=0.1608 left_yaw=0.0304 left_pitch=0.4929 left_roll=0.0044 left_gripper=0.2491 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.5778, 5.6684, 1.7949, 0.0171, -0.0317, 1.033, -0.3624, -1.265, 7.1179, 1.7411, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808a8a1ee23a4cf8e2d6eaf572161fa0f187795c4d53ec10253c1ed4268f5bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc16e11067deae2f5773aeaa5e0c7290b35462c147939bf360f800e5033f209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a5606f113c97f8adafde61b7826c8595400f500389a35f39b353aa5f0425fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgRGAI4AUIIdGhpbmtpbmcSDCkiLKfzpIy/IlDCPxoMDFpG0vn71TGrmaiiIjDKhngzrjdKX0O0rVKxOyecR5YOivgH9Wf4lWCiXwG2rU5dX3v286n4+DHlh6NLR1Mq+QgQ2HPjUQNhFxAW3g/+AH9+6MAgXDBCGiEDz3z1jaG0OaXZbCd62A8z9EVyP0f1OLm1NZytxuDlq2gP8bQtsSuM/yiJE0JO7MmEQBB7Fbx3V1OW+gfurruXjHd5tqrIFOeJ7A+S1C1pV8Y4M0kb3fSx5POqt9ih63J8QRGlAGHoWKmEqhMYCwl5BubOdVYXxNRnaN+MvgwJ9ajl5HiJ2hWApwcEoEHaE+gz3o2HjoOK4cmTAFkJ4GvnMaZeDZjAere/5HPb4ygaSX4V6iPJ7hcO6Nco4p6G0zU0Z6iTmfBS+KZiLRs572WBt7f0rAG5vAqrHvr93IyBQ+nv7UcgZUq9wqRwkxwQo0d0sGyjJVXzZkGiIFWjrgdUKrcgc0fjNZfvG996tY0KSJJW6aEMuSKJQv40ZszZxAagOSi91gyD127vjMicCr8rrRZQCmNW42RleKo+0yj0Ut9/KUMIQOlfGpUizJt4Xkp62sBZPlfvtWxvZR2TRtdyCmIldTU7nTHULwqArODEZ+SE/B5sltJMQ0ru6f2vUEHko4pe1Rk/fNWn7QXOlSj1p3t8KIdI3c5HQjc100ymuANtAZWQhadNu0tJix4p2BSevgE/Y0QOQfEgXTneH9NXNRXge1BgxCa5cIsaywhDCFehgpC4JP9xqLmN2c+D1k8pk+8YE5lcf+37Y7NNLNdGfLo2K9yQAyDomWWm6LF45OCPTUpYzEmHCqkgfHWRulM2jemppWDJGGCZ+4PJ5rlYnNcEAvZYmf2cA9AHN/BvhqCoxG+y2mAkCxKKn4fVqHh+Dx94IIVdnvGZE8inxQoaG9NUoJPzm+8T/TnuuNdFwmWudqlbXtTqntwik/2kUiD/4bKWqEZKr5TeRzefuQC5aYDNNg3mnmoKpdIr/4oUsmQ2qAMi605k4FGFjIXl/Shkxb4ymwMIpaQYEPJbXMTF9KdtYpZy47zn244WIijUNJlu5ac0Irz6jIKFWvp6Zi6FyOjUYpqLm3Rt7ziCobZbavrKA0+UgD88vBKzlS+XhYfW9ELrpaoHEKSPbml4i4jwooK/5UxszBVJPwU5CzvGpfrN5dm00mJlFYivNQ5/X7DoqamiucHQwl6rm6p3pJ3nRqPB/Y02RR7dsrDGpRwWnL64PQBWwTwPJAsCbcpQrgdSEurfkc7HT54JbugZ0EQSqyiLiep/OAnaN5SKVycU77Sae2y1kptnJtDubogrEXi8CBOhnf3TSfWG0A4+O5biwsx+0LJur8oJGfiM4750+fgXUYOrA/K1rK0cJ6sQSdKHJgD19kNDyTDoXhqGR0CTBhbSGAvrg3pHoM+oKVBYhNe6U9Pv4TbbsZv/TzYz26TmuLbJICJmSBBfB/RteZVxHYzTMueZQhsDkxo8lkYFA8tPEVhBusgePC4aEpfoE0i0rFZ6hCGaJP8DBIjN+CH0fEOjJ3zoX412TViWXaVogdm0nepZt5WJs5CMFyEgEoT+74s6MTY4VSeJSNAsPaCtdKygRT6kJp1u+bZZebZP+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E9GCdh8vExMCqmqFHrHGyZ",
      "input": {
        "note": "Gripper settled at 0.25 (~2.4 cm), so something is held — possibly the neck rim or the handle. Lifting 6 cm to verify the jug comes with the jaws.",
        "targets": {
          "left_pitch": 0.5,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01E9GCdh8vExMCqmqFHrHGyZ",
      "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]: [-0.4828, 1.8938, 1.0042, 0.7506, -0.5278, -0.0673, 0.2524, -0.0147, 0.8051, 0.6075, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.162 left_z=0.1792 left_yaw=0.0288 left_pitch=0.4439 left_roll=0.028 left_gripper=0.2524 right_x=0.2943 right_y=0.0015 right_z=0.176 right_yaw=0.0012 right_pitch=-0.0256 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -13.053, 9.2376, 2.0342, 0.0366, 0.0708, 1.033, -0.253, -1.1282, 7.0496, 1.7607, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0158243536c914e13ed6232411bce19a35112f43ba21a23dd6362c48ec7f0948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048c4c0bd89fcc681e160c87204a8588f16831391ec0b2cd90ad1500c91c706b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f1d6e41f995701db403aeda5b78da5f5caa22a3a9cfa84524439e2aee8a5a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 24.08 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]: [-0.4873, 1.9625, 0.9668, 0.8215, -0.519, -0.0734, 0.9968, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5064 left_y=-0.1651 left_z=0.1446 left_yaw=0.012 left_pitch=0.4127 left_roll=0.0387 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7692, 6.0513, 2.4249, 0.0122, 0.1685, -0.0024, -0.1436, -1.3197, 7.0496, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4828, 1.9766, 0.9657, 0.9287, -0.5194, -0.0597, 0.2491, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5102 left_y=-0.1643 left_z=0.1608 left_yaw=0.0304 left_pitch=0.4929 left_roll=0.0044 left_gripper=0.2491 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.5778, 5.6684, 1.7949, 0.0171, -0.0317, 1.033, -0.3624, -1.265, 7.1179, 1.7411, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4828, 1.8938, 1.0042, 0.7506, -0.5278, -0.0673, 0.2524, -0.0147, 0.8051, 0.6075, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.162 left_z=0.1792 left_yaw=0.0288 left_pitch=0.4439 left_roll=0.028 left_gripper=0.2524 right_x=0.2943 right_y=0.0015 right_z=0.176 right_yaw=0.0012 right_pitch=-0.0256 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -13.053, 9.2376, 2.0342, 0.0366, 0.0708, 1.033, -0.253, -1.1282, 7.0496, 1.7607, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0158243536c914e13ed6232411bce19a35112f43ba21a23dd6362c48ec7f0948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048c4c0bd89fcc681e160c87204a8588f16831391ec0b2cd90ad1500c91c706b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1d6e41f995701db403aeda5b78da5f5caa22a3a9cfa84524439e2aee8a5a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BdrinJ5pYYKKa3ruJ5fzRM",
      "input": {
        "note": "Lift fell short (z 0.18) and the top view is ambiguous about whether the jug is rising. Pulling back and up to a more reachable pose to see if the jug comes along.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.47,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BdrinJ5pYYKKa3ruJ5fzRM",
      "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]: [-0.527, 1.6592, 1.0313, 0.4004, -0.5694, -0.1074, 0.2524, -0.0147, 0.8062, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4735 left_y=-0.1612 left_z=0.2305 left_yaw=0.0266 left_pitch=0.3725 left_roll=0.041 left_gripper=0.2524 right_x=0.2943 right_y=0.0014 right_z=0.1756 right_yaw=0.0009 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -10.5504, 10.2769, 1.8877, 0.0122, 0.0269, 1.0232, -0.3624, -1.388, 7.0222, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6c957b8b035666d9144b0481272e4fe091d719cc18c7b53ceb0b5af7da64cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2909f1af7126bf4660a58c114ddf85515d984d969ca27d6abaf76d6f296f7dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33f0e8711c27f84fd119417e6efab8e0e4bec76862940cc92df65dc8ae0b2bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 19.62 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]: [-0.4828, 1.9766, 0.9657, 0.9287, -0.5194, -0.0597, 0.2491, -0.0147, 0.8051, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5102 left_y=-0.1643 left_z=0.1608 left_yaw=0.0304 left_pitch=0.4929 left_roll=0.0044 left_gripper=0.2491 right_x=0.2943 right_y=0.0014 right_z=0.176 right_yaw=0.0009 right_pitch=-0.0256 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.5778, 5.6684, 1.7949, 0.0171, -0.0317, 1.033, -0.3624, -1.265, 7.1179, 1.7411, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4828, 1.8938, 1.0042, 0.7506, -0.5278, -0.0673, 0.2524, -0.0147, 0.8051, 0.6075, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.162 left_z=0.1792 left_yaw=0.0288 left_pitch=0.4439 left_roll=0.028 left_gripper=0.2524 right_x=0.2943 right_y=0.0015 right_z=0.176 right_yaw=0.0012 right_pitch=-0.0256 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -13.053, 9.2376, 2.0342, 0.0366, 0.0708, 1.033, -0.253, -1.1282, 7.0496, 1.7607, -0.0659, -0.0269, -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 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]: [-0.527, 1.6592, 1.0313, 0.4004, -0.5694, -0.1074, 0.2524, -0.0147, 0.8062, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4735 left_y=-0.1612 left_z=0.2305 left_yaw=0.0266 left_pitch=0.3725 left_roll=0.041 left_gripper=0.2524 right_x=0.2943 right_y=0.0014 right_z=0.1756 right_yaw=0.0009 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -10.5504, 10.2769, 1.8877, 0.0122, 0.0269, 1.0232, -0.3624, -1.388, 7.0222, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6c957b8b035666d9144b0481272e4fe091d719cc18c7b53ceb0b5af7da64cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2909f1af7126bf4660a58c114ddf85515d984d969ca27d6abaf76d6f296f7dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f0e8711c27f84fd119417e6efab8e0e4bec76862940cc92df65dc8ae0b2bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZWSsDWHACxajgJXQU1tF4",
      "input": {
        "note": "The jug is confirmed in hand (the wrist view of it is unchanged after moving). Carrying it up and to the right, over the blue cup, to approach the red cup which sits right of the table centre.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.5,
          "left_y": -0.3,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YZWSsDWHACxajgJXQU1tF4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.749, 2.0125, 1.805, -0.1833, -0.7795, -0.2615, 0.2525, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5016 left_y=-0.2919 left_z=0.2845 left_yaw=0.0408 left_pitch=0.2892 left_roll=0.0422 left_gripper=0.2525 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -11.7265, 9.4427, 1.6923, -0.105, 0.149, 0.8669, -0.253, -1.4427, 7.0632, 1.7411, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1b7831a3c725e1f9f3f148b689867f8feaa25243b2691c8fd483fdd181db27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86525019fbe6111f2fcbf06606e119df26e462234b04cf9c1c9e0dc4ac4c0d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd3aa827fd789d6d31d489d061a32411bc04110dc134b50289fcc0f1e8068868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 14.87 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]: [-0.4828, 1.8938, 1.0042, 0.7506, -0.5278, -0.0673, 0.2524, -0.0147, 0.8051, 0.6075, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.162 left_z=0.1792 left_yaw=0.0288 left_pitch=0.4439 left_roll=0.028 left_gripper=0.2524 right_x=0.2943 right_y=0.0015 right_z=0.176 right_yaw=0.0012 right_pitch=-0.0256 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -13.053, 9.2376, 2.0342, 0.0366, 0.0708, 1.033, -0.253, -1.1282, 7.0496, 1.7607, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.527, 1.6592, 1.0313, 0.4004, -0.5694, -0.1074, 0.2524, -0.0147, 0.8062, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4735 left_y=-0.1612 left_z=0.2305 left_yaw=0.0266 left_pitch=0.3725 left_roll=0.041 left_gripper=0.2524 right_x=0.2943 right_y=0.0014 right_z=0.1756 right_yaw=0.0009 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -10.5504, 10.2769, 1.8877, 0.0122, 0.0269, 1.0232, -0.3624, -1.388, 7.0222, 1.7216, -0.0659, -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 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]: [-0.749, 2.0125, 1.805, -0.1833, -0.7795, -0.2615, 0.2525, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5016 left_y=-0.2919 left_z=0.2845 left_yaw=0.0408 left_pitch=0.2892 left_roll=0.0422 left_gripper=0.2525 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -11.7265, 9.4427, 1.6923, -0.105, 0.149, 0.8669, -0.253, -1.4427, 7.0632, 1.7411, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1b7831a3c725e1f9f3f148b689867f8feaa25243b2691c8fd483fdd181db27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86525019fbe6111f2fcbf06606e119df26e462234b04cf9c1c9e0dc4ac4c0d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3aa827fd789d6d31d489d061a32411bc04110dc134b50289fcc0f1e8068868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SZMusiahAa3S7pgMijdWCx",
      "input": {
        "note": "The red cup appears at the bottom-right of the left wrist view, i.e. just right of and slightly behind the fingertips. Moving the held jug ~4 cm right and down so its spout will be just left of and above the cup before tilting.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.49,
          "left_y": -0.33,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SZMusiahAa3S7pgMijdWCx",
      "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]: [-0.8078, 2.0731, 1.7695, -0.1383, -0.812, -0.3103, 0.2547, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4907 left_y=-0.3225 left_z=0.2456 left_yaw=0.0257 left_pitch=0.2649 left_roll=0.0414 left_gripper=0.2547 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0821, 6.735, 2.1221, -0.3053, -0.0269, 0.569, -0.253, -1.2239, 7.0359, 1.7363, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf0883fcd787dfe27b1956755c77ddd4389d359e4d1351c8d2eae8885b332e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb26ca72d9505a29a3cf7a92c49cb13d03d18d7c9146e3ca5abd27f9a6286e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c05456cc0073ce46ede7c71b2e95a59a61e7566a2449bd82b553d886ecc5f950",
        "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 · 9.328 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.527, 1.6592, 1.0313, 0.4004, -0.5694, -0.1074, 0.2524, -0.0147, 0.8062, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4735 left_y=-0.1612 left_z=0.2305 left_yaw=0.0266 left_pitch=0.3725 left_roll=0.041 left_gripper=0.2524 right_x=0.2943 right_y=0.0014 right_z=0.1756 right_yaw=0.0009 right_pitch=-0.0267 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -10.5504, 10.2769, 1.8877, 0.0122, 0.0269, 1.0232, -0.3624, -1.388, 7.0222, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.749, 2.0125, 1.805, -0.1833, -0.7795, -0.2615, 0.2525, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5016 left_y=-0.2919 left_z=0.2845 left_yaw=0.0408 left_pitch=0.2892 left_roll=0.0422 left_gripper=0.2525 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -11.7265, 9.4427, 1.6923, -0.105, 0.149, 0.8669, -0.253, -1.4427, 7.0632, 1.7411, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8078, 2.0731, 1.7695, -0.1383, -0.812, -0.3103, 0.2547, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4907 left_y=-0.3225 left_z=0.2456 left_yaw=0.0257 left_pitch=0.2649 left_roll=0.0414 left_gripper=0.2547 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0821, 6.735, 2.1221, -0.3053, -0.0269, 0.569, -0.253, -1.2239, 7.0359, 1.7363, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf0883fcd787dfe27b1956755c77ddd4389d359e4d1351c8d2eae8885b332e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb26ca72d9505a29a3cf7a92c49cb13d03d18d7c9146e3ca5abd27f9a6286e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05456cc0073ce46ede7c71b2e95a59a61e7566a2449bd82b553d886ecc5f950",
        "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_01NQaczmZmwydWiuiWcftUuW",
      "input": {
        "note": "The red cup is just right of and slightly behind the fingertips; the jug spout is a few cm ahead of the grasp point. Shifting back and right so the spout is over the cup, and starting to roll the jug toward the cup (rightward).",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": -0.7,
          "left_x": 0.44,
          "left_y": -0.34,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NQaczmZmwydWiuiWcftUuW",
      "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]: [-0.8082, 2.0815, 1.7145, -0.1143, -0.7822, -0.3599, 0.2552, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.3255 left_z=0.2202 left_yaw=0.0209 left_pitch=0.2296 left_roll=0.0136 left_gripper=0.2552 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.4872, 7.1179, 1.873, -0.1734, 0.0024, 0.3248, -0.2803, -1.306, 7.2, 1.7167, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeda41544ae1e82762b894d35ebd89b32e2c403e9955912d34740e8e42258e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fdf4dc3126a06dce4a4dbc55f55fd77e6dfe851d4e852df12b71ae8d20c050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f889c9b83cf3f066d67913fcb63ee7d5f92569930526e2242c9ba27b83764dc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.802 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.749, 2.0125, 1.805, -0.1833, -0.7795, -0.2615, 0.2525, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5016 left_y=-0.2919 left_z=0.2845 left_yaw=0.0408 left_pitch=0.2892 left_roll=0.0422 left_gripper=0.2525 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -11.7265, 9.4427, 1.6923, -0.105, 0.149, 0.8669, -0.253, -1.4427, 7.0632, 1.7411, -0.0317, -0.0611, -0.0122]",
      "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]: [-0.8078, 2.0731, 1.7695, -0.1383, -0.812, -0.3103, 0.2547, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4907 left_y=-0.3225 left_z=0.2456 left_yaw=0.0257 left_pitch=0.2649 left_roll=0.0414 left_gripper=0.2547 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0821, 6.735, 2.1221, -0.3053, -0.0269, 0.569, -0.253, -1.2239, 7.0359, 1.7363, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8082, 2.0815, 1.7145, -0.1143, -0.7822, -0.3599, 0.2552, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.3255 left_z=0.2202 left_yaw=0.0209 left_pitch=0.2296 left_roll=0.0136 left_gripper=0.2552 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.4872, 7.1179, 1.873, -0.1734, 0.0024, 0.3248, -0.2803, -1.306, 7.2, 1.7167, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeda41544ae1e82762b894d35ebd89b32e2c403e9955912d34740e8e42258e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fdf4dc3126a06dce4a4dbc55f55fd77e6dfe851d4e852df12b71ae8d20c050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f889c9b83cf3f066d67913fcb63ee7d5f92569930526e2242c9ba27b83764dc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wgKEAgRGAI4AUIIdGhpbmtpbmcSDKZ7S60aTNbIpVWBRRoMwqB4C5rMolihioELIjCSatz81GZt9BoWISsCH/fHcRWAH3ZwjPnwgsagWTXF/HCF1Pbq0RhGj3I0TMvnDy4qiAiRYRFWAnaSkhGnkMoQmJijSR8fEjXTUjTf39mntYvqraRd9DgfYwKpecJ5q5f2N9pJZjqnrME7GZHZ0eiAR/VPlAPF6sjPXtY/oXWIsZZu0G3di4aJXSuNkj26WUWEDG0nlIW4UioQxMMEM2EQ7OWgE7suTBv+U/imY5x20rqKk+HMF4z0AIXOC1Oy6b3Ey2bu8eRVBpZlmUxSJMHSLXR8/7x7xSiZvkScBokJNyDakFb9JICeJ9bu+6uA4uzYReT1SyqhmJGT1WjgWIcn0BlFyx9KWQTnUMXp2Se6s4Q/YHjgRGKT42tgMT4jtbYB/AKwiMTpc9rLBE+OmSZ+WurBkIqQnCT3hkyOmsOwyH4WSYSNRWqb+veYrog/x4jGvZcQUauHZinHaUmo62DXZXa0RECCWoaIchl4G4hHtPKiL4eI/8edAT/thAAT1Un2F0gsAVvwIQ2FN9Oyj2P/k2WtOaebGtB5P5Y1ZeFAoXdOs5zwM9AZNlRXtshNFLHXP4qiy2rZIAAAAYHcQwY9SDUOZSr6EnBnCFGBH+r6Y2f8Wp7eI4uP1S0XoZcTbIN3H+4fa4WRUj8Fkk066Gc9hjt7LceGfJBkgIK1VsUTVdfVrts3KAXBwQan7XkfI9BIvy7EtXBCePSpWtAU16iWh01+t8keaaw6ncD1HzP4MPHPrjCXIyuJk9sQ8ig8rHxM6QW3XuHmSM72tpY37KiNsOkbSH5W7w4Kw04ODzmDfum5CDtMm4D8kP/qepsPmtjm1d62XUIzNDE7do4GOhpni1Ne2ESfGLLaO2pAdS4aHrpoddEGRzF4+9RGJqQjfmkxtmPyYSakNP1qD1CinHB2nGdaAsbyja9cSav62vFJOKNWFM2t77ZmGbgcTsYCNB4tG4l+HJxiXvLPLeENBegWLKqcPy2/cv7uLExtF/1sA8IhisdIx7bHJ+C0wqkiv8DPVdLqbYXT7qDAGmi7ubMy9ahRtiH+lhowdmUmFb5HHwdALwIfYsAlGEVZU4lIS+6kUzHo1duBwxGDl2YJZrC60LAchSP5X3/yDW5Pp2GtlDdhJNU7SIF5ZzDGuvp9ATHRk47op3xWS2knVEkO2XBaBiEfoIllTYAjBuilKQxg5aHCv1FcmuP6z1UdM8/T39WRgy+rw/Bo67M/LDuFoCC04LuYKG20r1cr6vwjWpO19cU9ef0oH1Bea6cA/qbhTVqpqBiy8u+cCKPAqTcCsYDO7LsQicDGAQk35uGkvggiGsQGZR0m1jgB9ndU/FI2KgW0+RkvkT/zKlKPDFjA73OUZkSGOIgQr0q/ladA6s+1u7XQZsdWdbQrywydKsZF24htkFWRQlYb7v98WaFdpP/tR3Lx61IxNCxszXAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVjkjN2vVdF4q1PBEGKeB3",
      "input": {
        "note": "The arm did not track the combined move-and-roll (pose barely changed). Splitting it: first reposition the grasp point back and right without rolling.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.34,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TVjkjN2vVdF4q1PBEGKeB3",
      "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]: [-0.823, 2.0174, 1.5776, -0.0231, -0.7654, -0.411, 0.2573, -0.0147, 0.8104, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4719 left_y=-0.3236 left_z=0.2121 left_yaw=0.0236 left_pitch=0.2359 left_roll=-0.0553 left_gripper=0.2573 right_x=0.2947 right_y=0.0014 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-2.6188, -14.7214, 9.0188, 2.6593, -0.1148, -0.0562, 0.7595, -0.2667, -1.3333, 7.2137, 1.7949, -0.0464, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8389fd0ee2d7e77589c3ed2ec7391054a51f399b0e719aaffc02668ff151f58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b88a86be5e62a31d117b98299d81ba6e8ecd5c897f9741f5f0b34e4aecf47b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07c42c0f3a40dc091d3924737d794eda9296223670c8962ebca2e28cb7ef8274",
        "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 · 18.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8078, 2.0731, 1.7695, -0.1383, -0.812, -0.3103, 0.2547, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4907 left_y=-0.3225 left_z=0.2456 left_yaw=0.0257 left_pitch=0.2649 left_roll=0.0414 left_gripper=0.2547 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -12.0821, 6.735, 2.1221, -0.3053, -0.0269, 0.569, -0.253, -1.2239, 7.0359, 1.7363, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8082, 2.0815, 1.7145, -0.1143, -0.7822, -0.3599, 0.2552, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.3255 left_z=0.2202 left_yaw=0.0209 left_pitch=0.2296 left_roll=0.0136 left_gripper=0.2552 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.4872, 7.1179, 1.873, -0.1734, 0.0024, 0.3248, -0.2803, -1.306, 7.2, 1.7167, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.823, 2.0174, 1.5776, -0.0231, -0.7654, -0.411, 0.2573, -0.0147, 0.8104, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4719 left_y=-0.3236 left_z=0.2121 left_yaw=0.0236 left_pitch=0.2359 left_roll=-0.0553 left_gripper=0.2573 right_x=0.2947 right_y=0.0014 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-2.6188, -14.7214, 9.0188, 2.6593, -0.1148, -0.0562, 0.7595, -0.2667, -1.3333, 7.2137, 1.7949, -0.0464, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8389fd0ee2d7e77589c3ed2ec7391054a51f399b0e719aaffc02668ff151f58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b88a86be5e62a31d117b98299d81ba6e8ecd5c897f9741f5f0b34e4aecf47b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c42c0f3a40dc091d3924737d794eda9296223670c8962ebca2e28cb7ef8274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwgKEAgRGAI4AUIIdGhpbmtpbmcSDE1Ef4m3pCdXeX8BkBoMH07JH0j/um7Oyc7wIjBBVNsEHPx6PbF5+o1EyqVb+v05CqWx6BT6b9gu0j9hudGT9sdjdh8MTBhOCnekeJQq1AcGAu9Zuw1lAkrbU8lb2RthAyLIEUW6Exbs0Wqz/sjgJYR5QA/MQylddhH3ipcaFlDvwT3BxNXLWuGAnzo7ryioLVih6o5Gd1XLHos70DowqGL06FFlgYULZdTPBClQZHwD2qzwDRvbu0xloOQwT/uwxvClTG6mhMzmwBSsLoXHjMdxwekF+QJr1BvSJ4iHmQr8c/MLwooWZTPOSBk3wQkq1FpHi+Lj0Jb3ZGoy1QcsEY0himvmZhmVOPbKmwpvsJnmyIF8hgYcVmnw0rt0JA2G8yg6Gmd/d5yHg0pAwA89tBWNhWWK6Y+jYjn+dRnn08riRctKx1ZH+uycUj0LysxmKJ62ZEDo7Q6pzYisKY7jX0u2rdr5NsegfiaJSNL3bO6F/uw+UoSjk28kwcAsBO31p+vqlCCnCieFxCVpJhS6C44cmMWobT3FSulhIabRiiSZXnK19B5LDNJfxGpNzh2lMCgol+HHgFbOmvCO05cH691L2Qt4ny7rJCplyGZQUwnt63Heo5Pdzh0msfzfIGWaPPjXYe5wGXuTPqdVOiwQxEJT1cSnxX7IFGV0KwBtb9xi5nXCyJ4YnWibWOdDjMdL2O9R4a2OqScnvqb2xuDM9Aenw8qm1tTHCC9zSEIxu6SrCbq4N0N49W2LKmTZGSeINTKq82dfvmXV1F7RzsiAgwgHOnqusozX6LL4UHBvNWf1O6Lhe5gzw+db2vNOC/XKKid6be+D+h+vVaysmhYEs+Iq/9Q41VTjwAXo/NjQEVjB+pe1rl/9f7GNKN3JfWqnbrsHmmdYqhNtdmYyWdSrnz8VXUo9Xk5iW4x25Q3OG/71nyfK5/SKH3/WatQXay5N868WkfCsDyFfimnSpb21Mw3zwbuSHpW2uAIIuhjSZDx1zo0licvSn6hAaonBU+ANQTeBq1qGagxYGCFxJ3g/FKWwDupxo1Hl52c/iIJiq6MCFLyeSPisSrXZb1n8TfO0D9VTHBzcigWp+oFjbP3bslr5OeGvFUxUVOeX4ctOfGkpV6QZg517beEAUJ4hHD00WkfnTIltmjJ482Q9dWS9ZxS1dwa4RFFJqDLcrEkdojJFDea4+w88pLOkiRs2dYKtPfbTyc4+n6G4TA9dM2Whsvs9tKfA9FxlAtvZ9OhhLWGYTy8wEm/mUz40Vfnq1LzOXkBegU4F/Ile9XQ4kgWm2vQbd/FvAtYfn9bYueN098qttzohib3xFW+H2mC4kkZzZL9d1K0uEQ1rOh5vOmS1UHm2KB3UoM6ZlbcO4ziMGRzG73ItRRnR2olsRMeH55KWB1bpPBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SFVQ6rgUZjg4eonHh6cFMW",
      "input": {
        "note": "Arm is lagging the target (still at x 0.47, y −0.32); re-issuing the same pouring-position target to let it converge.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.34,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SFVQ6rgUZjg4eonHh6cFMW",
      "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]: [-0.873, 2.0037, 1.5681, -0.0185, -0.8326, -0.4183, 0.2593, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.3338 left_z=0.2199 left_yaw=0.0348 left_pitch=0.2641 left_roll=-0.0498 left_gripper=0.2593 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-1.5932, -11.0427, 10.6188, 1.7607, -0.2955, 0.3053, 0.4225, -0.1436, -1.2923, 7.0906, 1.7656, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0829d2a984f2405abc47717e31dc02c775f530b7d5b79c3d086a3c3cafba2648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf82d5b71a1c7edd96867817b9844ecb5aaf8ff760778a12c889e731429e5fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb1f0c6eccdf94a683ec17b03f45c70f6d61ae23a1f06ef79fee00e85e7aac30",
        "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 · 8.083 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8082, 2.0815, 1.7145, -0.1143, -0.7822, -0.3599, 0.2552, -0.0147, 0.8082, 0.6075, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.3255 left_z=0.2202 left_yaw=0.0209 left_pitch=0.2296 left_roll=0.0136 left_gripper=0.2552 right_x=0.2944 right_y=0.0014 right_z=0.175 right_yaw=0.0009 right_pitch=-0.029 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.4872, 7.1179, 1.873, -0.1734, 0.0024, 0.3248, -0.2803, -1.306, 7.2, 1.7167, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.823, 2.0174, 1.5776, -0.0231, -0.7654, -0.411, 0.2573, -0.0147, 0.8104, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4719 left_y=-0.3236 left_z=0.2121 left_yaw=0.0236 left_pitch=0.2359 left_roll=-0.0553 left_gripper=0.2573 right_x=0.2947 right_y=0.0014 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-2.6188, -14.7214, 9.0188, 2.6593, -0.1148, -0.0562, 0.7595, -0.2667, -1.3333, 7.2137, 1.7949, -0.0464, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.873, 2.0037, 1.5681, -0.0185, -0.8326, -0.4183, 0.2593, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.3338 left_z=0.2199 left_yaw=0.0348 left_pitch=0.2641 left_roll=-0.0498 left_gripper=0.2593 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-1.5932, -11.0427, 10.6188, 1.7607, -0.2955, 0.3053, 0.4225, -0.1436, -1.2923, 7.0906, 1.7656, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0829d2a984f2405abc47717e31dc02c775f530b7d5b79c3d086a3c3cafba2648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf82d5b71a1c7edd96867817b9844ecb5aaf8ff760778a12c889e731429e5fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1f0c6eccdf94a683ec17b03f45c70f6d61ae23a1f06ef79fee00e85e7aac30",
        "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_01HndPhQ82bNq1dimFZESqtY",
      "input": {
        "note": "Grasp point is now ~4–5 cm left of and above the red cup, with the jug spout ahead of the jaws. Rolling the wrist rightward (−0.8 rad) to start tipping the jug toward the cup.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": -0.8,
          "left_x": 0.45,
          "left_y": -0.34,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HndPhQ82bNq1dimFZESqtY",
      "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]: [-0.8955, 2.0037, 1.5768, -0.041, -0.8764, -0.3847, 0.2611, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.3361 left_z=0.2224 left_yaw=0.0267 left_pitch=0.2714 left_roll=0.0071 left_gripper=0.2611 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.453, 9.9077, 1.6484, -0.2613, 0.2027, 0.1783, -0.1573, -1.1419, 7.1043, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80115ae5bf2050bb20eb64215c2d38327d71f1e818c8e861e641afc976597b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12cc1a9645eb39b9bb599790c781a687358d5c67d381cbdc2b5dfbaa467467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9617af9fd737260eeff0128ddcfb1212b9d7693484697a3cfc7d32ed757eb3a",
        "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 · 21.79 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.823, 2.0174, 1.5776, -0.0231, -0.7654, -0.411, 0.2573, -0.0147, 0.8104, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4719 left_y=-0.3236 left_z=0.2121 left_yaw=0.0236 left_pitch=0.2359 left_roll=-0.0553 left_gripper=0.2573 right_x=0.2947 right_y=0.0014 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-2.6188, -14.7214, 9.0188, 2.6593, -0.1148, -0.0562, 0.7595, -0.2667, -1.3333, 7.2137, 1.7949, -0.0464, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.873, 2.0037, 1.5681, -0.0185, -0.8326, -0.4183, 0.2593, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.3338 left_z=0.2199 left_yaw=0.0348 left_pitch=0.2641 left_roll=-0.0498 left_gripper=0.2593 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-1.5932, -11.0427, 10.6188, 1.7607, -0.2955, 0.3053, 0.4225, -0.1436, -1.2923, 7.0906, 1.7656, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8955, 2.0037, 1.5768, -0.041, -0.8764, -0.3847, 0.2611, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.3361 left_z=0.2224 left_yaw=0.0267 left_pitch=0.2714 left_roll=0.0071 left_gripper=0.2611 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.453, 9.9077, 1.6484, -0.2613, 0.2027, 0.1783, -0.1573, -1.1419, 7.1043, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80115ae5bf2050bb20eb64215c2d38327d71f1e818c8e861e641afc976597b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12cc1a9645eb39b9bb599790c781a687358d5c67d381cbdc2b5dfbaa467467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9617af9fd737260eeff0128ddcfb1212b9d7693484697a3cfc7d32ed757eb3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwoKEAgRGAI4AUIIdGhpbmtpbmcSDCsPMMNfbdfCsQlIcRoM4FKg98yrJjJ7broBIjDYkZ8k9RBOnrEkMDRtC5qYf2Z+s3OXdaDTcKiOPer6Iw1UDDG6j8sRUC20dzg9RDsquAlZZM2B9Bfn3KM07jWNuvm3jbMXgzV/ke0btvQSDQNOHlKQ7cOxKkaiMzY5M1lnQPDXv4J4XEZ5ca8simVJ6LG7Cb3nFZj2XjlZKCNOG8iLaF3sSMlETJekMZBAxbiCgXje1zhy3YA7mkGmZz3zchlznVrfu/GBj7Ms/+fAK+6p02+YSHgtbApmnd5ECt6fk+LrP13I8BOJstfNZIDUvQ2N2GwIhVEGBAsUJjcZBPPPsDfVks0628vEGgFJibbKh82pppasW1yTn+doUNu1K3kYKA46kQZ9t9xotJy7m/jh6UCSbp9a/GsjFalWVGH9RUB8naQ95BjTdH4u5HDy0Lvm3fYRNnZfxtPC+N2nFRBwO8+j4xAR6xssGDoeQYE4AoHqVxj5GU1WVxwMRzE3q2HZ4MPkpsRMKWhh9gSUQwerSFzJFlNYm7tpurpwhiUQOQkON5mYCsnvdoXHRRLzAy5p4BotJqja0w8pFcU8gX8PeQXXVZgeW41iBmThiYxY5jzMXqDF2plTxFqIpRnwdJABPMff5JuDuMHDhj/aXqkBxQfpM/60fUXNQUWTxNlY7lRmO+8D0D/KxqpPSrhykqRiTjP70uAm+ARALQFHWHRXenHK7q4KB41T4cadosAcI5E4t9SLhvhWcYoTX0Wvdt68P1h/TjErqxGd80nDqlVk+DJHO9nbeij6DK+dd4+j7V/ZP8MnBFvZUlx71EBGX6c0dCoH/RS3QNNy4thCRCbe+PNJJmijmWYdhzBLaJ3wPzjmm1CtXXr4TgVhBOFH08qcq2w+aOorenx5nI/ffhUluUfCg6YOgVxaw+WfTYPNfZEPdC322oFJTVBxpAGNO3W2hCum5opzkosSVcB914wzZjt0QbZb+7OgHkPcrIaA0+Ii2DAFYxr8sXKTYB4nKS83oYGLGGUhgkvmpHhts3xx0TVlMpxToHfAzadxE5ZtXCvSDICwl/AQE9GgrOth8Ln4NanuDURlx7miPCjuGNClBSpZPCheHSgiGwRVQ1uA4okfoh1zvnI/squAf17cpfvTBO69NoB6bRokUJnHM1DKNjzSQeUoC3kG4j9AwNAb5OTOosnykmWvc/Oks2hqoOyojEb/cKdFzyypfP7N1UpPhYEmf5Ne1XTCapwKYmAfEzAhemmiKTKtb8KatXDp/iPtjDhXGZ7q8dMSvvCn9qlt/f9rMaUL5xgm4Eq9JL+0H9WaahPMjMJRF4ZVLQUO0JA64FKn7UkY9bH4Odkpj+rC2O8dTBl+I+Me76NC6D+gn3V8Oos7F3Un/0jVtIs6NGTAPcSgCdv3gHQZ1SNAAicTLfg78vejzlVqbHL4fEcfkqfaM2K+/lCRYS6EPqsvu0e7gkpGXoLmaNBZvCfYMYHQzzzRikjRTxvx0GAWpW7yiolT8ww+m0X3eHo/h2Gkr1bPi0l42D7rCU2I8qnsi0y/L0RPIK0NUPbd1JO6JZIYRbhvmUKuzH1PoDb70JDVOzb8rRC1mYMkeeDXiFrpttXK0AFqMEKKMgrUULVN86yaXak9ppHACM98kyFKQP7n89cPR/DyDpAFZ3jdsjap2MVbx5Aof+dPuuzBUT1gi2u9JcQCa99FMnUXkBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DLsiM5R6uhyYFrakxcHRiy",
      "input": {
        "note": "The roll command was not tracked (roll still ≈0). Trying a smaller roll step of −0.4 rad alone to see whether the wrist will rotate at all in this pose.",
        "targets": {
          "left_roll": -0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DLsiM5R6uhyYFrakxcHRiy",
      "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]: [-0.8474, 1.9369, 1.38, 0.1543, -0.6682, -0.5777, 0.2639, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.3348 left_z=0.1983 left_yaw=0.0184 left_pitch=0.23 left_roll=-0.2915 left_gripper=0.2639 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -13.559, 6.6393, 2.0635, -0.1197, -0.0073, 0.2759, -0.1299, -1.265, 7.2, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42a852c66fab3c541fc4151511a97ee4521d33eee460146dd17818d151245fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477987b976eff379e2e189083857b6ac55a9047cbdcb40646574e65c0ed61ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c84faa2d79b15fd6fdbdaecdf15a6dff81f9126e4faa3b16c3d91e5aa34647a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 9.079 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.873, 2.0037, 1.5681, -0.0185, -0.8326, -0.4183, 0.2593, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.3338 left_z=0.2199 left_yaw=0.0348 left_pitch=0.2641 left_roll=-0.0498 left_gripper=0.2593 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0009 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-1.5932, -11.0427, 10.6188, 1.7607, -0.2955, 0.3053, 0.4225, -0.1436, -1.2923, 7.0906, 1.7656, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8955, 2.0037, 1.5768, -0.041, -0.8764, -0.3847, 0.2611, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.3361 left_z=0.2224 left_yaw=0.0267 left_pitch=0.2714 left_roll=0.0071 left_gripper=0.2611 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.453, 9.9077, 1.6484, -0.2613, 0.2027, 0.1783, -0.1573, -1.1419, 7.1043, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8474, 1.9369, 1.38, 0.1543, -0.6682, -0.5777, 0.2639, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.3348 left_z=0.1983 left_yaw=0.0184 left_pitch=0.23 left_roll=-0.2915 left_gripper=0.2639 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -13.559, 6.6393, 2.0635, -0.1197, -0.0073, 0.2759, -0.1299, -1.265, 7.2, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42a852c66fab3c541fc4151511a97ee4521d33eee460146dd17818d151245fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477987b976eff379e2e189083857b6ac55a9047cbdcb40646574e65c0ed61ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c84faa2d79b15fd6fdbdaecdf15a6dff81f9126e4faa3b16c3d91e5aa34647a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157jN7XCweQQDkQdNcW8dMc",
      "input": {
        "note": "Roll now tracks (−0.29) and the jug body sits ahead of the jaws with the red cup hidden behind it, forward-right. Continuing the roll to −1.0 rad to tip the spout toward the red cup.",
        "targets": {
          "left_roll": -1.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0157jN7XCweQQDkQdNcW8dMc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8352, 1.9354, 1.3617, 0.1825, -0.6277, -0.6071, 0.2658, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3355 left_z=0.195 left_yaw=0.013 left_pitch=0.2209 left_roll=-0.3391 left_gripper=0.2658 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6547, 6.9675, 2.1172, -0.1783, -0.0171, 0.1929, -0.2393, -1.2103, 7.2274, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59586335dfbc1fad83dba6184a4e42a9a09a2c35cd4c4e61d91d62eecfdb200f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4f5fbbf699de5f0f62d100420f964250881dadf014b0cb61c1bed509503735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e8e75b356f67a7acfe013a877580e0405e0bcd8cdd7a7cb67410a5c84d244f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 10.25 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8955, 2.0037, 1.5768, -0.041, -0.8764, -0.3847, 0.2611, -0.0147, 0.812, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.3361 left_z=0.2224 left_yaw=0.0267 left_pitch=0.2714 left_roll=0.0071 left_gripper=0.2611 right_x=0.2946 right_y=0.0014 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.453, 9.9077, 1.6484, -0.2613, 0.2027, 0.1783, -0.1573, -1.1419, 7.1043, 1.7363, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8474, 1.9369, 1.38, 0.1543, -0.6682, -0.5777, 0.2639, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.3348 left_z=0.1983 left_yaw=0.0184 left_pitch=0.23 left_roll=-0.2915 left_gripper=0.2639 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -13.559, 6.6393, 2.0635, -0.1197, -0.0073, 0.2759, -0.1299, -1.265, 7.2, 1.7167, -0.0415, -0.0757, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8352, 1.9354, 1.3617, 0.1825, -0.6277, -0.6071, 0.2658, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3355 left_z=0.195 left_yaw=0.013 left_pitch=0.2209 left_roll=-0.3391 left_gripper=0.2658 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6547, 6.9675, 2.1172, -0.1783, -0.0171, 0.1929, -0.2393, -1.2103, 7.2274, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59586335dfbc1fad83dba6184a4e42a9a09a2c35cd4c4e61d91d62eecfdb200f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4f5fbbf699de5f0f62d100420f964250881dadf014b0cb61c1bed509503735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e8e75b356f67a7acfe013a877580e0405e0bcd8cdd7a7cb67410a5c84d244f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSyQsKEAgRGAI4AUIIdGhpbmtpbmcSDE/E20hpBYm2uCu2dRoMa80YWSVfCvULza22IjB/asP1brRrVgvAEWUGI+9lk8lc/rs3DKV5LOdwD4Mg5xXqZQtgLs9DACoip9l2HNIq5grGHxis2gO2kdXsgB1NYb9Q0BCENjOZw5j6nCTeyPbPaeU/vc+57jK5Z4B1H5zDIhVQ9hhDYhZhE9oabIKOaG0H+PplNl0LzmeSdKQhvuxqousdLP8oVFv+nVZ1AamkYhschXSclNaBU0G/dVKvpFSi22vqP6gjswjyMDdzjwF8/xy9Xo7MDXgpWepu49hArUmLPL9qbIdzUbG01WVkPnOE/WRRk5Eo/34nsLyG2HmajjVqQ2X73QDegdLfcGdMAj3s9yhow8/YfC9upLgnm/A8YxK1kS8TQiJdKl2rhZ5ZUVCDIh+Jlq69RKUBEHM7HJZPsmBCJW6KfO9aAyAUlLJBFqWSYFt5fTPtejUlNOTWPc2U3aeIKWAB8NVcxjVXsUkkTp9TW91mkc1ivGuVIzvoMb9oOUu2xlzQqFstanvbRy1XsOd76/2oHvGxS430m4klDXYv0zsxYxwDUG/AU9wf/mTfxlGRp0oN5E8lDbdTRu9CzMoDcE0fzYB8A21WH/w3WHrrModPtc8Dp9Ix4/l2i1IrEn4R1LAL1ENL5iki6omIlcUIO/6nNzyH0VeRNbf5wLleAY/GNUyt4E0SwtfVDwPJKjGVnTmfiheiY7fSPgoOMf1pWeNvIThR/tfuF55qyVoiof1k3YwE6rrbODwFQaUASzolc7LBvMxOV02mSPZdw0rC7xUfNNR6Ib9Wcs2p7nh9WaIZ7TbNvfLANIn1q2h4Js92aR8ARjGfm/VTAaoQ7D17iXlMawq1D2dccNz9rME5viTCDmlISETP4u1yMwGYAAWD0Fml06TB97nblUi2TLsAW2cJv8ZwWBg3iyos5erEawCU6yUvb0k/hIbP4adF9t29VGKm4DeYH1cqjdm2RWs4v7/9mS4Ha2fcqxmobnyRZEH1wxhR/++WAdDYt2VtYPETx/reUM8/xzB5N+c9ObxzagoRZ2CVPhYcmlp7FG8IMrxjsWPEzyyDXz9mG60kkOOBsdmDTOMoWkMg/3SFsQhaUrYQFgxsqC+UDk+RPx6x8fJ2iJuhaq5qDg8rvBgOoN6kIZUAQgDiwp0uP8GD6oM4EUc4Q0SscI5vysncF/tgYKFpzjOHs0/X+N5Y03L2RSO+ErDlCkniA95rxj1NuHR6aQRUMb2smTf0DPwxipFGw9fPnKNKoy2v8pjQxlGAsVejrJa/kRL5+BbhTfKgwqLGR08fhV0tDxvayDChNSMgR2MZrgnvrshNs1tG/2VtRxH+dd7lHWmNXWf09aEynK6e8+1hJj0Nb5/Y/7UjCKEv64AeLg+M+W9Dk5rCylP3PHVkSGBgU7KBoYuzfZxLpAiovyCRQ1ImzAL9iyH7LwpVAjT+IS97XQSLToDiWN0QY0rgA5kJ6lChEynaxfU/2QPsHFkX75OTGCpt8lofA7fSxtHT4yKWliSZMwDGsAU8pLGLE+lxNotA/zA3Rp17a/nEvioBQz9KtMxn1QrhhfJWFOdS1SlVZRlpiKnzib51ILQICXy36qr/HgDqzEhePLV1Q36jPt2QKSZFNXK0o8+kPStiwDgT/DAW6dT8mUU/TYCFi1Hsvjhtqy4PhhGaKCfrv10N+2B2O4FLiLoN50feCf0z9pDAz4K2vEVg4WjsSdtfEpoGyNkZGrzFZRVEBr4cUO8ZZ7e1pfnl9n/GiXQT2w07lxDRA5k1K+5E/Cxya/swpAWmPM5VZXyVs8w61Ki3LdrSpuqu5aJnnzUWKhbknP5b7R+h4XO4brRBepRDI64Ofqlbx5VQcxqrh/bjRk5LNjguAczLYh01jwQJRwMAswEyfPZRAw18YI2Io/gMu5hG9g26beP3QqVpeQDaLEGqmBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FCCdQPYRrekAamvWyja4Z5",
      "input": {
        "note": "Roll stalled at −0.34; the IK seems stuck with the tool pitched forward. Leveling pitch to 0 and asking for a moderate roll of −0.6 to find a configuration the wrist can follow.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": -0.6,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FCCdQPYRrekAamvWyja4Z5",
      "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]: [-0.7738, 1.9129, 1.4719, -0.112, -0.4313, -0.8761, 0.268, -0.0143, 0.8158, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.3305 left_z=0.1895 left_yaw=0.025 left_pitch=-0.0132 left_roll=-0.5226 left_gripper=0.268 right_x=0.2948 right_y=0.0015 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0374 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -13.1897, 10.4821, 1.8974, -0.0269, -0.0464, 0.2173, -0.0479, -1.2103, 7.1863, 1.7509, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f00fcd0ec8bd58277e9b08e81426f3ca106c7be84ea277f8224914b3518292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e939ddfc6a62070e7653ea397fb6edf5187999cf4141703a4d84b2319349006e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff50c9a47488944349e4b3bd31df07878fe52bfe70dbaeb52f8a4d0cd892c038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 11.88 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8474, 1.9369, 1.38, 0.1543, -0.6682, -0.5777, 0.2639, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.3348 left_z=0.1983 left_yaw=0.0184 left_pitch=0.23 left_roll=-0.2915 left_gripper=0.2639 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -13.559, 6.6393, 2.0635, -0.1197, -0.0073, 0.2759, -0.1299, -1.265, 7.2, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8352, 1.9354, 1.3617, 0.1825, -0.6277, -0.6071, 0.2658, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3355 left_z=0.195 left_yaw=0.013 left_pitch=0.2209 left_roll=-0.3391 left_gripper=0.2658 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6547, 6.9675, 2.1172, -0.1783, -0.0171, 0.1929, -0.2393, -1.2103, 7.2274, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7738, 1.9129, 1.4719, -0.112, -0.4313, -0.8761, 0.268, -0.0143, 0.8158, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.3305 left_z=0.1895 left_yaw=0.025 left_pitch=-0.0132 left_roll=-0.5226 left_gripper=0.268 right_x=0.2948 right_y=0.0015 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0374 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -13.1897, 10.4821, 1.8974, -0.0269, -0.0464, 0.2173, -0.0479, -1.2103, 7.1863, 1.7509, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f00fcd0ec8bd58277e9b08e81426f3ca106c7be84ea277f8224914b3518292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e939ddfc6a62070e7653ea397fb6edf5187999cf4141703a4d84b2319349006e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff50c9a47488944349e4b3bd31df07878fe52bfe70dbaeb52f8a4d0cd892c038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjQoKEAgRGAI4AUIIdGhpbmtpbmcSDG1KSce9HeecosrMbBoMYI7EADziqTqAh/HbIjBB2k0ALTR5pglDExR9mcLGbBRQrFfJLxykTNkhfbs0jI9c0goQhw7fnC4vyo9cblIqqgl2xJaszi4o7ALD7zmBqKlCE77Yn5EY25Zu8q1dqsAnwbvgXwejDY+5aNqCvwgi+pSct+LCRT6QyUG6u3ze/EMeIvQ7mJ+INXvI613fo1xgRCvMqzIgtGx191jcDVmRpq1hWYTTXUM5b6V7bCaifrWqzIkjPvfDBjmQoSRbI4g5u+LErzglQI/HbN1WiiJBK0Rl9sR/sMHvWZtcDaAFBSwZ3aOxYZremsjSPJ9q2A+iJDz1nOe/HwmpK4BqWBtVvm3qpOP5LIeqNAFA2yizosCNgFDz4PZmS3KCXQApgEfOlQc0+L9ll+NhZ3G25QwjzhJiV34FN6sjT0WPfrL+JKGcuOvx0G4joqC0qFAy3SwtUHrVbdPzGgbuoQrTvgxzhJZihOXYHXmO1C3gooI4ctTS9OKnPZYN05fL/d1z3QTJBol1BR8pVGsmJY7/TThL1/hausY+5h9WhjjsjnNUzJ4M7uHRT9bYZBlmpYNMtE5xENCcT+PkP7EdplCyJWB5JJd/qEV6ghh/x6VB1MOm28+ElNp10OBhX4kYxi/1aCBQvXwuIUibPHwoQ6iaZwKPFYHkhr6PymDDK1uUwFPZao0hYCbm7alIAb4hRdwb9rNf2lBK8r4vhT+CGAHnIBcLQyBh/D3RgpQFsh5jByAWPybxt46VUrx8gEovNXL4Y7TgvbVjth/pPNp0PAv9+ESKtaHBTlsSNz7r71wlpBbo00P+pk3NcvHdN1lYXlG+mGUJGRqmcOMnCrQjhRVX9p7ivq9FLuQ+a9SQzR3/0m0wSD7aTbrUls1nBeBrkOU3g4IzHx2Jod765Y8strRc2hC9peqtJnQWK8p36QuK2PBDz4QCHD/GPEcFfzq3Dpn4a45pD6ldHiOY3TOycEdkR2L1UNgz4du7bb4tFWPr1Kqkw8/Zge8zXVeZVdkieop7e7zT8CGn541kQLRQDdsIMYLTD6+njfm8iqeYMeB1g5FCepxXGTUPdntjIIftjnbhxJCozSk+pE3IaZ2MLoS91Je0GrKXRxJd/CFmMtL7zBaI6O+l80vPPO4VM57XREcfIoe5oWjMcu9pj1EOdJaTHrJfI/66wVnbOI+ZqmupIfQxVSyGaoiew2mCzCTzrJt8mJw89iBjrCdpKdgPn0IfpX4SznKuJaC6t82nWk1btyyQd1rp8Ny7aOTfyp7wqzawgHYK9OKHi/eXmL6sL5XQg2xYjHyQg9W7afIHs8ydv+VzDkZCWHECaghPJqvpDem7zzxqLU4VBIun0FYIft5F6i+87lE+leNzjjo3jhKzoRuIji+aLDYCQ2PBi0M7A2+Cg1+3nFBJXuGyWNSMT+WsYI4P43uxpxzAQabCYW+hQR4hvWG6VdwOZRVZHEswjGN2MwmNN+7Db6n4v4wEEj60d30ICATqglYqCSPzXsNqXb0BfmV5mI4t5cEIfTt12JSrU/vuhOsv4bzFgelcNtl91bwYjwZzU9hUUbywa34HvWMDywjImfAHbnH8Qd5zXOSEdc2cU5ywuuXp+yPSaKw/OQtAQ5h9b3J1fO8dUTijYR42XeOttbKeFTy8v6NDO5YldF6pnmLZ9a/bjZ9Rg4MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ncJFicWfjRGrmkFVRNqtZ",
      "input": {
        "note": "Roll is now following (−0.52) and the jug is visibly tipping rightward in the top view. Continuing the roll to −1.1 rad to pour.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": -1.1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014ncJFicWfjRGrmkFVRNqtZ",
      "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]: [-0.712, 1.8641, 1.2362, 0.2337, -0.2428, -1.1854, 0.2692, -0.0147, 0.8158, 0.6067, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.3265 left_z=0.1768 left_yaw=0.0351 left_pitch=-0.0701 left_roll=-0.9521 left_gripper=0.2692 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0012 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -13.4906, 7.0906, 2.2344, -0.0073, -0.0415, 0.1197, -0.3214, -1.2376, 7.0496, 1.7363, -0.0708, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e5832fe8f5638afd8634b9338ed672b24f4301b28f15b971d21b9cad0ca371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79cbd61f38bf11636e0db83a190f75968e48c2ba86d9c261946070a6e219c71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a4b2fe07aa99a5037d56b97a615f88448284620a1b0f49bfff32a8121708bf6",
        "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 · 18.11 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8352, 1.9354, 1.3617, 0.1825, -0.6277, -0.6071, 0.2658, -0.0147, 0.8139, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3355 left_z=0.195 left_yaw=0.013 left_pitch=0.2209 left_roll=-0.3391 left_gripper=0.2658 right_x=0.2946 right_y=0.0014 right_z=0.1731 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6547, 6.9675, 2.1172, -0.1783, -0.0171, 0.1929, -0.2393, -1.2103, 7.2274, 1.7363, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7738, 1.9129, 1.4719, -0.112, -0.4313, -0.8761, 0.268, -0.0143, 0.8158, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.3305 left_z=0.1895 left_yaw=0.025 left_pitch=-0.0132 left_roll=-0.5226 left_gripper=0.268 right_x=0.2948 right_y=0.0015 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0374 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -13.1897, 10.4821, 1.8974, -0.0269, -0.0464, 0.2173, -0.0479, -1.2103, 7.1863, 1.7509, -0.0366, -0.0806, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.712, 1.8641, 1.2362, 0.2337, -0.2428, -1.1854, 0.2692, -0.0147, 0.8158, 0.6067, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.3265 left_z=0.1768 left_yaw=0.0351 left_pitch=-0.0701 left_roll=-0.9521 left_gripper=0.2692 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0012 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -13.4906, 7.0906, 2.2344, -0.0073, -0.0415, 0.1197, -0.3214, -1.2376, 7.0496, 1.7363, -0.0708, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e5832fe8f5638afd8634b9338ed672b24f4301b28f15b971d21b9cad0ca371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79cbd61f38bf11636e0db83a190f75968e48c2ba86d9c261946070a6e219c71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4b2fe07aa99a5037d56b97a615f88448284620a1b0f49bfff32a8121708bf6",
        "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_01Ew8UDTGnjhyz8dvRRbN3co",
      "input": {
        "note": "With the jug tipped (roll −0.95) the red cup now peeks out above/behind the jug rim in the wrist view, so the spout is still short of the cup. Advancing the grasp point ~5 cm forward.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": -1.0,
          "left_x": 0.5,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ew8UDTGnjhyz8dvRRbN3co",
      "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]: [-0.6357, 1.9522, 1.3949, 0.1745, -0.2081, -1.1843, 0.2695, -0.0143, 0.8185, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4933 left_y=-0.3142 left_z=0.1878 left_yaw=0.0776 left_pitch=-0.0698 left_roll=-0.9686 left_gripper=0.2695 right_x=0.2949 right_y=0.0015 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -11.3162, 10.441, 2.2491, 0.2711, 0.232, 0.022, -0.1436, -1.5521, 7.0769, 1.6825, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd661cc80326454f0fac7b4ba3d10499eb92e3bc8c6c76d3009aef19355e5dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533d6a49f7328ca3fb391fc8b80431d3876e20e837d2569c21a753f19cc6ea73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a058d468b2fa8fdc89c8a8b96497c7322be4e2a694f3ac0e5673b083b2df412a",
        "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 · 19.12 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7738, 1.9129, 1.4719, -0.112, -0.4313, -0.8761, 0.268, -0.0143, 0.8158, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.3305 left_z=0.1895 left_yaw=0.025 left_pitch=-0.0132 left_roll=-0.5226 left_gripper=0.268 right_x=0.2948 right_y=0.0015 right_z=0.1726 right_yaw=0.0012 right_pitch=-0.0374 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -13.1897, 10.4821, 1.8974, -0.0269, -0.0464, 0.2173, -0.0479, -1.2103, 7.1863, 1.7509, -0.0366, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.712, 1.8641, 1.2362, 0.2337, -0.2428, -1.1854, 0.2692, -0.0147, 0.8158, 0.6067, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.3265 left_z=0.1768 left_yaw=0.0351 left_pitch=-0.0701 left_roll=-0.9521 left_gripper=0.2692 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0012 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -13.4906, 7.0906, 2.2344, -0.0073, -0.0415, 0.1197, -0.3214, -1.2376, 7.0496, 1.7363, -0.0708, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6357, 1.9522, 1.3949, 0.1745, -0.2081, -1.1843, 0.2695, -0.0143, 0.8185, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4933 left_y=-0.3142 left_z=0.1878 left_yaw=0.0776 left_pitch=-0.0698 left_roll=-0.9686 left_gripper=0.2695 right_x=0.2949 right_y=0.0015 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -11.3162, 10.441, 2.2491, 0.2711, 0.232, 0.022, -0.1436, -1.5521, 7.0769, 1.6825, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd661cc80326454f0fac7b4ba3d10499eb92e3bc8c6c76d3009aef19355e5dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533d6a49f7328ca3fb391fc8b80431d3876e20e837d2569c21a753f19cc6ea73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a058d468b2fa8fdc89c8a8b96497c7322be4e2a694f3ac0e5673b083b2df412a",
        "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_012MiGS3aZkQ77hLKZbmbnje",
      "input": {
        "note": "Top view shows the tipped jug spout a few cm short of (behind) the red cup, roughly laterally aligned. Advancing ~5 cm more so the spout hangs over the cup rim.",
        "targets": {
          "left_pitch": 0.1,
          "left_roll": -1.0,
          "left_x": 0.54,
          "left_y": -0.33,
          "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_012MiGS3aZkQ77hLKZbmbnje",
      "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]: [-0.6327, 1.9583, 1.4193, 0.1493, -0.2016, -1.1751, 0.2704, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4956 left_y=-0.3151 left_z=0.19 left_yaw=0.072 left_pitch=-0.0726 left_roll=-0.9584 left_gripper=0.2704 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -11.3983, 10.0718, 2.2686, 0.1294, 0.1685, 0.0806, -0.0342, -1.3333, 7.0222, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fa352eb68314083cdba929e98eaee93f3b8eb1c56221c6d625ba385ad749fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a90dd29faae8988f4dc2b228645801591b79d007309dcd07407244496175ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc2e377ead9e388bd7bea0632c1321594b9fde2ac34ba3d727c6453798a84097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 8.806 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.712, 1.8641, 1.2362, 0.2337, -0.2428, -1.1854, 0.2692, -0.0147, 0.8158, 0.6067, -0.3923, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4488 left_y=-0.3265 left_z=0.1768 left_yaw=0.0351 left_pitch=-0.0701 left_roll=-0.9521 left_gripper=0.2692 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0012 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -13.4906, 7.0906, 2.2344, -0.0073, -0.0415, 0.1197, -0.3214, -1.2376, 7.0496, 1.7363, -0.0708, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6357, 1.9522, 1.3949, 0.1745, -0.2081, -1.1843, 0.2695, -0.0143, 0.8185, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4933 left_y=-0.3142 left_z=0.1878 left_yaw=0.0776 left_pitch=-0.0698 left_roll=-0.9686 left_gripper=0.2695 right_x=0.2949 right_y=0.0015 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -11.3162, 10.441, 2.2491, 0.2711, 0.232, 0.022, -0.1436, -1.5521, 7.0769, 1.6825, -0.0562, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6327, 1.9583, 1.4193, 0.1493, -0.2016, -1.1751, 0.2704, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4956 left_y=-0.3151 left_z=0.19 left_yaw=0.072 left_pitch=-0.0726 left_roll=-0.9584 left_gripper=0.2704 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -11.3983, 10.0718, 2.2686, 0.1294, 0.1685, 0.0806, -0.0342, -1.3333, 7.0222, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fa352eb68314083cdba929e98eaee93f3b8eb1c56221c6d625ba385ad749fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a90dd29faae8988f4dc2b228645801591b79d007309dcd07407244496175ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2e377ead9e388bd7bea0632c1321594b9fde2ac34ba3d727c6453798a84097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NSgFuyncpJcmugCzVcqnLb",
      "input": {
        "note": "The arm is at its forward reach limit (x stuck at 0.50). Pitching the tool forward to extend the spout further toward the red cup while keeping the tip rolled.",
        "targets": {
          "left_pitch": 0.4,
          "left_roll": -1.0,
          "left_x": 0.52,
          "left_y": -0.33,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01NSgFuyncpJcmugCzVcqnLb",
      "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]: [-0.6399, 2.1536, 1.2934, 0.8032, -0.2886, -0.9367, 0.2708, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5214 left_y=-0.321 left_z=0.1725 left_yaw=0.098 left_pitch=0.2946 left_roll=-0.9544 left_gripper=0.2708 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0009 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 7.159, 2.4249, 0.3932, 0.1734, 0.0366, -0.1983, -1.3744, 7.0359, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1731473d9f202ee43c2c215a90729026b8b55444d3a40960b6146cd586a7c0de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbad2ece78c737373e2bbee08331c5208362eea8e778a5fa57e092764c78827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6607ead4e49575174708163673f3a9a3a5396c7a5346f20f1f49f8f67f1b3336",
        "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 · 10.46 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6357, 1.9522, 1.3949, 0.1745, -0.2081, -1.1843, 0.2695, -0.0143, 0.8185, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4933 left_y=-0.3142 left_z=0.1878 left_yaw=0.0776 left_pitch=-0.0698 left_roll=-0.9686 left_gripper=0.2695 right_x=0.2949 right_y=0.0015 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -11.3162, 10.441, 2.2491, 0.2711, 0.232, 0.022, -0.1436, -1.5521, 7.0769, 1.6825, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6327, 1.9583, 1.4193, 0.1493, -0.2016, -1.1751, 0.2704, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4956 left_y=-0.3151 left_z=0.19 left_yaw=0.072 left_pitch=-0.0726 left_roll=-0.9584 left_gripper=0.2704 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -11.3983, 10.0718, 2.2686, 0.1294, 0.1685, 0.0806, -0.0342, -1.3333, 7.0222, 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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6399, 2.1536, 1.2934, 0.8032, -0.2886, -0.9367, 0.2708, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5214 left_y=-0.321 left_z=0.1725 left_yaw=0.098 left_pitch=0.2946 left_roll=-0.9544 left_gripper=0.2708 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0009 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 7.159, 2.4249, 0.3932, 0.1734, 0.0366, -0.1983, -1.3744, 7.0359, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1731473d9f202ee43c2c215a90729026b8b55444d3a40960b6146cd586a7c0de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbad2ece78c737373e2bbee08331c5208362eea8e778a5fa57e092764c78827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6607ead4e49575174708163673f3a9a3a5396c7a5346f20f1f49f8f67f1b3336",
        "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+wkKEAgRGAI4AUIIdGhpbmtpbmcSDAj65qYCTzVUlGOLQRoMAdntFwu0rQEgEpfSIjClsdCtjzQmWm8U1SM8/MUvOD/OvW0r3R6te65oMyxRRwWXKxiRdLBZFOI5VxjiFmcqmAng7PVplUND885xbov8423gUTES0P37BnF1cSktA8Osla5fJcexixSexPEsr5YPombG6foJTXM30qeWwvnN1ybOBZO7AowaQe6yh99nT5vhcHYwlpwm3xBaMAsqMVKk1fNP6jnQP3aHVQ4K/8grE7RNsiRg3ebNKRkcVwo4qx8Fx6F1yU3PRBvC7yXoy9z+F87prI/IScnPejkoskc9P9kOT2vWlzf5K1Y9HFk23QXljEFcm548KEJF25j/shCg/c7Io2hXuPC30KyA2B65y1xCPxl4HNUS6ECsBn0b9WTPhhZ5i6UT1BqcggktNfUlWWj34S2HmNBIeuOO0klBML8mvFlINqZUAm7hPY+75MlVhiERpTjcHp6m+aCjK9Uxncji+ucq9fbWBJu7V672tDwEdyuujMEw+aXQeq2LNxmS0pr1Kx6DHf+aBmeaH/UZIH2zRLzeaFbja0WW6s92ODdODfcgbPciAOOLJzhEHiDbkylmyj50zMm91Mir+N6hKzefkA3sl0I5be++CeFFsrcIW0qLpcFvLo9W7hxg3izBobBkodsuK9AFLiNNAFoJzV5XepGj9O62JwL3rsrp/GkIV+TfFvYeZUri/CphQ7MqjoNKEz2ioDs3xJZbHtWEIpz4e/nhALQji2HA+tM0Qz6DORW+mA1GxOsv1/W31P5DF79rTipS0UB3gMuRsGY3aEpSH7S24O1JOoNfUVKypG7PhpwYsF3kFUKg8UtPMhf77G9F8e5FBKC10/37FH2pMXO/CiXW3oGrYsKsx+mU7Kq9cZfZo1DUYuJYUp5i37gliHmkjGeCrAQEZWJ7KZ+VRoRqjIwHc2rKg5VOFqruXoEtPYCNhaMBdsLtDjWqLbEJzTyyu/clPQJt857Wd1rYOvIl7E0GGSYWNxEiMoai0PAbcof8a9JFuzyl+Cho9GZ30Pa+CrLlmCjq4nS6o+l86IND3fTNrwtTHql7/LW9vif57RR7jt6eQGdZwj9ee9ozSVimJ07WYum9OuAw3ex0zFUEcfzANKL5FGl6PK3UIwJjjJNZuEk3lyLLr0SmZgJtozb04XkrWAeZBL62YHBNpVbNhgTeDlM933WGUilk8ETCyE4g32xlMwXTP2Ox8gkK9pHmVA+83rLTegztlrkwZ7SzCJYYwGjsVhtEI7iLh3dlZc7AKIVMrfjWEgTMXKZdnEDP4OBtkrniZWxPLYLdDrU5RliGM7dReyrcf/wb2yrtrxsq1uREJ2tPNZTK6/Qf4murQxb5M65kmCsXkOTjg1jYusIatdo6YBpaoOR/jUAW7czC4BDBKZ27PvEsIrNNEQZIGs+I/cBOhsHxdmj6cWCYHnGDewXbsmGzfOmADvdEZGpRvRRKTa0GqewntOT480g5zrVMg9ImDhgWCzs+F72k2+TYgmYZfI/sp/mnsSLTcQib8DD3b5YTqeyyPJ03j3kHaPhvRbcnvwqyzrYR+YG2X+w8vHJewCII5KcqChzikVe8E+EJR8ajWyx9pmn1Vb8kVd9VV4wIC+c/f0N/XYak2fscFNJIWTnYo5c9uqIRGg63ru5ejQMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N2ovqF34ge7NpvtX7cMuor",
      "input": {
        "note": "The red cup is now large and right beside the jug in the wrist view, and the top view shows the spout over the cup. Rolling further to −1.45 rad to pour into it.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": -1.45,
          "left_x": 0.52,
          "left_y": -0.33,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01N2ovqF34ge7NpvtX7cMuor",
      "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]: [-0.6098, 2.2547, 1.2663, 1.0512, -0.1894, -1.2415, 0.271, -0.0143, 0.8192, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.322 left_z=0.1606 left_yaw=0.1233 left_pitch=0.2367 left_roll=-1.3149 left_gripper=0.271 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.7538, 6.8034, 2.6398, 0.4274, -0.0659, 0.0024, -0.0615, -1.388, 7.0496, 1.7314, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:402329b2dfd36e4387410fff5fa90a7622f398a5f52401f751a6869fe3d72c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6deeb35ffbe900d5f4cc1cf132783ca349a2d6d6570df5e02ddf2534d558cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1607469f4d25e01a998b6de5c335e21b275018b135bfbde1fd8b3f8f9543aec7",
        "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 · 9.409 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6327, 1.9583, 1.4193, 0.1493, -0.2016, -1.1751, 0.2704, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4956 left_y=-0.3151 left_z=0.19 left_yaw=0.072 left_pitch=-0.0726 left_roll=-0.9584 left_gripper=0.2704 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -11.3983, 10.0718, 2.2686, 0.1294, 0.1685, 0.0806, -0.0342, -1.3333, 7.0222, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6399, 2.1536, 1.2934, 0.8032, -0.2886, -0.9367, 0.2708, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5214 left_y=-0.321 left_z=0.1725 left_yaw=0.098 left_pitch=0.2946 left_roll=-0.9544 left_gripper=0.2708 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0009 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 7.159, 2.4249, 0.3932, 0.1734, 0.0366, -0.1983, -1.3744, 7.0359, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6098, 2.2547, 1.2663, 1.0512, -0.1894, -1.2415, 0.271, -0.0143, 0.8192, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.322 left_z=0.1606 left_yaw=0.1233 left_pitch=0.2367 left_roll=-1.3149 left_gripper=0.271 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.7538, 6.8034, 2.6398, 0.4274, -0.0659, 0.0024, -0.0615, -1.388, 7.0496, 1.7314, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:402329b2dfd36e4387410fff5fa90a7622f398a5f52401f751a6869fe3d72c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6deeb35ffbe900d5f4cc1cf132783ca349a2d6d6570df5e02ddf2534d558cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1607469f4d25e01a998b6de5c335e21b275018b135bfbde1fd8b3f8f9543aec7",
        "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_01TUAbz1VBucYCPo1DgPNf82",
      "input": {
        "note": "The jug is tipped nearly horizontal with its spout over the red cup — pour done. Rolling the jug back upright and lifting it clear before setting it down.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.48,
          "left_y": -0.3,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01TUAbz1VBucYCPo1DgPNf82",
      "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]: [-0.7635, 2.1284, 2.059, -0.6506, -0.6853, -0.683, 0.2723, -0.0143, 0.8215, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4871 left_y=-0.3065 left_z=0.2426 left_yaw=0.141 left_pitch=0.0237 left_roll=-0.1343 left_gripper=0.2723 right_x=0.295 right_y=0.0015 right_z=0.171 right_yaw=0.0012 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -11.3573, 8.6359, 1.3309, -0.4371, 0.3639, 0.1343, -0.1299, -1.2786, 7.3504, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d143a9c880239165e26397769e970eec4f97b0118d34dfedc9820c3c7a58635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187ab15ffbd8ffade734f669ba519782bb5c2f472382967f8c0e7eaab1d09b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bc93646a0f1e153eb0595656aef1c8b2a4257ebad1b8d9302e03639b864451a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 11.11 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6399, 2.1536, 1.2934, 0.8032, -0.2886, -0.9367, 0.2708, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5214 left_y=-0.321 left_z=0.1725 left_yaw=0.098 left_pitch=0.2946 left_roll=-0.9544 left_gripper=0.2708 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0009 right_pitch=-0.0408 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 7.159, 2.4249, 0.3932, 0.1734, 0.0366, -0.1983, -1.3744, 7.0359, 1.663, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6098, 2.2547, 1.2663, 1.0512, -0.1894, -1.2415, 0.271, -0.0143, 0.8192, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.322 left_z=0.1606 left_yaw=0.1233 left_pitch=0.2367 left_roll=-1.3149 left_gripper=0.271 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.7538, 6.8034, 2.6398, 0.4274, -0.0659, 0.0024, -0.0615, -1.388, 7.0496, 1.7314, -0.0513, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7635, 2.1284, 2.059, -0.6506, -0.6853, -0.683, 0.2723, -0.0143, 0.8215, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4871 left_y=-0.3065 left_z=0.2426 left_yaw=0.141 left_pitch=0.0237 left_roll=-0.1343 left_gripper=0.2723 right_x=0.295 right_y=0.0015 right_z=0.171 right_yaw=0.0012 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -11.3573, 8.6359, 1.3309, -0.4371, 0.3639, 0.1343, -0.1299, -1.2786, 7.3504, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d143a9c880239165e26397769e970eec4f97b0118d34dfedc9820c3c7a58635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187ab15ffbd8ffade734f669ba519782bb5c2f472382967f8c0e7eaab1d09b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc93646a0f1e153eb0595656aef1c8b2a4257ebad1b8d9302e03639b864451a",
        "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_01Jtg32RLQdjGfEuhEF2bsH5",
      "input": {
        "note": "Jug is upright again. Carrying it back left toward its original area, away from the cups and the right container, to set it down.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.16,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Jtg32RLQdjGfEuhEF2bsH5",
      "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]: [-0.7231, 1.2881, 0.8211, 0.038, -0.6926, -0.2939, 0.2737, -0.0143, 0.8253, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3617 left_y=-0.164 left_z=0.2233 left_yaw=0.0046 left_pitch=0.2383 left_roll=0.0112 left_gripper=0.2737 right_x=0.2953 right_y=0.0015 right_z=0.17 right_yaw=0.001 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -5.3538, 7.7744, 2.0781, -0.1929, 0.1783, 0.1343, -0.0752, -1.2103, 7.0222, 1.7363, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3be13d31e79d56de7d4c1a4b9dadaff10d0942528fdc5c09102dd20f076499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b46760732336f9e6c43f24c08d58c57ffb8064dc108169a39be7a22a656c62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c523420247cd63f89a5bc44e98d19932a22a15113ccf2bca1ea170e0642f904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 5.103 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6098, 2.2547, 1.2663, 1.0512, -0.1894, -1.2415, 0.271, -0.0143, 0.8192, 0.6067, -0.3923, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.322 left_z=0.1606 left_yaw=0.1233 left_pitch=0.2367 left_roll=-1.3149 left_gripper=0.271 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.7538, 6.8034, 2.6398, 0.4274, -0.0659, 0.0024, -0.0615, -1.388, 7.0496, 1.7314, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7635, 2.1284, 2.059, -0.6506, -0.6853, -0.683, 0.2723, -0.0143, 0.8215, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4871 left_y=-0.3065 left_z=0.2426 left_yaw=0.141 left_pitch=0.0237 left_roll=-0.1343 left_gripper=0.2723 right_x=0.295 right_y=0.0015 right_z=0.171 right_yaw=0.0012 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -11.3573, 8.6359, 1.3309, -0.4371, 0.3639, 0.1343, -0.1299, -1.2786, 7.3504, 1.707, -0.0415, -0.0611, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7231, 1.2881, 0.8211, 0.038, -0.6926, -0.2939, 0.2737, -0.0143, 0.8253, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3617 left_y=-0.164 left_z=0.2233 left_yaw=0.0046 left_pitch=0.2383 left_roll=0.0112 left_gripper=0.2737 right_x=0.2953 right_y=0.0015 right_z=0.17 right_yaw=0.001 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -5.3538, 7.7744, 2.0781, -0.1929, 0.1783, 0.1343, -0.0752, -1.2103, 7.0222, 1.7363, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3be13d31e79d56de7d4c1a4b9dadaff10d0942528fdc5c09102dd20f076499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b46760732336f9e6c43f24c08d58c57ffb8064dc108169a39be7a22a656c62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c523420247cd63f89a5bc44e98d19932a22a15113ccf2bca1ea170e0642f904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FfBP4caQHxQwug6RD2Y1eh",
      "input": {
        "note": "Jug is over a clear spot left of the cups. Lowering it to the height it was grasped at (z≈0.16) so its base rests on the table before releasing.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.36,
          "left_y": -0.16,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FfBP4caQHxQwug6RD2Y1eh",
      "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]: [-0.7242, 1.3823, 0.5823, 0.3733, -0.7036, -0.2607, 0.2742, -0.0147, 0.8253, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3559 left_y=-0.1574 left_z=0.1528 left_yaw=-0.0052 left_pitch=0.2424 left_roll=0.0456 left_gripper=0.2742 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0009 right_pitch=-0.0473 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.3282, 5.8188, 1.6874, -0.2125, 0.1197, 0.0415, -0.0615, -1.4291, 7.0496, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa5d282a0238e6fc78bd26986600649dddfaa64e4c17dad6ccd58db4f70f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189fe2eeff7afa37f9f91e1882597f1c1836524649e9a7bc8fd53085c06ffd52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3d4d5326d84d606e5049558be58401beb357e4c88b522e6d8dbada5cd1471c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 19.23 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7635, 2.1284, 2.059, -0.6506, -0.6853, -0.683, 0.2723, -0.0143, 0.8215, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4871 left_y=-0.3065 left_z=0.2426 left_yaw=0.141 left_pitch=0.0237 left_roll=-0.1343 left_gripper=0.2723 right_x=0.295 right_y=0.0015 right_z=0.171 right_yaw=0.0012 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -11.3573, 8.6359, 1.3309, -0.4371, 0.3639, 0.1343, -0.1299, -1.2786, 7.3504, 1.707, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7231, 1.2881, 0.8211, 0.038, -0.6926, -0.2939, 0.2737, -0.0143, 0.8253, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3617 left_y=-0.164 left_z=0.2233 left_yaw=0.0046 left_pitch=0.2383 left_roll=0.0112 left_gripper=0.2737 right_x=0.2953 right_y=0.0015 right_z=0.17 right_yaw=0.001 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -5.3538, 7.7744, 2.0781, -0.1929, 0.1783, 0.1343, -0.0752, -1.2103, 7.0222, 1.7363, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3823, 0.5823, 0.3733, -0.7036, -0.2607, 0.2742, -0.0147, 0.8253, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3559 left_y=-0.1574 left_z=0.1528 left_yaw=-0.0052 left_pitch=0.2424 left_roll=0.0456 left_gripper=0.2742 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0009 right_pitch=-0.0473 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.3282, 5.8188, 1.6874, -0.2125, 0.1197, 0.0415, -0.0615, -1.4291, 7.0496, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa5d282a0238e6fc78bd26986600649dddfaa64e4c17dad6ccd58db4f70f1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189fe2eeff7afa37f9f91e1882597f1c1836524649e9a7bc8fd53085c06ffd52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d4d5326d84d606e5049558be58401beb357e4c88b522e6d8dbada5cd1471c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgYKEAgRGAI4AUIIdGhpbmtpbmcSDMI5Iys5nkWiwcakvRoMvs1jdKH0p2gEU/t3IjDCnOqSt9I2aPkgct48UpMtK4nvbFKwhVXwdYaXRA2rAitrTILBtzoZuj8faT9zCIkq4wXmK5B+uaLTGiBgnFjKp3CFtfTTt1vO8rdz8Rf2NpRfLd7aHesi8EinFapbVIru9yqtf0HcYy0nW5Oa0SVp/kDGd2cF/AsYog1rlrTOFML4rUYcw1ZBtJa5VVA1IH9C9TjU4LF3g6HTKVAgdPvadQD5zx+vY7zcLDHCXUFknUMFyyXUKZh8P4YhQrD7IZ8X6sNzqgJuKa7Wrf1p1V+gVkupxtYmpqsV+mrZt23affQh9l3toNcx24rBVo3oncX1pF1Vg2r0hyI2QDEp7HB6zkcBrDKxIBRTn0FqlJ0ULT8UH284nj04Joy71DPi1yY5ZWyjT5cUIT3BNwrDu/m/qiJDKgqQNNarpKaUolWvQcI2K1ttCVwbSDC/qHxEVdZDzOXVP7VwktQ7tSjqzPQsKCgdyX34RK+2bFeg+NPGaJNFqGc9k/qWZPEJUFjtzMrQ+KTvw1s76xtRIa0WGzBzlDUWbU00fn7jYvup05Mai2EaCOaHOchEYYY1SifvR0Mm8s5PmNQi7FS+epu/VasYIuhdOTAw9DjmdVr9IPEivfyq8eHYa/iYfX623XE6MkCc8INIvx5c8v90bhMJvDnOBw41AkkeIo0jmX1d2qEDKFDgD+gNjAa4XWyuoIePRSRM/yd4L/FvBGCnQcJDrtkP6pM9WsPTerQGbDgZDyxbF7Ul5raEN+wpI9COliVwuGW6zmQOQD9tlixr5xgObrPhuBmngvLydIA9egud9deMURtT3yad0p2G+NtHJc56phpoy6RlkWI1yIul/BQQZLCFlRtn8Q8q5+oWt25aLw8/b3t+irXMMH16boUzE0l40tfnmDlvRB+ji88ZAcS9CCwITa0V3W4A8qqWhGgcCltgptjg9Vq7mRELsuGrGBXgifbnpvpKsr4eXeRKtN7bICDFYY3VDFh1bYNIs+t9WkW0sxLY15M3F2p1F/bNfaXI2EoqP+p9CfLciDlLpmjL4QQse78LYJ10GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DvcyEMJNg8twR1zjkCLU3B",
      "input": {
        "note": "The jug's base appears to be on the table (descent settled, shoulder load dropped). Opening the left gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DvcyEMJNg8twR1zjkCLU3B",
      "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]: [-0.7242, 1.3998, 0.5659, 0.466, -0.7036, -0.2512, 0.9957, -0.0147, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1605 left_z=0.1576 left_yaw=0.0 left_pitch=0.2863 left_roll=0.0148 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0007 right_pitch=-0.0473 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.135, 5.8325, 1.9658, -0.2857, -0.0122, -0.2418, -0.2803, -1.306, 7.0085, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ee162d05e9afff390feaf3a78f7bc5a90a648f7225101fab4e054d9575b074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2926e6627545dbc0e99fb26b8734009c864427c52e482c8d15d6021dda95252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba79ca611c83e6f63d511da95cf5d1673d99014aeec0ac212e8732f5bf92949b",
        "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 · 13.34 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7231, 1.2881, 0.8211, 0.038, -0.6926, -0.2939, 0.2737, -0.0143, 0.8253, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3617 left_y=-0.164 left_z=0.2233 left_yaw=0.0046 left_pitch=0.2383 left_roll=0.0112 left_gripper=0.2737 right_x=0.2953 right_y=0.0015 right_z=0.17 right_yaw=0.001 right_pitch=-0.0469 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -5.3538, 7.7744, 2.0781, -0.1929, 0.1783, 0.1343, -0.0752, -1.2103, 7.0222, 1.7363, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3823, 0.5823, 0.3733, -0.7036, -0.2607, 0.2742, -0.0147, 0.8253, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3559 left_y=-0.1574 left_z=0.1528 left_yaw=-0.0052 left_pitch=0.2424 left_roll=0.0456 left_gripper=0.2742 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0009 right_pitch=-0.0473 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.3282, 5.8188, 1.6874, -0.2125, 0.1197, 0.0415, -0.0615, -1.4291, 7.0496, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3998, 0.5659, 0.466, -0.7036, -0.2512, 0.9957, -0.0147, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1605 left_z=0.1576 left_yaw=0.0 left_pitch=0.2863 left_roll=0.0148 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0007 right_pitch=-0.0473 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.135, 5.8325, 1.9658, -0.2857, -0.0122, -0.2418, -0.2803, -1.306, 7.0085, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ee162d05e9afff390feaf3a78f7bc5a90a648f7225101fab4e054d9575b074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2926e6627545dbc0e99fb26b8734009c864427c52e482c8d15d6021dda95252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba79ca611c83e6f63d511da95cf5d1673d99014aeec0ac212e8732f5bf92949b",
        "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_01DfYH9b7A4iCQaynwvppZG9",
      "input": {
        "note": "Left jug is released and standing. Parking the left arm home, and moving the right arm up over the tall clear bottle, which sits ~8 cm left of the right arm and ~40 cm forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.08,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01DfYH9b7A4iCQaynwvppZG9",
      "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]: [-0.0551, 0.8368, 0.6514, -0.3676, -0.102, -0.0845, 0.9989, 0.2832, 1.367, 1.3693, -0.6621, 0.21, 0.1272, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=0.0048 left_z=0.1929 left_yaw=0.0594 left_pitch=0.0145 left_roll=-0.0016 left_gripper=0.9989 right_x=0.3967 right_y=0.0808 right_z=0.2824 right_yaw=0.0303 right_pitch=-0.0786 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -2.2359, 9.7026, 1.6777, 0.105, 0.1148, -0.1245, 0.4308, -5.7915, 9.1829, 1.5018, 0.3053, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2328c5bfa9994af4372f8fa11a01c2e5cd03f5a6e13faba528ab68562031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60718e9956d1caa07be0aeeb8955bd739f5d07fd47c77d45cf3b6744155a0bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6d7c4833f04a58d915e56e1bb566f74570c3f17c503ac554def55849aaaf0a0",
        "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 · 10.77 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3823, 0.5823, 0.3733, -0.7036, -0.2607, 0.2742, -0.0147, 0.8253, 0.6067, -0.3931, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3559 left_y=-0.1574 left_z=0.1528 left_yaw=-0.0052 left_pitch=0.2424 left_roll=0.0456 left_gripper=0.2742 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0009 right_pitch=-0.0473 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.3282, 5.8188, 1.6874, -0.2125, 0.1197, 0.0415, -0.0615, -1.4291, 7.0496, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3998, 0.5659, 0.466, -0.7036, -0.2512, 0.9957, -0.0147, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1605 left_z=0.1576 left_yaw=0.0 left_pitch=0.2863 left_roll=0.0148 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0007 right_pitch=-0.0473 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.135, 5.8325, 1.9658, -0.2857, -0.0122, -0.2418, -0.2803, -1.306, 7.0085, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0551, 0.8368, 0.6514, -0.3676, -0.102, -0.0845, 0.9989, 0.2832, 1.367, 1.3693, -0.6621, 0.21, 0.1272, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=0.0048 left_z=0.1929 left_yaw=0.0594 left_pitch=0.0145 left_roll=-0.0016 left_gripper=0.9989 right_x=0.3967 right_y=0.0808 right_z=0.2824 right_yaw=0.0303 right_pitch=-0.0786 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -2.2359, 9.7026, 1.6777, 0.105, 0.1148, -0.1245, 0.4308, -5.7915, 9.1829, 1.5018, 0.3053, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2328c5bfa9994af4372f8fa11a01c2e5cd03f5a6e13faba528ab68562031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60718e9956d1caa07be0aeeb8955bd739f5d07fd47c77d45cf3b6744155a0bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d7c4833f04a58d915e56e1bb566f74570c3f17c503ac554def55849aaaf0a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UCK7NhcwLMxwFUbWRVLrM3",
      "input": {
        "note": "Right wrist view shows the tall bottle almost on the jaw column with its base several cm ahead of the fingertips. Advancing ~6 cm and 1 cm right to get directly above it before descending.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.07,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UCK7NhcwLMxwFUbWRVLrM3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8394, 0.6563, -0.3943, -0.0914, -0.0826, 0.9984, 0.207, 1.5982, 1.5921, -0.7132, 0.1516, 0.0761, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0026 left_z=0.1888 left_yaw=0.0479 left_pitch=-0.0104 left_roll=-0.003 left_gripper=0.9984 right_x=0.4518 right_y=0.0713 right_z=0.2733 right_yaw=0.0293 right_pitch=-0.1453 right_roll=-0.031 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.6752, 6.8308, 1.9707, -0.1636, -0.0806, -0.0611, -0.7316, -8.4581, 9.6615, 1.7363, 0.0366, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee3d6859a7cf9dd13e8814a18c92ea3f8e23153ace90ae8a7730e33428b0de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b132912a5d52c8c53098f121d83263ab4005e6e0ad62bb649d991128fbe82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbf49fc60c4e092a4ef495e9b8eca8c6f082d3adb35d1bcbaafbfd98fdcd908d",
        "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 · 10.12 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7242, 1.3998, 0.5659, 0.466, -0.7036, -0.2512, 0.9957, -0.0147, 0.8257, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1605 left_z=0.1576 left_yaw=0.0 left_pitch=0.2863 left_roll=0.0148 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1699 right_yaw=0.0007 right_pitch=-0.0473 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.135, 5.8325, 1.9658, -0.2857, -0.0122, -0.2418, -0.2803, -1.306, 7.0085, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0551, 0.8368, 0.6514, -0.3676, -0.102, -0.0845, 0.9989, 0.2832, 1.367, 1.3693, -0.6621, 0.21, 0.1272, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=0.0048 left_z=0.1929 left_yaw=0.0594 left_pitch=0.0145 left_roll=-0.0016 left_gripper=0.9989 right_x=0.3967 right_y=0.0808 right_z=0.2824 right_yaw=0.0303 right_pitch=-0.0786 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -2.2359, 9.7026, 1.6777, 0.105, 0.1148, -0.1245, 0.4308, -5.7915, 9.1829, 1.5018, 0.3053, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8394, 0.6563, -0.3943, -0.0914, -0.0826, 0.9984, 0.207, 1.5982, 1.5921, -0.7132, 0.1516, 0.0761, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0026 left_z=0.1888 left_yaw=0.0479 left_pitch=-0.0104 left_roll=-0.003 left_gripper=0.9984 right_x=0.4518 right_y=0.0713 right_z=0.2733 right_yaw=0.0293 right_pitch=-0.1453 right_roll=-0.031 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.6752, 6.8308, 1.9707, -0.1636, -0.0806, -0.0611, -0.7316, -8.4581, 9.6615, 1.7363, 0.0366, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee3d6859a7cf9dd13e8814a18c92ea3f8e23153ace90ae8a7730e33428b0de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b132912a5d52c8c53098f121d83263ab4005e6e0ad62bb649d991128fbe82a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf49fc60c4e092a4ef495e9b8eca8c6f082d3adb35d1bcbaafbfd98fdcd908d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiw0KEAgRGAI4AUIIdGhpbmtpbmcSDD/KP5D+ydq1rb7RJxoMhLiXgZ25QpNnwGGNIjDsRY2ag3RzzI6cilieSQQojOcVGFsUCLKKgMo6+WKRSrFq1jY3x2t8XTIfRmTgaFAqqAzGDP8AYeb3aWayoSnILWz3LIaiwhBEdItVXe4x9mDfcq/3VNwZIzNDbReLmtx/a6JMQWPqyyw9iqbxIiR868A27zqtDNLdKv2KoLL+2MDE92+Aa9XQOxrl26RjLohWghJTyr8wfAEkfk/0t5msjYf/c74rIrzvBBaILW8XI1Be+euaXPnPcqBBkeacXvEdSBKiR0zBWQ2YL99zZsvEGO+k7rgIspUro5vbA7sEaQD67UbjDag9zm1cL1GxhxlsKWCCo814hSFrNV8pUMnLtjICNQ+OygFOHIPZqECK/cnDraG0/ZfrJzpOmuGaJAJbpcIqGmSW0gSZViGEQWg6a9BbtouKFSZFXuMHFu+g3mRTgzUZZDVT+ZncjEnzoz469ohS4wRUWyV+CO8hTqMDP/N4P39NyuNW11k98Bz3JICYWy85H9XkVnADmFYGo67/WqvLPlogvU/Gqgo2k7Y6aD4cqEblJgIpefmTQnpY2vT0Ni9UKb5sfru0iS7tEqU6/85oN7HC8tu7+9fZCqyzqE7arqNp7/2iHrSyKmQMWfbxvHqmN/9OZuKuzutrmR/Ws4Js/PmkheZ+N2u+jwPaUVFmQMREwn+pq8Atuk1hMOZkhdEN8WO0OUyLP/emsLtt558ssEsZBmyc+D/BtQ3/kFwqtyYaFTGneDbkOy9tj1yh4S84T15T0kUtmvsvNZOYuu2QxQ7oYnXm9wJQMkShGHIUKt4JjgNgU1BcrU/8/TIJ+1ItLeehqhFGLYFDgdto7tufGFnweEhDL7kMRJpFZfNMbGVbPmAO1AzRrmoo4ID/rOHFZalC3HX92NBIruvsSNjqf4EJDyU0CPAgbzcqWiMY4UPFqnDZxNr/6Q/XyKw52X8kAploJwUFKY/36ZG2D1irHkjrG0BIUHRJA1Z25XYKtxTaflJ3alA/tTgpOH4FUiwG7S7ijwePQjRgQ/CDYfkXBFqMfCsBf7zxAoPuczaH3mrFJ4HoR6BC8oPynVJD+E4D5o9Hc4XSI2iX9MH4PUPuthJA5dQV6bD8LYOQylSX9sidYyhyfbGgH4wKwwZQ3jidoKA3Oi/3uQo36qvBxU39BXlmnqigueZ51BhBBuQZ/GmLjTz/AXzGyQeyWL+WmAWe60TY7ZkvOKSbFMFzUKYklRU9UT7UTMvoBDhhTdaQayfBjpJZARbOizFPRrHN85hKA6+Kun+63CEhC9NX/nAtvlsuxcec0orGSx7Lit/0WUoEIMEtF301wGnRjufxdycJvW0rvWUMQVJVPtrdbBB9f3X5wAAoXM2TfYZ2YshSck35iP2qrEF06I7qO09ojCIPT1sAiHEp/fi3G7d42zdSD03NPunB0rorfaHdjGefoTfdxw4IfMia4/5ZZ3o2xLQ4gSqJ1fw5NoTOMv1aP6pwvRRANHhT1KKX2QQ6VeZ7W0Dga2ClaVEKvANRL8uaycMDJJ+lbpq+0IGD8yGUQS0cp8AMh6g2onrpBr1Fhw0MnJDTj+pMG6wWWbEA8Ri7sK0wNP3UC7cAoBi3I40VvR6GSYFyZ90PTrP4B4odMYbg5dUScwzBSNRJkWVylOAcoob1ga8qPO1JgY84YxwbJYkHJGKd8266FAqzV26u3panKscuzwzpsEMDWAaNLup9swuguFpDvcDd2GWglVg65rb9g2esp63+ss9t5sQ4Vq9qmfOF1hHeWeMbX2QsW5Nc5dG9yUZSmuGZGuBL83VnGIKarpbolIkKvG+3YVi5CAvEBX4xX6WLUfK3VHklJg7j/UdgXp+Z9WO92+5tsOKWML1bLf/3rHyGsda+MUghr/fgwc1ItBV6uEh6OZv4sI4fp8teuj9uKf7JFK+RhWaS2Zlp+EA3YGnv+T32aSQX5rsRPcv258+LfRnnB5IvZBDgsqt06oMf/czHgb1zJb7pT3hhaL073ki6jljFUTioLijK4dMAjsd0Am9dEyzie63YxyhHYOemVDG09StF45yCP+rowdbvnL+NjxKqcLeT71qlS1QOfdWtHT/RRfS8fMecqYckkIYsKFAkKnLY+F6NDCDmLQpJ9Pf6fqoAtAtweHdJvqZwf5Y4c8Ry3X1YgNCRTBwtyi1vdg7/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFEvYC5HdLgth5NtDJo4gX",
      "input": {
        "note": "The bottle opening is visible just ahead-right of the jaws with the body directly below. Descending to mid-body height (z=0.15), 2 cm forward and 1 cm right, so the open jaws straddle the body.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.48,
          "right_y": 0.06,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FFEvYC5HdLgth5NtDJo4gX",
      "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]: [-0.0566, 0.8398, 0.6559, -0.3805, -0.0967, -0.086, 0.9983, 0.2012, 1.6104, 1.6184, -0.7139, 0.1448, 0.0669, 0.9998]\nstate[eef_state]: left_x=0.3042 left_y=0.0034 left_z=0.1914 left_yaw=0.0542 left_pitch=0.0028 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4565 right_y=0.0708 right_z=0.279 right_yaw=0.0346 right_pitch=-0.1331 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.5385, 7.241, 1.58, -0.0171, -0.0269, -0.0269, -0.4855, -8.5128, 9.3744, 1.7265, -0.0513, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977eca3612f9b2cf8daa1b5e04c652eb29dac42b7d7dfcc19d23e0cc905c7320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a052caeee1d1d655b1f96cc5b3e66fe062561adb6470c9218889dfeef99ab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a42d2e749662a9213117d0e4f49c0f33f5310b8f0ce4952fb763074e09bf268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 6.834 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0551, 0.8368, 0.6514, -0.3676, -0.102, -0.0845, 0.9989, 0.2832, 1.367, 1.3693, -0.6621, 0.21, 0.1272, 0.9998]\nstate[eef_state]: left_x=0.3051 left_y=0.0048 left_z=0.1929 left_yaw=0.0594 left_pitch=0.0145 left_roll=-0.0016 left_gripper=0.9989 right_x=0.3967 right_y=0.0808 right_z=0.2824 right_yaw=0.0303 right_pitch=-0.0786 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -2.2359, 9.7026, 1.6777, 0.105, 0.1148, -0.1245, 0.4308, -5.7915, 9.1829, 1.5018, 0.3053, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8394, 0.6563, -0.3943, -0.0914, -0.0826, 0.9984, 0.207, 1.5982, 1.5921, -0.7132, 0.1516, 0.0761, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0026 left_z=0.1888 left_yaw=0.0479 left_pitch=-0.0104 left_roll=-0.003 left_gripper=0.9984 right_x=0.4518 right_y=0.0713 right_z=0.2733 right_yaw=0.0293 right_pitch=-0.1453 right_roll=-0.031 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.6752, 6.8308, 1.9707, -0.1636, -0.0806, -0.0611, -0.7316, -8.4581, 9.6615, 1.7363, 0.0366, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8398, 0.6559, -0.3805, -0.0967, -0.086, 0.9983, 0.2012, 1.6104, 1.6184, -0.7139, 0.1448, 0.0669, 0.9998]\nstate[eef_state]: left_x=0.3042 left_y=0.0034 left_z=0.1914 left_yaw=0.0542 left_pitch=0.0028 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4565 right_y=0.0708 right_z=0.279 right_yaw=0.0346 right_pitch=-0.1331 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.5385, 7.241, 1.58, -0.0171, -0.0269, -0.0269, -0.4855, -8.5128, 9.3744, 1.7265, -0.0513, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977eca3612f9b2cf8daa1b5e04c652eb29dac42b7d7dfcc19d23e0cc905c7320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a052caeee1d1d655b1f96cc5b3e66fe062561adb6470c9218889dfeef99ab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a42d2e749662a9213117d0e4f49c0f33f5310b8f0ce4952fb763074e09bf268",
        "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_01SWPUP1RNjjoqvbLXsP6hT4",
      "input": {
        "note": "The descent did not move (z held at 0.28) — the jaws appear to rest on the tall bottle's shoulder. Switching to the neck grasp that worked on the first jug: pitching forward and positioning just above the neck opening.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.5,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01SWPUP1RNjjoqvbLXsP6hT4",
      "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]: [-0.0566, 0.8433, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1413, 1.5341, 1.0615, 0.3191, 0.1184, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4961 right_y=0.0531 right_z=0.2804 right_yaw=0.0445 right_pitch=0.4114 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7026, 7.0359, 1.7021, -0.0806, -0.0611, -0.0171, -0.9915, -6.7897, 7.5282, 2.3565, -0.0611, 0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff8d9532fdabaa99bfcffbdb4caa831ca742180c6bd056f24fca3a3df41c2ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cac20457541e621fa335ca7419a3b64eb56ea7674bfb053d6a127c5210e6f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab28e34baaaaea87230c932989857500f96e7f263b2b4773cbef00dce206ad38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 9.359 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8394, 0.6563, -0.3943, -0.0914, -0.0826, 0.9984, 0.207, 1.5982, 1.5921, -0.7132, 0.1516, 0.0761, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0026 left_z=0.1888 left_yaw=0.0479 left_pitch=-0.0104 left_roll=-0.003 left_gripper=0.9984 right_x=0.4518 right_y=0.0713 right_z=0.2733 right_yaw=0.0293 right_pitch=-0.1453 right_roll=-0.031 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.6752, 6.8308, 1.9707, -0.1636, -0.0806, -0.0611, -0.7316, -8.4581, 9.6615, 1.7363, 0.0366, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8398, 0.6559, -0.3805, -0.0967, -0.086, 0.9983, 0.2012, 1.6104, 1.6184, -0.7139, 0.1448, 0.0669, 0.9998]\nstate[eef_state]: left_x=0.3042 left_y=0.0034 left_z=0.1914 left_yaw=0.0542 left_pitch=0.0028 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4565 right_y=0.0708 right_z=0.279 right_yaw=0.0346 right_pitch=-0.1331 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.5385, 7.241, 1.58, -0.0171, -0.0269, -0.0269, -0.4855, -8.5128, 9.3744, 1.7265, -0.0513, 0.022, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8433, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1413, 1.5341, 1.0615, 0.3191, 0.1184, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4961 right_y=0.0531 right_z=0.2804 right_yaw=0.0445 right_pitch=0.4114 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7026, 7.0359, 1.7021, -0.0806, -0.0611, -0.0171, -0.9915, -6.7897, 7.5282, 2.3565, -0.0611, 0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff8d9532fdabaa99bfcffbdb4caa831ca742180c6bd056f24fca3a3df41c2ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cac20457541e621fa335ca7419a3b64eb56ea7674bfb053d6a127c5210e6f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab28e34baaaaea87230c932989857500f96e7f263b2b4773cbef00dce206ad38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgQgKEAgRGAI4AUIIdGhpbmtpbmcSDIArebzABjygrUkpChoMgS9Z/GUpy6gSxhWSIjDfK7MrP1GaK3z1YYY10RDUENuSZBdgYXFK8vcpacOZXShQDPuMabr6ONBBs7MLS2cqngdE7AKLSnwuJ1i22n5ZdZE+wrV9/uPdYtZudAMOxsci277KQM0RpelQzRsF145aH9u/rFZ8PBhbbyCBv+VIsVedhuXM82+X0yzNDyxfRko0FuF3U4F9f6OosjYpfQrDXpiFihVoX23EmGPMn39Ggpdq1LLGhnQT5GcaYD9JoSHLrc+dCyQMHyW2RY5rF02sF+GNYxjgUvAcvL5dGH+UWSMRwt+9df3hYl4w0m41JzdnJw46Uxa/m/qS2SH37YXEHaxq2BUrofGltr7wXttY9y/2O076C4H7C1MC5NsloXpMkIlEQqC9gqkIVblPmpBVIzqvVBy/+/AtDA/xBeBh2iP1Hcq0tGm9dOyandUZ6qBQUN1nrR3KsAjUYny7QMsrpcfvOQ+dI9J6oEg3S0OLPadR5hNmljMEvQsTmIvjsoI1RLODnoAfOy+5Bci+qMy2IYnRLI4jJfwZy7oJu0KbTB5eOoe99uBMWbQrPFfFz9kbSfS9T8GAJiZrQlsHECE77U9i9YtbzJ5JmD+YZ/WY5TQebaJ/w/D4+l7yBlkZpYjWGHSH0bAcaRjKlIx8Y56X4rPmraoRv4kGMKscVsAvIz8r/dgPBdWYU8xfTGBBkBpgpMeye3Vo2NUrIhTiMLXXemDzBtR0c8RX7fibiNONO5MaIMIEN+pYVkSlYGLujiK/CDLh2CmICLncE2OaWL/pdOHsXv56/Jg202p0ROcZV4FnhFkrIdYaCohPnNI8ZpEuCjxuztLUOEQPk2kOd4g28mfRP0680YK7zVI6iiLuE/w+xB0tHnGJuQik+Gsi8Pd1dg65FnE3YuVoOnBioV40GIJ6rrDL/vp694DG0ajkcAWT497o33vbYIuDnLYS1Oo0MSGD1Zohb2wvZ66vMMoIDCsBvslTkmCGiqEPYhSHV4GTHVr/dpLOQUbPHkRn6XfH1kFbhAO9tL74cMkoouCf86mOYs3a8oagsXRrdEt64fjXqWjjrS+xVbPRDapvirbeN5JJaaLOQFNsvlX+SBK19sA4MfznFwaFa7eBqJln+A7Rvo6aqOqeJ9tTucWJE2VUuX6Bs4z+2fWirrXY4dQxEEIC0fzPNzEfNMmiPo5fKY07HBlgVxcsgONeuHljUmK/jR8YGXn2EWGiCjssnHZUkD7cdxdpjXx4oInsI9B557tTeoufU/sAVIHXjS+3T1WDqkRSHqapwROJ1dH1lDSv2QV5Rgh3cb1JtbDdKrP/uRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HjPyisyQanscAJvBVcpYMj",
      "input": {
        "note": "The neck opening sits right on the jaw column at the fingertip row. Descending ~8 cm so the open jaws straddle the neck below the rim.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.505,
          "right_y": 0.05,
          "right_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_01HjPyisyQanscAJvBVcpYMj",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1368, 1.726, 0.836, 0.709, 0.1139, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.501 right_y=0.0523 right_z=0.1763 right_yaw=0.0498 right_pitch=0.3838 right_roll=-0.0518 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 7.0359, 1.7118, -0.0806, -0.0708, -0.0122, -0.7453, -8.294, 6.3932, 2.2393, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac6faa548a4a5a3e73837802099efa8b383dbcef3d18f5969a01e19fb7350b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b5bc48cdf153891fe0c1f5c578dfb3813e8eea40760974d03604be9767840a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c191878f20e6d662fdb85b4120f672bccccd17d805865c131127afbbac94df19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 40 attempt 0 · /messages · status 200 · 14.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8398, 0.6559, -0.3805, -0.0967, -0.086, 0.9983, 0.2012, 1.6104, 1.6184, -0.7139, 0.1448, 0.0669, 0.9998]\nstate[eef_state]: left_x=0.3042 left_y=0.0034 left_z=0.1914 left_yaw=0.0542 left_pitch=0.0028 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4565 right_y=0.0708 right_z=0.279 right_yaw=0.0346 right_pitch=-0.1331 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.5385, 7.241, 1.58, -0.0171, -0.0269, -0.0269, -0.4855, -8.5128, 9.3744, 1.7265, -0.0513, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8433, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1413, 1.5341, 1.0615, 0.3191, 0.1184, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4961 right_y=0.0531 right_z=0.2804 right_yaw=0.0445 right_pitch=0.4114 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7026, 7.0359, 1.7021, -0.0806, -0.0611, -0.0171, -0.9915, -6.7897, 7.5282, 2.3565, -0.0611, 0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1368, 1.726, 0.836, 0.709, 0.1139, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.501 right_y=0.0523 right_z=0.1763 right_yaw=0.0498 right_pitch=0.3838 right_roll=-0.0518 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 7.0359, 1.7118, -0.0806, -0.0708, -0.0122, -0.7453, -8.294, 6.3932, 2.2393, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac6faa548a4a5a3e73837802099efa8b383dbcef3d18f5969a01e19fb7350b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b5bc48cdf153891fe0c1f5c578dfb3813e8eea40760974d03604be9767840a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c191878f20e6d662fdb85b4120f672bccccd17d805865c131127afbbac94df19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Wrist view is filled by the jug body, same as the successful first grasp. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CAbwvRJUpquyA7gtMhqKPp",
      "input": {
        "note": "The right wrist view is now filled by the jug's body, meaning the jaws straddle its neck/handle. Closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CAbwvRJUpquyA7gtMhqKPp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.136, 1.7317, 0.8291, 0.7136, 0.1036, -0.0471, 0.0119]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5002 right_y=0.0536 right_z=0.1715 right_yaw=0.0613 right_pitch=0.3755 right_roll=-0.0553 right_gripper=0.0119\nstate[joint_eff]: [-0.2256, -1.3607, 7.241, 1.7021, -0.0855, -0.0659, -0.0122, -0.1709, -8.5812, 6.6667, 1.9707, 0.0806, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd78948c65a5559f8e32a2b614970a867c80710314278066ab93e1d69c7448c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a479731ed222b31efb9530fbf3783df85d3d43bc5568c0a4f822230345ae60cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5acefe27517e8e9e97dc1d0955b272713bb8d8480d1bf687c5d754aa8b6c6b3a",
        "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 · 6.534 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8433, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1413, 1.5341, 1.0615, 0.3191, 0.1184, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.4961 right_y=0.0531 right_z=0.2804 right_yaw=0.0445 right_pitch=0.4114 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7026, 7.0359, 1.7021, -0.0806, -0.0611, -0.0171, -0.9915, -6.7897, 7.5282, 2.3565, -0.0611, 0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1368, 1.726, 0.836, 0.709, 0.1139, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.501 right_y=0.0523 right_z=0.1763 right_yaw=0.0498 right_pitch=0.3838 right_roll=-0.0518 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 7.0359, 1.7118, -0.0806, -0.0708, -0.0122, -0.7453, -8.294, 6.3932, 2.2393, -0.0171, -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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.136, 1.7317, 0.8291, 0.7136, 0.1036, -0.0471, 0.0119]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5002 right_y=0.0536 right_z=0.1715 right_yaw=0.0613 right_pitch=0.3755 right_roll=-0.0553 right_gripper=0.0119\nstate[joint_eff]: [-0.2256, -1.3607, 7.241, 1.7021, -0.0855, -0.0659, -0.0122, -0.1709, -8.5812, 6.6667, 1.9707, 0.0806, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd78948c65a5559f8e32a2b614970a867c80710314278066ab93e1d69c7448c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a479731ed222b31efb9530fbf3783df85d3d43bc5568c0a4f822230345ae60cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acefe27517e8e9e97dc1d0955b272713bb8d8480d1bf687c5d754aa8b6c6b3a",
        "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_01CBPRuGvbNM3rCVWBumtyVa",
      "input": {
        "note": "Empty close: the jug handle/neck is directly ahead of the closed jaws, a few cm forward. Opening and advancing ~4 cm before retrying.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.54,
          "right_y": 0.055,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CBPRuGvbNM3rCVWBumtyVa",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1326, 1.8462, 0.9417, 0.7666, 0.0921, -0.0681, 0.9947]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5313 right_y=0.0581 right_z=0.177 right_yaw=0.0792 right_pitch=0.4257 right_roll=-0.0722 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5248, 7.0222, 1.7167, -0.0952, -0.0513, -0.0073, -0.8547, -8.212, 9.1282, 2.2442, 0.0073, 0.1392, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f77ace93f199fdd55d6b6b06de3af3286b360c6b92d9ca601216b4e80d53d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf3692a36ff957fca41f194e62d7405715926551a96645725ff494288343a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa8788f28d37ccaaf1f2e179f2955a762944ea167861bf74d0edcb7aa76496c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 42 attempt 0 · /messages · status 200 · 14.5 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1368, 1.726, 0.836, 0.709, 0.1139, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.501 right_y=0.0523 right_z=0.1763 right_yaw=0.0498 right_pitch=0.3838 right_roll=-0.0518 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5658, 7.0359, 1.7118, -0.0806, -0.0708, -0.0122, -0.7453, -8.294, 6.3932, 2.2393, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.136, 1.7317, 0.8291, 0.7136, 0.1036, -0.0471, 0.0119]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5002 right_y=0.0536 right_z=0.1715 right_yaw=0.0613 right_pitch=0.3755 right_roll=-0.0553 right_gripper=0.0119\nstate[joint_eff]: [-0.2256, -1.3607, 7.241, 1.7021, -0.0855, -0.0659, -0.0122, -0.1709, -8.5812, 6.6667, 1.9707, 0.0806, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1326, 1.8462, 0.9417, 0.7666, 0.0921, -0.0681, 0.9947]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5313 right_y=0.0581 right_z=0.177 right_yaw=0.0792 right_pitch=0.4257 right_roll=-0.0722 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5248, 7.0222, 1.7167, -0.0952, -0.0513, -0.0073, -0.8547, -8.212, 9.1282, 2.2442, 0.0073, 0.1392, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f77ace93f199fdd55d6b6b06de3af3286b360c6b92d9ca601216b4e80d53d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf3692a36ff957fca41f194e62d7405715926551a96645725ff494288343a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8788f28d37ccaaf1f2e179f2955a762944ea167861bf74d0edcb7aa76496c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4QYKEAgRGAI4AUIIdGhpbmtpbmcSDK9/kEDqCUldnTaooRoMeD5djHIRVOdSuhZBIjB4+zYW7OTHyfI5WwkShUGa6VOW0ZhXN+UhI2NtCMzALCcbLdjRLOn637DtFHVFy7Qq/gXDz61jYbG9x3zK4b5EIjMxnc5EPYbNoWSr1OgninqA2BoZEvjB7pfm2sllvBZED+HW/NhZNZvShio2C6+0quaq16XLUIgX736J8wmowstdl5Pwqg53wBCyESndFujRapd9Yjz8Ji+yf0BFx7skj0zvZ+8mxd3zleewnTQVNcXpBr0CIF2TmbgYcakAfc15YjvyvJ2dWb2fXz4NBJwPrI1asAubGAhvGNRGe+FU0idXtVizZl2nKxzpFXc/KBO+OtDF22k895c34bcvv/nrcxITTCd8NjDkR78/xcEuSkjZo5Wk19uJqV6Gj3HNt3cu6VgRUufDEjfb5VLq+OqyKOzaLYhiQysJ5fAuOq+dy6Sf7KhosE8sACSHHl1DAjw4LmpNoYwwT05N9rxjKe5kUIfgsSqFQ8tsDkPxnfESmPrmlXlRFTQWSooroybI3YI9KJwd+N/3mOfW24SjhnJTcPXgiBZ34jYKPyh8eI7M/DKY52/GdtZN41VgIXEysijsRQWlV1NA/84A445AxhB4oD7O6GDy1JsBJhD3GR5MMq4ut/Ng7R4GzogS55M4zLt8biCtqZFke54IkyZG5AV9A/8vc9Ky8/RPLrHaHRgM0O13QP63GKpVyKm7G+WB9vMYQAKVmioSMpGA/m0jZb+fMTI+YDdsxXbKFfldcpyZNL1UDXrAgVJC9/iLsTkpdDinKktDx680DLDn3P+10Gpfi9dGJ4GNV7Jay1iYX70SACgCQRs1IdRE4RloDjYXrfxVShYtW3KRejC5zeoIdW2J6dgAc9mz86peeo8uBf7ULVzKhJgrrKdJ+8/4b3d8gxGyit7RWnCuTWZttWdeAmptdDQC9jYaI5NwoxuB9axYNBthMLenfIwZrWEqxjsoYvHSCT4CUuAdJT8xsEyy0/7kVj7wXC4MvcFpCkR9pgSs2PjEuBugZBLaeWSEq+aPEoxsoYmb8gyNrErvjl9lKdxiZHYy5ou3kxoJD4KCeb9pJsFKRYByV73Uo7i9iKMnkeyuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TH2JkLMNHf7yrPp9Ww7bG2",
      "input": {
        "note": "The jug handle now sits between the open jaw wedges in the right wrist view. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TH2JkLMNHf7yrPp9Ww7bG2",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1314, 1.8481, 0.9413, 0.7532, 0.091, -0.0715, 0.0107]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5309 right_y=0.0576 right_z=0.1726 right_yaw=0.0814 right_pitch=0.4099 right_roll=-0.0766 right_gripper=0.0107\nstate[joint_eff]: [-0.0342, -1.5795, 7.2, 1.707, -0.105, -0.0562, -0.0122, -0.0752, -9.3197, 6.147, 2.0049, 0.0122, 0.0269, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486533cd8a107a8f99879f302c5475c9675a84b9a5d31f725b8a9398357fd2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22ab9d7351f5b74fd62a7461263c746ab4729762ac39fecd35bd717f04631c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ff527dd37e1d6e64b7c542fdf66d4d83c86d766cb15030c248327234ef6aad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 43 attempt 0 · /messages · status 200 · 4.934 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.136, 1.7317, 0.8291, 0.7136, 0.1036, -0.0471, 0.0119]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5002 right_y=0.0536 right_z=0.1715 right_yaw=0.0613 right_pitch=0.3755 right_roll=-0.0553 right_gripper=0.0119\nstate[joint_eff]: [-0.2256, -1.3607, 7.241, 1.7021, -0.0855, -0.0659, -0.0122, -0.1709, -8.5812, 6.6667, 1.9707, 0.0806, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1326, 1.8462, 0.9417, 0.7666, 0.0921, -0.0681, 0.9947]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5313 right_y=0.0581 right_z=0.177 right_yaw=0.0792 right_pitch=0.4257 right_roll=-0.0722 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5248, 7.0222, 1.7167, -0.0952, -0.0513, -0.0073, -0.8547, -8.212, 9.1282, 2.2442, 0.0073, 0.1392, -0.0806]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1314, 1.8481, 0.9413, 0.7532, 0.091, -0.0715, 0.0107]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5309 right_y=0.0576 right_z=0.1726 right_yaw=0.0814 right_pitch=0.4099 right_roll=-0.0766 right_gripper=0.0107\nstate[joint_eff]: [-0.0342, -1.5795, 7.2, 1.707, -0.105, -0.0562, -0.0122, -0.0752, -9.3197, 6.147, 2.0049, 0.0122, 0.0269, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486533cd8a107a8f99879f302c5475c9675a84b9a5d31f725b8a9398357fd2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22ab9d7351f5b74fd62a7461263c746ab4729762ac39fecd35bd717f04631c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff527dd37e1d6e64b7c542fdf66d4d83c86d766cb15030c248327234ef6aad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171eo2Qxt1aRCJouMr28TZM",
      "input": {
        "note": "Empty again — the handle is still a few cm ahead of the closed jaws and the arm is near its reach limit. Opening, pitching further forward and pushing 3 cm more to reach the handle.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.6,
          "right_x": 0.56,
          "right_y": 0.06,
          "right_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_0171eo2Qxt1aRCJouMr28TZM",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9976, 0.9886, 0.955, 0.0784, -0.0902, 0.9955]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5533 right_y=0.0624 right_z=0.1639 right_yaw=0.1017 right_pitch=0.5085 right_roll=-0.0915 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.5521, 7.0359, 1.7021, -0.0562, -0.022, -0.0122, -0.3487, -9.4701, 8.5675, 2.3223, 0.1148, 0.0122, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f755afb297797779245fff7f66e2fe2d087dd968613f240d4090e74cc1a624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbd5dac18751411c78e49ec20dd8af10aad5fbeaf54be7ffdcc4fb01a11c0e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaaba737caf5c8379251d192f3f6402961c1b954c7360b3faf6d37f6f38c006e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 44 attempt 0 · /messages · status 200 · 29.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3801, -0.0967, -0.0864, 0.9983, 0.1326, 1.8462, 0.9417, 0.7666, 0.0921, -0.0681, 0.9947]\nstate[eef_state]: left_x=0.3045 left_y=0.0034 left_z=0.1904 left_yaw=0.0544 left_pitch=-0.0006 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5313 right_y=0.0581 right_z=0.177 right_yaw=0.0792 right_pitch=0.4257 right_roll=-0.0722 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5248, 7.0222, 1.7167, -0.0952, -0.0513, -0.0073, -0.8547, -8.212, 9.1282, 2.2442, 0.0073, 0.1392, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1314, 1.8481, 0.9413, 0.7532, 0.091, -0.0715, 0.0107]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5309 right_y=0.0576 right_z=0.1726 right_yaw=0.0814 right_pitch=0.4099 right_roll=-0.0766 right_gripper=0.0107\nstate[joint_eff]: [-0.0342, -1.5795, 7.2, 1.707, -0.105, -0.0562, -0.0122, -0.0752, -9.3197, 6.147, 2.0049, 0.0122, 0.0269, 0.9109]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9976, 0.9886, 0.955, 0.0784, -0.0902, 0.9955]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5533 right_y=0.0624 right_z=0.1639 right_yaw=0.1017 right_pitch=0.5085 right_roll=-0.0915 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.5521, 7.0359, 1.7021, -0.0562, -0.022, -0.0122, -0.3487, -9.4701, 8.5675, 2.3223, 0.1148, 0.0122, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f755afb297797779245fff7f66e2fe2d087dd968613f240d4090e74cc1a624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbd5dac18751411c78e49ec20dd8af10aad5fbeaf54be7ffdcc4fb01a11c0e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaaba737caf5c8379251d192f3f6402961c1b954c7360b3faf6d37f6f38c006e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywYKEAgRGAI4AUIIdGhpbmtpbmcSDCm9qb80r+ckhMzT8RoMtgBqgjUD6mgXx4QRIjCxOqxfcWthRsbt9gshIZN78StaA8OlM3/MlDLzqpvuC7U0Te/8H0zCYOeBSa2dfkYq6AX0Na0GEe8/22M4h9quKxAMIVu2L1e3AisUru8TeUC5J8tHpW2eNrr9coQfOKyyP1x0tb0uUBMgL6+5mQQZdzooOT+mocQ5nxXLJt93axJT4+l8feQM6Vik+UlhYhkLkDET77wwr1Qb7ygeo5SHeU79n/l8jgetOF/DC8br+c1niG8N9FuogtW4oSNWcVMrynd61EFHGGSy8HTy55diICEMq5YN7F6+dzxBaKf4XjcdToK0Ys9p+h4xW7jN1Sb5oPopDZoDYPQn/+Uiha/TW073yoTITVDzbwWpLoJctF6KGjcfJU2/9SryqWeLitB9TM3T9oli8emNWFJNdeNhe80Abxnq9N3u4qg1gkh5Y/T+3rF1LDqP+EJXhNhXQDa49LT6b5nMxzQzxoVlJA81xmFAla6JqYQDrGkWPEwiAFAZSPX1RdrImRG93CLkGIJHsZ4MdITfW94+hGyiFG48aLdxKS3Vka7t4K2O1hW3/qGrDwqhE6TmnurS7o/scOK0T6k8IRl/xX94lAg91/xWBaF0b+ZOE6AzrG7gx+VTFykAs9dhhtCqoKptejrNO5pUMOhTMSaB+Yv+U68thF0U58UXBGfKcsOfcgRLXvQW6toULLBIZSOMdPApg21j8Jo7yJHJiNYW3egFDq62Utvf+EauMVqli+mcpoNgRSfqqW/tdcJo9Ts53e7cqQPHipSDdKGk68TJ/hjoeJnyJCBnyMbEA4SZnGYBojWw7epq3y2xVVFHeujzMRXuqjWp8IQSGWacTMiycY9DEUxgOU/seIS63+OAPduuOHu8zchB9igfknkGszdk95cW6beHRr3jFxf8HA38IskHZhMm1KEzDpk3stZ9tHgGnORE9lE1s/Wv9iYBhSBhQFAdPHEHSGIjvLD44t1owi4FAisgcchszoIhUFBjmOb+5VwPM0q/A4jgNzrftcFDY6qBJa86lly8D/Ku0W8DMAOjGywADU8vkQgZSdP2hQVOWj4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gf4o5FvY6A1rKg55BKVSSd",
      "input": {
        "note": "The handle now fills the wrist view right between the jaw wedges. Closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gf4o5FvY6A1rKg55BKVSSd",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9995, 0.9882, 0.9352, 0.0731, -0.094, 0.0114]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5529 right_y=0.0633 right_z=0.1579 right_yaw=0.1095 right_pitch=0.4862 right_roll=-0.096 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.5521, 7.1179, 1.7363, -0.1001, -0.0366, -0.0122, -0.212, -10.441, 5.7504, 2.1074, 0.0611, -0.0171, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d23c31f55aee8f3c9198164ec85fe2559ebee5b7bc85437165b9f5ee5df90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eafeac8da9930f3d6830661919a080250face91200838d07bad773cc3049eb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c49cb6af8b7879c8b27d9053b3760d2abfb34fd7e88fa29a542f6663be2e450",
        "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 · 46.31 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1314, 1.8481, 0.9413, 0.7532, 0.091, -0.0715, 0.0107]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5309 right_y=0.0576 right_z=0.1726 right_yaw=0.0814 right_pitch=0.4099 right_roll=-0.0766 right_gripper=0.0107\nstate[joint_eff]: [-0.0342, -1.5795, 7.2, 1.707, -0.105, -0.0562, -0.0122, -0.0752, -9.3197, 6.147, 2.0049, 0.0122, 0.0269, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9976, 0.9886, 0.955, 0.0784, -0.0902, 0.9955]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5533 right_y=0.0624 right_z=0.1639 right_yaw=0.1017 right_pitch=0.5085 right_roll=-0.0915 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.5521, 7.0359, 1.7021, -0.0562, -0.022, -0.0122, -0.3487, -9.4701, 8.5675, 2.3223, 0.1148, 0.0122, -0.1441]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9995, 0.9882, 0.9352, 0.0731, -0.094, 0.0114]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5529 right_y=0.0633 right_z=0.1579 right_yaw=0.1095 right_pitch=0.4862 right_roll=-0.096 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.5521, 7.1179, 1.7363, -0.1001, -0.0366, -0.0122, -0.212, -10.441, 5.7504, 2.1074, 0.0611, -0.0171, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d23c31f55aee8f3c9198164ec85fe2559ebee5b7bc85437165b9f5ee5df90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eafeac8da9930f3d6830661919a080250face91200838d07bad773cc3049eb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c49cb6af8b7879c8b27d9053b3760d2abfb34fd7e88fa29a542f6663be2e450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStCYKEAgRGAI4AUIIdGhpbmtpbmcSDPyv6N+CzGQGOWxN8BoMTU4g87b+iBHWjvstIjBQnVmvoIhot/ZyTpwjP1E9ytyJNPX8Zgw5wLIKBkfhoZ3Su6QL+J3QgwNNYUN86SIq0SUN1vldDPCbl5NmkuXen9ufiUxeZuFnPsKJeIilVHR9nYr3DQVkF7RXf7vkpY+7EfkgXUr5BBWbQRyc4si+tPbEW6CJD8Wzx95aiF3G+b0ZHCcbYxUWZDNw4oz+0Q1M4MEkUzaJsBK07Zxg6w6xjKVVVfBwrVvUeYr2lvp9aQWcCjkzJyj/7CEFDAWXHCJXFi/QBWfXzM10AZ+EkJOJttXknzppHdemTPXIDvZA5CUOt3FhTszehAgraic3R/Voa1Lo4d5F4AyomAsRhmsCciMsNvz0zb1u/b6HD0bPi/hUJQs1Lr4hZT5OgfrZ2f4m6GSWcdfobpOEv0M3y0Gm2XYVLy1nZrreL9CvP9aLfwPlW3ay8mjqyBhBwVBAdjtcHLOKFc29gdaBFKd7PzNTThzomURK0qX05A4AgodT0tWY5DHJkS4kvr73W6TwGZ0mH+GXnFEaB787Wh0+nRnquk3aWjPhwG+lgekk9s2YGOPFBFWTWK/s+nFmosjeghO1e+mEqh/rT8kzGXodjtQCICJuHhpAmmfkQK4jtEy9AK7/tze5EjW+CT+TapiTAazuawka0m4HRBi5qecddEbSM9in+L7md53INvqOXBq8fg0M4rxUespBWLFWosAd7ija8xO5WMGSHt/PC5BIjB1HxlU83Uuju5kJsXPZbiJSlx5l2E2/nCpNcuW9pHMGyMjdV9bsElS2eBKRPbw3FTMcPbmggY1XpVoaqCuHdZr601UYRzw1vuzbk1oeSgX+Eb2gtfr9+Z3HaUuhJeeP/59cwtYouYjS/YAdEkFMBjZNHv4KcY2KVuFWf+ICJzHWn2UDmy5aGdAh85MzKtZTxIBZGMoq2PBDwLRWDGvYdTr1Q9YW+/NyB8HfoLIU7Evk+b4QJ1BBe2SpCOcmZhOTJ6kcnoPbrF0O1MVc0qcogrYBA5OxWYQb/Lc47SxOrDPZHmi6PFn4Vt7RLrM9CNiTbT55bPHFAgGSJN3FsuF42X0BDvrT3qcjpApPzc9ZNW8bD0RNBEIDY7cfQV5+ac/k5WnJzbH2X3zFm91Q5brRnt01N/F80mP5caowCkxZVQE5DQbaeRAN7QFy+uHVLXRfzuW2Mp5sXSEhaNW1NlVMjtcZvkDP6ee0gOyzBCBhaWhDRzVouM16k389c+Q3SEVzKpmnN7NJ/U5YM1k96hdDL53xMeBrNhk6D90R//89yURbpVY6AUjYTwPR2tnWxGokOYEoBPYKVGyHi5gEEsiN9r56AeRWVFnDYWj0G3bP56/Tqtc2t4jLIVjI4P+qFxhEnOJaVFH8TRRhw0ru/uPFtWzpdKk4ekawiPaxoowWIFrTyvCa+FUAyKgW52DckDowMNxLi2kED0rxD6ZOAB7HvUA8ZP7Z0T5Q4ba3MdHaj2t23SZpZrk+3aja8xq34nDbwNb2866yCHANx5zoTyvxALVXh0YUXnlZpggvlWCiafjySFiTyoCE7nuX1Fu0OK4NQyJZEwzBc8f4o9nbzE9XsSOz43aObCzqimkqcMgFFdNYoGGdpwsdMoQMMa8uOR6hRWAPnCJBGxvRm8UZIOdGtwdpq7yJXneU0fJXx/nvUkVPhlgRMCZB7rAEKG2FDGUfn8Rh1Y6h3Keud3eY8/nk7ajwDMZkPVrweVovE7dOq7I9EMA0o+GoysJJ0+FAuH/jQFzSVRAgyWUQNIzqYi+9vLQiftickZl56yfSx+OkFQrtz+nJV0yZtNbvzhgOoJ+XJDKR28RRIkE8IbdQmDwcehPqmIPZfvD8RsMYPZKAUrbZI5rpaQ6Lu80HlPg8kDUgRaMcBq3XZ7j1/uMRFb1nfCNKiDywlzrHA38q89Fk2TAthsqytmS8NYWbQN8iTSI5+JA6YfpeGubyOetBN07zPcjGeBh0hgzOiuEVnpLRVGTlPMOPC1tluK5Z2rWNtsmHYGVq5dwBHHrRZ+lhCLPwLABCam9LaWZubVd8FFabmn8zJTSb2WqxChs1OhB2VFnHHCKJrzWcfSNBHZ2Kn8phSdJ4g7F/S9cAtJ0kn1XtbSglCfg1wkz7JLTtQHlxgYMjdFeFaIg01ImRMs5freKRIB4x4i4YgTaNn2Eic4aKOqpU7KkACmW1HRQ7pISkssgd+wKPz0ezJZklN7ZQB/TqeW6SNl03XnwbpSdEKPNyaUlkl2jzusGvI1xd5XzLaB/txScckOaUZbQh8+HuDGz9/bU9YLREuwO/AKhg6yicO6B1BnTV5//WbQS6GIhX+hdNDUUOV7ByU7Q0gjpbnClReQEyf+rpk2MU8Zjpj50MQK0UZGdv8dV3ANvm1kUyU0UkssQ9PUOkw9XKkn4cd3ydwJZ/ex12TlPD3s9GMYSBbQSUqGWU3GcEkf5CCnJOIuqEpnqPc7AaB991T+fiqB/77Jq+zzuLXli0pf/qabrfY9/UZg5DIztFAcQqITaYdkrMYz9MXapVvRJSaj3KjHOlI2UCsWKwBtLHNRXusfyA9UWeVkTTUEgrMrGH4f+jMJinpFdjOl/EDXdWx52QyqKWDeRe1420P8QedRYDh3D97nhrS5hDomJu89glcZzCU+aEHNIBSRV0bDRhW6Li2jr3afXrMOpQAR4+pv8yEHVjno4pDZ9YlN/AiFGDCd64wOaLDVCLcAcrRcptFspKyHhzjiFdI+wtPEny0DezzRx52bz0wjH+AtljHn3G25GZMpA5vI5NbORfK5JcbEsp6BOZqHZL8y6ZQu3u3WK4lOHaq3ubicVr7QKpzO3O8OrvfMZi6yALYM4+VjeyjLwvIdMGswx9v/8tnMN93zeNbw+C1K4XaTFWw6gjQkJ5ai4BjbEUSO6rvHDekN6MdnKA26zLY9C8FXqhfTScarg3k2kIPKgNDROo0b+dk6R4UENV/whhSkCaO+TFfxRqcr5DBZHGTfuPJHz8D02l7SBi671/EK7KvDKXuMB6qP8jqoF2OALdZeFX9XWoE1G9tYUUYfCIvZeR4MJAGX7JFQ5ORV7m+RcQOcTkP2Ue6KDfTLqH39BofLOx+XzTIvqdh60tI5O6f/TepOU7A5dTHRksQ5hoI4jjxJTjTtXPhpWcDVPfrNuvsM09UVCHSDhhBOveQYqqrs2oz+Q7btptkp31KhU9SiFOYXkPdNVrKsZzvxvr02Ch9vTiHGNskNAl5EqDVn9zcqsHSB2YctqWuivmOGYDVfoxv4sWnIeG7AKijFhq3Mhwp7v2iEyZONfBLtE3vfcCFb3xK40w+vLXs7NS1mtLnDya/devpm/iGqwZ6cZTYSYvAj3+a7/yr3sUHWxCirH5QFhvDGHOuW50lXd56HQ6nJR2w0j29Lswxh+OEhErt5p8DoWawv6TNy9UyBUqtppgid6NpgziGLq3mDFu1k29G3YfL7wLCfczMZmklbNl4pIZaBoSuBUDIt2TqGYJORGGCM5hz+UZ+vqDu43HyYKGz0I5CWYlT9vwf7b1pPQtI2mGFvHlWZKP/Wa2vE77WjuB0vZoE4DsrXS2qRgJdp2I8hDV5tPrYSiVRptBkcZkbqq8DUO7WvDBYzq4CqpHMX0rLLoBJ7q2CGJ0PAIkEEdAb9fusnK3V22xmdyT0/+k5y831q+W0D8gwErUFvzfDh+B9IHZHlWtEKMUYHcM495AK4XHTM/b/aOM6MtHma5Czr7dorvEz9qdD/COxFnoIUtx9yhKGzRbWnyh960YpD2tVjBF3y9pvUOLKvVmSzyhWIdWq9REuWgCqjwm6xM8HNY+hvmTLr6i8cN6CwJoSamTFziUTswwI75LV41PCAemyR1mHDgnrNaHeQ7heXodLinRAsotiei8obw5S1sEbsWpI7DEr1YCpTLLuZKahw09OUTSMRmZFwnKfqo7HPRE58XWjMgi7k3HTAoKfd1B2T7xxzdj61zlhcjLy98dJcHBp4eJjl5pT43ZPrGEQAc4C8e9Yv9OWKa19mMY8ca2G+82ebnvsv3NPn1gRdNT4mGBa6Z9HJV7vYm2z3IbH4lJtAFfwhObRnMZYD87HdMZKjfgEQkkI0l+m/VZ/pj6n+xhdw65lo2nYK6s39N+f4Zh5pvKqKKpNFjYm4rg02DXU4HB/fuiZnedupuc60zFj5HDDvGyBj4YDrDBRcvpR/A130JEHRsGIwBofLDm7Cm6cGxr6B9mdNl+IcFCm9DYK5xnMzb4AuNBVdrsDu6BpjcbZEe9yOt1wusBT986+A3J4Fh7v4Y0db2bxFq5ig+gX5jFSFeuQegCIzssbgPAQLoeNCXSMVeiBmtNMjoTAx7Abda28kgf+HBey21GX8XcH47XIJ7VLQYOufYo+G3bEyhVKG5idw8xjGhaD3dFa3JrQk7RhEL3BqTJIda3tr28ApNHX5ucnE3zIiFuAM2eaPJYe2rnOzVy/P+x5c7c+zsduNnEc0D4nzzQjHTEbXz6ckirYGnfrLTX5SMHYAEeV3/OK/081DThYktTkO7OINJGego1pOR0ydcTfBpUMYosin0GtXyA5xk88xnGVdl44YNqVLGwrPkBJDK45yNWaVxs0SPjKTkalSQ7H34cwp08bCcBKa8MekdB8z3B5TLCo32BQCZ+cz+Z1Ux1MLkXTr1/2OHyBMfYTVgWGFyjPU+2o5sNyjWKsDIPPtR03avjZOSTKA2U0pVaI3tL+fCXRpx16TyGdYvYsdWwNJA0qAGFDcmZoS62yMC+lNzA/flNMCeZKGyasyUKCdOpseVaoUGhnQXHYjZW6pCziwAd3CIF/J0oXC6k/WzmYLI1VB26N3k08X4YuzR4TRnBWmro6HzSDLOllvxVhFEF1xFQFCb1p2WPgKAwk11ZQecXpzTxOjwv92V/Ltet+5/9Io8ybzwwvW9CBy57vRektJ9beJSLrh6g9mKVSABoH88fFbU3pmWQDCVqIk38kBw+8/2YOqFA7zgNWH3zY30Exqa2qT+C5ILTXK1Z7OAsCK9Ec15F8vLVdmoM4FQvujvq0yn9iuNx9EJOMxAhuUM4y8t/pIp5DlChc/wGo3+P0xRht8WJAhR/vrR65evuCXZdawKf2FlL3cnayf+EM2bUuPpMo4l3MO1bgDbl52FB5D06Y6o/Y+8R3c+wpQNOhxol37pGKeU7sGXh1KeQnZG9SUJwdmObvvCy+twpuyb3uSQn+itOwwDoJH0Cnyfvz2fU2nDi8Or5lk+aRn1hnkTTvQ5/1KA7Orc/LUL5mv6nv2zC75X5Np4dAiS9l5NNcg3sjx0b7Qc/88wPVS5CqgiJzhan0ifWp2kT3bWJIXirhWOLBL0bUnNIDsgylkBYJ9Lu/dALByTstxhAz9By4V/6cUpmQQwfAi+4UaBTRMrjtGzIStcBh+ZBkdUp5+4pjSG1aOO/vdGO1HWsbc8rLJbzZCwH+6gY3QfnoKu6A/qaLvM5vI4RiQhVJ0U8qAPHvkUCAoqv03rG3moPvvrIbbbgpvvvXwMAeZZUtVlvTLShqmGhVfQuJBOxfLt0pnj7BKk7Ynt89BhhBLXOs3T3r7HOZg0jgYjW8/aLjj6Ht34pr1VFQmx4ySQWaQ7nGNCYz8nKNAPLsAh+qVqOGx6M/tB9Id/S9HEXtGpezpaJMinQKNNCSrvUkm+ytwbttXQJAGNh4upv21uZQrhoZfvZJtX33aEQ/K6w9CU0ReGIU9cX827o99955P8qp5UUN44NKnJwWonuLAMFCjDFGo4TLSELGpA2mDMaGu/DXVdyxCbpGyfnSLsaxISGmkSIgjoOZCq0jedhi1j1+8GIbF+gX//+aIgfpYM4kac3jDJ8w+RvV5NDJK2tjAEAtY5dETj2MD687fzdjAw0UlyGBu6Fd7Kz8WahhStvtPD8WRnoUHTCNVl3e2dYoLMszpLPO0rC52Q/ka0/SOIaANqs0kqyHrld2UGq6X8eZqqzRInzJ7qWu/thgmL6N3BaUjU2hSEFnxNo/4Pc9x3jHb8jY2HNqwb2jn9oGb4e5SXzSgBxZxtUDzDV4Q4y339QAd2zJMzCvF0r6ks97fOJrYtX3IP2fpGIlFBXuDd2fSuH6kXuq1Qt2DnnZ16V6aRWxL9yKx4SJ1HaBD1NbwMGRxpNDj3GfM7bS6hEqkrvlpl7X/XIbiCSPzT+1/ix+pWTZ9ddpSWMxAOgU97TJHUMsVoagIH963bgwcx2R6nEThj40fLWp7vLCM08+OLQoiX7Kg8EH477clsCp5+UMiWlSIFJNOkPDzp5RzrDFIEXvHt+dDsqpfWGBYBaObrLZAKjXFhLDg3oiQKVK4D3ou0zTO7okRqU7X1Ca09R2N2DZ+E7PL2b1uKkvhNIpMKGhm85zgc+hbutLOEljj1bkkBYw/d4fa8C2eOZbw6iFsotma0szyQPGTg0jwFXWRBLQ6Axq1C5gYpfk0tL5nDGjUhz3HomKdtf9IpVv2IBo0yGS/gv4eCYf68N5Z05/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016P1pzuYm9did9NsZi3Xzzi",
      "input": {
        "note": "Third empty close; the top view suggests the jug is actually ~6 cm to the left of the jaws while the wrist view says straight ahead. Opening and shifting 5 cm left to test which is right.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.55,
          "right_y": 0.11,
          "right_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_016P1pzuYm9did9NsZi3Xzzi",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2443, 1.99, 1.0191, 0.8272, 0.1654, -0.0982, 0.9946]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0546 left_pitch=-0.0002 left_roll=-0.0047 left_gripper=0.9983 right_x=0.547 right_y=0.1101 right_z=0.1501 right_yaw=0.1408 right_pitch=0.4193 right_roll=-0.1166 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -1.5385, 7.0496, 1.7216, -0.0757, -0.0562, -0.0122, 0.4581, -13.9145, 8.9231, 2.0586, 0.1636, 0.1636, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e146bb03a4b6e3d086fc8f0f3f2b9f4b4d43fade356ab86ef7a60b2ab037b34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76970f5ae2f147aab9d7223b8bd134bd22722898085264268e708feeee496002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17e9b238c984ae92c250bfef1e7837e4fdf8eb9652cdcd3559bd4cace9ef977e",
        "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 · 6.906 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9976, 0.9886, 0.955, 0.0784, -0.0902, 0.9955]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5533 right_y=0.0624 right_z=0.1639 right_yaw=0.1017 right_pitch=0.5085 right_roll=-0.0915 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.5521, 7.0359, 1.7021, -0.0562, -0.022, -0.0122, -0.3487, -9.4701, 8.5675, 2.3223, 0.1148, 0.0122, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9995, 0.9882, 0.9352, 0.0731, -0.094, 0.0114]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5529 right_y=0.0633 right_z=0.1579 right_yaw=0.1095 right_pitch=0.4862 right_roll=-0.096 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.5521, 7.1179, 1.7363, -0.1001, -0.0366, -0.0122, -0.212, -10.441, 5.7504, 2.1074, 0.0611, -0.0171, 0.9304]\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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2443, 1.99, 1.0191, 0.8272, 0.1654, -0.0982, 0.9946]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0546 left_pitch=-0.0002 left_roll=-0.0047 left_gripper=0.9983 right_x=0.547 right_y=0.1101 right_z=0.1501 right_yaw=0.1408 right_pitch=0.4193 right_roll=-0.1166 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -1.5385, 7.0496, 1.7216, -0.0757, -0.0562, -0.0122, 0.4581, -13.9145, 8.9231, 2.0586, 0.1636, 0.1636, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e146bb03a4b6e3d086fc8f0f3f2b9f4b4d43fade356ab86ef7a60b2ab037b34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76970f5ae2f147aab9d7223b8bd134bd22722898085264268e708feeee496002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17e9b238c984ae92c250bfef1e7837e4fdf8eb9652cdcd3559bd4cace9ef977e",
        "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_01NJZYE2sKRsreNCptpEWvTg",
      "input": {
        "note": "The lateral test confirms the wrist view was right: the jug is straight ahead but beyond the fingertips, likely pushed forward by my earlier approaches. Trying a maximal forward reach at handle height (z≈0.23) to see if the jaws can still get around the handle.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.6,
          "right_x": 0.59,
          "right_y": 0.06,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NJZYE2sKRsreNCptpEWvTg",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1169, 1.9942, 1.1725, 0.804, 0.0364, -0.1143, 0.9986]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5824 right_y=0.0655 right_z=0.2101 right_yaw=0.1438 right_pitch=0.5434 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.5658, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.9504, -9.5795, 9.265, 2.1514, -0.0024, -0.0269, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78b7c0b8126b6bd5d54b8715d301388e4a816a9c2ba9328ad10b926df0c25f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe24543cbbe0e7ba61776b3320909d8821c8ddb3b3e62594b491e4d3ab59731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c62b16eccc869362d4792eef655fc58c387251d58d38cf3edac2ab1a6431aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 47 attempt 0 · /messages · status 200 · 9.312 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1307, 1.9995, 0.9882, 0.9352, 0.0731, -0.094, 0.0114]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5529 right_y=0.0633 right_z=0.1579 right_yaw=0.1095 right_pitch=0.4862 right_roll=-0.096 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.5521, 7.1179, 1.7363, -0.1001, -0.0366, -0.0122, -0.212, -10.441, 5.7504, 2.1074, 0.0611, -0.0171, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2443, 1.99, 1.0191, 0.8272, 0.1654, -0.0982, 0.9946]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0546 left_pitch=-0.0002 left_roll=-0.0047 left_gripper=0.9983 right_x=0.547 right_y=0.1101 right_z=0.1501 right_yaw=0.1408 right_pitch=0.4193 right_roll=-0.1166 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -1.5385, 7.0496, 1.7216, -0.0757, -0.0562, -0.0122, 0.4581, -13.9145, 8.9231, 2.0586, 0.1636, 0.1636, 0.0317]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1169, 1.9942, 1.1725, 0.804, 0.0364, -0.1143, 0.9986]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5824 right_y=0.0655 right_z=0.2101 right_yaw=0.1438 right_pitch=0.5434 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.5658, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.9504, -9.5795, 9.265, 2.1514, -0.0024, -0.0269, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78b7c0b8126b6bd5d54b8715d301388e4a816a9c2ba9328ad10b926df0c25f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe24543cbbe0e7ba61776b3320909d8821c8ddb3b3e62594b491e4d3ab59731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c62b16eccc869362d4792eef655fc58c387251d58d38cf3edac2ab1a6431aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgRGAI4AUIIdGhpbmtpbmcSDMZUF67CeL3+R1R/ABoMteEy9eruicL+Cj+0IjCtNovrAjDjON0zAwFumjPA7uZjMY+3M4qBUC/GKLUUAd9sLXdhlB9rSidPQTBEMAsqiAfE4rKHt3X1hLVWuE766yXvdatoZdAArcphhN6k/IlJGxmxWKgSV+4yHQCMt4vRegxlUicCihWa1mLPzgrwYnGwYpEI94YPDFqCCX0teZyTo6o+zslvUSSXFrMpI7QbtWvG9q/d2aG52qF6MvTuxgkJgYV/2OVAAMsz2wehvu4u+HeC9cv2vkvcafQxV9IZ9+ENWo+q7FfnzuqjIIQkn0T6jwAxw0RKq5Oohnudhpbr/ptFicYwSOr/tSpzjpMWPY6TGeGlnP1gZbiqBe0jYWKQHB3S9w2yf+dcyhPy3+XQ2YkVa8V7BI4lK8TjYyCMsKXWEjIvjX7Rl+A2TN56+6p1LsT/a4A86A4jU/ZRe+ucbU5wbVHIu7MQd5yH7oa4Efa1sx+cTkrpkJooJkWu20VBC6FKZOxLxuANGkNCYyeKOG9i6+6aIYS66nlEmiYeHlFr50uEQvwoGlTa+SUz9HRjj0qBcOr1QLIMMqjzCuIKwy7hXym/X3iBS/+1s3AjhrA1Y4nOugJEtOu3HGGpAUsoVmAPq/NtwrWgcrSEqLTxwDCxyFmFp8ZRQ/g+wioPolq7r9g7vqTxWX0wJ7JK2xiQ8IfL5itAjLDFQiDLZTbAgmdqkikxtVklpMnLd7DqUAeX//qMkFRgHlz+fZ0UH2GDA7Y7guP4H2shp2+W9rp8fjmsiNlKjd5Pr309vqQ2UV+2rc5aQE9zrRw/4OJGBaOLreYPsVCoacpbdAV0YSn0m339AUvXhxhvsVVOpIm5ZTHCJ5C3/k5dz0fIOMPSXnW7WQZkVOhoQxgyqKFRJHZUzB4AaDaJdUFH/xaL8SU5Wl/gNeZ00jITbkSrR5nrSta8G0tvO6hoZbJCiEImV1UKh9hxyROrtlnbGipScxCQNMxFiZIhgbOYlbOWmUwRFpG489oRQVBlriQDtSoBg2K/YOfX65aFC+IRc9m/jQN6fQ7HoFje4g6Lhd8XRdC+22mL3Rt5c19ZeyfwVm641kBUJQ+ArdVGinZccq1gwyQefsFj7otxFbUYyho8VOjlBf+AAjhLWC6cJGTAt6EFLOBPUDJXSYINzw6Ff3BYhBuUsMfc93K/jxTQYfQ9PTRez5n4iT64jxovb27JYTPb9TDe9hdW1N/pciBajT2gcfPqfz9oT/E6dOGfAU+pcO87BO0ZDpbjSWMf+qLGGNympUCwISzyhfKzFdlrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UcRpZiyQEPzb1wrxyZFFUZ",
      "input": {
        "note": "At full reach the jug's handle runs straight down between the jaw wedges in the wrist view. Closing the right gripper on the handle.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UcRpZiyQEPzb1wrxyZFFUZ",
      "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]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1165, 1.9949, 1.1713, 0.7971, 0.0212, -0.1131, 0.1488]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5821 right_y=0.068 right_z=0.2074 right_yaw=0.1576 right_pitch=0.5347 right_roll=-0.1153 right_gripper=0.1488\nstate[joint_eff]: [-0.0752, -1.388, 7.0496, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.7692, 6.4889, 1.917, 0.0806, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62595f554dd2f283cabe1e268427129da2187f626d56780c933f1ba0e92a4ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be2a0a575b27fa2439616f2742e7802b6da3ef6878b7ab10c126d057502bd04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddd30b7722864d3e7bad676a28aadbad87d2343a2d1110f3c6152aa6eb1312d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 48 attempt 0 · /messages · status 200 · 7.538 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2443, 1.99, 1.0191, 0.8272, 0.1654, -0.0982, 0.9946]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0546 left_pitch=-0.0002 left_roll=-0.0047 left_gripper=0.9983 right_x=0.547 right_y=0.1101 right_z=0.1501 right_yaw=0.1408 right_pitch=0.4193 right_roll=-0.1166 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -1.5385, 7.0496, 1.7216, -0.0757, -0.0562, -0.0122, 0.4581, -13.9145, 8.9231, 2.0586, 0.1636, 0.1636, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1169, 1.9942, 1.1725, 0.804, 0.0364, -0.1143, 0.9986]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5824 right_y=0.0655 right_z=0.2101 right_yaw=0.1438 right_pitch=0.5434 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.5658, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.9504, -9.5795, 9.265, 2.1514, -0.0024, -0.0269, -0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1165, 1.9949, 1.1713, 0.7971, 0.0212, -0.1131, 0.1488]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5821 right_y=0.068 right_z=0.2074 right_yaw=0.1576 right_pitch=0.5347 right_roll=-0.1153 right_gripper=0.1488\nstate[joint_eff]: [-0.0752, -1.388, 7.0496, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.7692, 6.4889, 1.917, 0.0806, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62595f554dd2f283cabe1e268427129da2187f626d56780c933f1ba0e92a4ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be2a0a575b27fa2439616f2742e7802b6da3ef6878b7ab10c126d057502bd04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddd30b7722864d3e7bad676a28aadbad87d2343a2d1110f3c6152aa6eb1312d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAoKEAgRGAI4AUIIdGhpbmtpbmcSDIu7QAqK9Whm4QrFqhoMtPDjk5IN1o6nkUQNIjD8ljHXn5+o5FxpUo1p1s9xWpIoIxvPsIGkN43EtBHYsZ1rOaariTVyedz/oy1NLzMqyQmvX4hlw5Lur/ae340YWEhUtKtGSwiAQgBKvGdAGISmDJF6VTMQ2RSeyZd+JADQh5pYuFCcD+3lNXv6rRrIu/omJMwKGgrwtxLCrM2Mne/NjJ9jo2A+Or4U10y8/SwJy6K50zlY3gScyfiEdCciaY98kCZ05jxB2E8joSqOqYI2QbsrSjpQGeSh4PGvbDi3e1MGWXIayENKceuHBS0f1C2nZG3AYjiAJITv7nQ57togZer/iJDhRZwIV0JUz5lcndduEtwfa8zVlNE+AyGQwT7Pg00w1UNuJRVB6xasEg3OAOYsRqs+cxv8+cJkp1C5Jx9//mv5UXm1UFoHnv5Y4a4aPsiBFZd+GSwKyddwaDD3FC29advPQpIw4j0Y+fmos9HwiFLPVun8OUBgVTH6KrPKAgi6U1phR7oUimeZztSL2XD0jowLcAPgLNgjIfOWW+E5T8CpMz16fbFHIqBik2yBMZa7d0zYwyVAwodS7bFpD1XLCcLXZs7N9cKOTYKEF/EnsJGbLIXe6YjPQNv8gkyeu2IZcIWeUYX0Z4TcwqXPVzkdT05li2nH3bbhAOLDWj0Ks6BHMrPkrR53DjCWbjtpHjt5qWRRW6VuIWe1uAXmmLo6/889X99ACpgAUcX3xp7xpB/eFBrshRtDdYXUMk3ynTDnv7BnajNCoLRilkzxjNp9/ikFrkFed0oSGyj4e+sV94mbpkDm6GYSZXXbAgz6HJg4dYNiVi+YTTszrb/8XoAPn/uXieR+pivL3A/av8WxRNdjMPUs4qzylTgD0PrnpT3YcU8o6x6XgJ6E2dQOgt57EwuBuhK75AxMo3kgf60HiN/6xh6/XJXhQlRgAnJK2lANXt7lARtdlqpgwqrdSjNlMiOWjnkga36aep0EzfcQIXz68pBcvfDbPE5t1oSL10VqNi2Mh+ZYK/GFsQWLFiWEX+uQnLPcHEiFQ9g5OpOdaT6JGBJOWBBCXGPEFQlQmHs++TOYMgB4q+9iO23BVhXBzf+FqHQ4EVloBIJA46wYLN1asnzPtwoz3jUUh8p6eMKH9kJevPrkGqgEBP8G7rcOdd1l+E6fLjSeZOTMAwiFECNdLPNwcL1hB4OzQdL6LVnBUSGRry/YmfbovoD1DHQHameokAR0cXFlmNouTvlqq4iCsML2XVnJe7kFpjBZNLUo/IRuAygphAWZ2RTwh/hKGsFPeVv98mnuCWWv///6L7Auo3tLqCL2rdvB9HaE60NXd0TMFVO3/sYkhNGyPV3QuRXBZe2Djjj3xDUNHfVM0FTmWLtG3Ewl+e2zAoaH4FjLwo2Id1uj1wu3WKRfStINuhVrgLs17eb2ZTN27+iOd+gsnWAD9g14ioxB2fpZ5gJx8DImfsMmooShgoLEbM9KEb48zKoi5oG2Kc9RBEwe3iwaWGFw9bSEz0CDT/yTn0TtJInGYnufW86V+VG55zguEUfpj2dZDw4AyicYS3Engj0GAepPruEI64NI9agZtvxDCLMKB/XQZCwahzG2ZQdVWcxfKP4F0h+LSwV8wMbvPjRPn47n5agaRmjsQsgD/mt73/yajvjUtx3/1h8gOThyf1VJtU49Sioiqy0rmoGFEFdp4VnNO4B+fFYziw42upMpzasW8+YiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ker5MrYrRtxDAb5JWvgNq",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm) — the handle is held. Lifting the jug and pulling it back toward the base to a more comfortable reach.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.52,
          "right_y": 0.08,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018ker5MrYrRtxDAb5JWvgNq",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1696, 1.6962, 1.1194, 0.4263, 0.0521, -0.1131, 0.1529]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.5284 right_y=0.0848 right_z=0.2539 right_yaw=0.1796 right_pitch=0.4107 right_roll=-0.1149 right_gripper=0.1529\nstate[joint_eff]: [-0.0889, -1.6342, 7.2274, 1.7167, -0.0904, -0.0415, -0.0122, -0.212, -10.0308, 8.7453, 2.2589, 0.1929, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2e0bff6165cc686524d935a03212c4ecd9f553e268c3eb27c50804531d00b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94af126a9e01e3449485ae6142ae8e129a207847f186677ce6549d6996f320d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4c90fdd41695ff8c10429fa6d8eb99bdbafe8536890862cfa88573f34736533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 49 attempt 0 · /messages · status 200 · 9.427 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1169, 1.9942, 1.1725, 0.804, 0.0364, -0.1143, 0.9986]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5824 right_y=0.0655 right_z=0.2101 right_yaw=0.1438 right_pitch=0.5434 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.5658, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.9504, -9.5795, 9.265, 2.1514, -0.0024, -0.0269, -0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1165, 1.9949, 1.1713, 0.7971, 0.0212, -0.1131, 0.1488]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5821 right_y=0.068 right_z=0.2074 right_yaw=0.1576 right_pitch=0.5347 right_roll=-0.1153 right_gripper=0.1488\nstate[joint_eff]: [-0.0752, -1.388, 7.0496, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.7692, 6.4889, 1.917, 0.0806, -0.0366, 1.0085]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1696, 1.6962, 1.1194, 0.4263, 0.0521, -0.1131, 0.1529]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.5284 right_y=0.0848 right_z=0.2539 right_yaw=0.1796 right_pitch=0.4107 right_roll=-0.1149 right_gripper=0.1529\nstate[joint_eff]: [-0.0889, -1.6342, 7.2274, 1.7167, -0.0904, -0.0415, -0.0122, -0.212, -10.0308, 8.7453, 2.2589, 0.1929, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2e0bff6165cc686524d935a03212c4ecd9f553e268c3eb27c50804531d00b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94af126a9e01e3449485ae6142ae8e129a207847f186677ce6549d6996f320d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4c90fdd41695ff8c10429fa6d8eb99bdbafe8536890862cfa88573f34736533",
        "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/AcKEAgRGAI4AUIIdGhpbmtpbmcSDNA99WoLSd4Q50Oj5BoM7/qNBNJ13bwmuNZqIjCupJtnlFAwaNgMYd69WokYH9DHQR1CpaiKJXTlVH4n6pPpolzz7UW40ScNMZAFXZ0qmQd4FNiPuHvFVjBAqbo4rLCLcbJCfonM2kexuw0e4E2g3M4rEjXdgsKWmaFb0W7mEuTJv6kCVIpSfkraNFK6paIdPyO6pWyvbnF0Q/ZiZ4dA6+3MzPvEomawx815v++LDPrcgMvRFDwdf2N6F3aphOpSdyu6hACGKRNZuZs1hHUIBmvRzA1GwmNskVnnk9JkcI+EIW7FNLR0Wp2PIi/FMWhlytwSnEuuRSsgTjT/W7znMcs/VGU48mJs/9OX4wd6BDDbTm0jBuFiPcph4wcFPa0HPLlPWH069uPiVLCuhDkAg1l4JzJ5qqo1tzirbVCnjn39OMvdzgTQjA/zlXJF7G9M8pxsuFlK+6IvAXrSWkyOxfR866R+RyAwh4tnCYnC1QvexQclaUddQGmEornRcwNi2aOCYiL1jKQegv/vrKY8Li+Xm6dNuAKhqfO5eUfcgxU+dnAzf2Y3yKYgQDEc7RGGDDoKP8xsslQVxX+jhf0ECZfoWomwBJ11WNPplz14xmPj8NRbz4OOyBtBcqMyf62hmnZflAMg5u1IJw+5lJvJNlqjkeQHk5ueT8teSAYLRDqRwTNjSvy7DD8r7rPez2Wo0F5RLzulrzMyIGk0laEOMWPLqh5hhUrNCNdf+vVfC9DbDDY1BltRhc5HmXRimy56L+e8UUw5xQT78A0n0xm2smPLkb1RlcUabvMp3M/Tk5swBxNDHyNr3ioU47RWE5/3nZom4Xy2hdErieUUyGKgnXTOULcOf0QIwxFnrYnYD8eqeSs3ypJDllMPMjQtAYDtZjFknl/ix6UNrMpB4p3taaSVRGoynaJqFMDm6R77OM5bIQ7HOwJjKg148GMYG48wuQiE7oYVfm2pFBO9CnDowjCGbDFCOrAjuiMucBSjdBEB70TpKwuGLj8uRFqQqxaf6nBM7sKG3s/tyIKQglUJ6uY15zQdSXPUPeUWjYBCh0D3058pzdFbC+b4ekLbczYWHp9oZlp9guIDU2Lh4J/AYqcWhTdkdkicOYJGUv4tzYnotGgGGlNct3E78aJ77OhyU5j1ppneyZreMYw8rabWJUsgyuQdQoT66KHPsbVcRGO4pspJ3nKzhaeN8zIlQOkPba2c7lneRh1fauUTPFWMPTTg1PjFAENMSLOmJpuuCIufDCJdigHzUi8earOLIVK9q/cBrXBrbU12zM/p8b6tCgNZHgPBYBukHDSo4ads6EFQ7vjF3YrOAHUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRSYdTQvjTebnLafKNhHee",
      "input": {
        "note": "The jug is up and the red cup shows at the lower-left of the right wrist view. Carrying the jug left so its spout will sit just right of and above the red cup.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.21,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CRSYdTQvjTebnLafKNhHee",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.5026, 1.6661, 1.2194, 0.0212, 0.279, 0.0692, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4693 right_y=0.2065 right_z=0.2242 right_yaw=0.2203 right_pitch=0.1558 right_roll=-0.0374 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4838, 7.0359, 1.7363, -0.0611, -0.0562, -0.0122, 0.2256, -9.5385, 10.4957, 2.0342, 0.2857, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021d739e520b5c17b90db5f84292c967d4847daf0838f40f0f2eac554c90dff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02182b91518edca2662e14e77805cbedf8015b9166d9932b8b66695a3593a997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6e47d3b36ba2a2bbf292d01c9e4c59f9536516e5142d1d12eff260ae7f442d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 50 attempt 0 · /messages · status 200 · 7.212 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8436, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1165, 1.9949, 1.1713, 0.7971, 0.0212, -0.1131, 0.1488]\nstate[eef_state]: left_x=0.3046 left_y=0.0034 left_z=0.1905 left_yaw=0.0544 left_pitch=-0.0002 left_roll=-0.0044 left_gripper=0.9983 right_x=0.5821 right_y=0.068 right_z=0.2074 right_yaw=0.1576 right_pitch=0.5347 right_roll=-0.1153 right_gripper=0.1488\nstate[joint_eff]: [-0.0752, -1.388, 7.0496, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.7692, 6.4889, 1.917, 0.0806, -0.0366, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1696, 1.6962, 1.1194, 0.4263, 0.0521, -0.1131, 0.1529]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.5284 right_y=0.0848 right_z=0.2539 right_yaw=0.1796 right_pitch=0.4107 right_roll=-0.1149 right_gripper=0.1529\nstate[joint_eff]: [-0.0889, -1.6342, 7.2274, 1.7167, -0.0904, -0.0415, -0.0122, -0.212, -10.0308, 8.7453, 2.2589, 0.1929, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.5026, 1.6661, 1.2194, 0.0212, 0.279, 0.0692, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4693 right_y=0.2065 right_z=0.2242 right_yaw=0.2203 right_pitch=0.1558 right_roll=-0.0374 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4838, 7.0359, 1.7363, -0.0611, -0.0562, -0.0122, 0.2256, -9.5385, 10.4957, 2.0342, 0.2857, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021d739e520b5c17b90db5f84292c967d4847daf0838f40f0f2eac554c90dff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02182b91518edca2662e14e77805cbedf8015b9166d9932b8b66695a3593a997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e47d3b36ba2a2bbf292d01c9e4c59f9536516e5142d1d12eff260ae7f442d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgoKEAgRGAI4AUIIdGhpbmtpbmcSDP3NsYnN8v2b+ayciBoM/kWa7x9FPLTycw9PIjD8QTrXvRAcFc6L4b3xVLxzlAhhf4qXYkmGqSVckOweN6UCC9cbCVeJ61yN2x39dhoqywlc8z3Gu//n43orMOZXNKylg1emPEJJtXplnfzBC06UopRLNaSHfxHwhZ3zUEg8q0Y83T4NxFuba0STxISgAeZUL/tulwtSgng2rbga7r1I7aWEDEPOS7Yfu3ZSTjRcTe24O4rCOfEIzLLNfbcKW1h/4+A2wHJSgOsTYpCKs3SQUoHXssylzh3Qf4Vin3aGUXg9e5ZANBvD5afqgG0Mkf57YLv/TVo/rxyqpnex+BwrU+6Dfe54TP+a3OfWcGFDvAN5fBN0PnSDCL0rCUChhXVkSIisFcBTF2HNq2MOY0tidoD/lUh9aq9U5miJvBao/XTh8o4MolE+AQTVD0BYHuEXfYZ00tITtSkCQLG7/RT9xwSiufL9977MRqzqTbfguFfW9lh164G5U5JCa9Ir1j0Q4jtf4F84y9h+4rjsw0CINgKa8jydumCg51kEKUuWBxsjX24eygP9OlGG2IyZUNzLV498KZIej4z5fKM6dlJhTy5/ckwgLi2RMy1ZQlD7BKGTcrOFZI4vg+ZyogjENx9Y1Gna0TVdyv/UMcMNDi6W9WF8rTHUYFtUyi0kK602ZLsrazTvCyyfvkAj2JTUbo0O9NcYICOAcVCIIpzAdQ11K7GM5yonNb/0/VxcFKN2NeNuaago59l6sXTjAtYq1ek0NgCbjrVWxHIhYLfc0NF+Smb9HWiR12X1f+zdzQSwW8VDHRokdgYhkZfeBKP31sgrkfzsaW45PR1unY5OSoB4CTeM9OivsvByR1ibtGJQLoWqo122kezi8mwsHHovjnKMr7PAa4W0SlEW9YgVH3L5fyRc1RV9xPGfKQ4oIZsBgzGyWndqIqkzx1+gH26k4VGcrrM/QOi4aEw4e2fP3hOgQ3D6TXH2o0BuKJozHcvM12b+UL5I2MqAxcDOLfCYziLK9/zqVxtYn9E4m81cS8UhlIxc6hbJqEx0DO/sw/azv5G4yqrX+7riGdRKHTSmFgDG4oicBCQcmMpm/AJ3wLseK+vYESIAKCaEp07tOiM/N1UB3IpSQWmKLD4kym+9OW35CK0D8MqUMwKBjAaCFz8E4+Oy1JGlHNWFJCrhrcaLjbnquiYQtAD4Lw3ZQ0qE4CAGST/f69AoAIj5pYVpuGtDyOGQmO1zSIe74VS5RP5Yz0dS3R8X8SXoJokGo2yhklaxv0iSA0rXTUl3OLT4/DzFroALxM+ed+ess/xRJjZdFpBZhbgVQFGNqa3ZC1iAe/maqqzZiQLNLWwPNykskODQzx1GsVE3J/ASPIWEZ842A+ryZdDTcNjv+/j2nVvWb6/JLCxw18Ihsm84QRJiqJYgE791E66LwvSX9JSLXbbwj+UJfRGSdhB9F1odlUfOK4ll7Kn01ZUVlxFzWkkBfipwEjcJ3ZZZlAPeyQzu6MnV8cC8YAsLF/zsIoEak9Z1r5nOnMt5T9SGfGr7HXfBX+VVE4um2MlKoh0ZpNYc98i1j30xvA47nOxmAtOgieKWRTHD7r05VChqo7yoqmPIMkMe/r5UysBgvuHZh2FrZpAWbfaUcUtKtOQEjO832CLiuyY6wrCvfZNoxICJgjYk7MZ+5+T0NJQWKl/8jMPWyeMYAi7bg5n657LqS/mCNJZpoToRA0/386uXzljXQgMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sdmyhcq8Ly4PGTukwRFnTx",
      "input": {
        "note": "The red cup is just left of and slightly beyond the jug's spout in the right wrist view. Shifting 2 cm left and beginning to roll the jug toward the cup (+roll = toward the arm's left).",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.6,
          "right_x": 0.48,
          "right_y": 0.23,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Sdmyhcq8Ly4PGTukwRFnTx",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.395, 1.7226, 1.3495, -0.1444, -0.1081, 0.5022, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4746 right_y=0.2224 right_z=0.2182 right_yaw=0.2231 right_pitch=-0.0252 right_roll=0.4963 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4564, 7.0085, 1.707, -0.0708, -0.0757, -0.0122, -0.4034, -8.9368, 10.9333, 1.956, -0.0073, 0.1636, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee06bfd3ea2474491280c120aac78f80049cc80f826bd110bde8c9cb36796b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4ceb2ddd5e2c97e0962d15506aff6fb9c70e23a2ef64762972f01a1d566886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 452):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9758554ddb6ecb76b39e9ae8ce531ae10ea326b446378a2887b7053561da3665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 51 attempt 0 · /messages · status 200 · 6.035 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.1696, 1.6962, 1.1194, 0.4263, 0.0521, -0.1131, 0.1529]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.5284 right_y=0.0848 right_z=0.2539 right_yaw=0.1796 right_pitch=0.4107 right_roll=-0.1149 right_gripper=0.1529\nstate[joint_eff]: [-0.0889, -1.6342, 7.2274, 1.7167, -0.0904, -0.0415, -0.0122, -0.212, -10.0308, 8.7453, 2.2589, 0.1929, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.5026, 1.6661, 1.2194, 0.0212, 0.279, 0.0692, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4693 right_y=0.2065 right_z=0.2242 right_yaw=0.2203 right_pitch=0.1558 right_roll=-0.0374 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4838, 7.0359, 1.7363, -0.0611, -0.0562, -0.0122, 0.2256, -9.5385, 10.4957, 2.0342, 0.2857, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.395, 1.7226, 1.3495, -0.1444, -0.1081, 0.5022, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4746 right_y=0.2224 right_z=0.2182 right_yaw=0.2231 right_pitch=-0.0252 right_roll=0.4963 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4564, 7.0085, 1.707, -0.0708, -0.0757, -0.0122, -0.4034, -8.9368, 10.9333, 1.956, -0.0073, 0.1636, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee06bfd3ea2474491280c120aac78f80049cc80f826bd110bde8c9cb36796b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4ceb2ddd5e2c97e0962d15506aff6fb9c70e23a2ef64762972f01a1d566886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 452):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9758554ddb6ecb76b39e9ae8ce531ae10ea326b446378a2887b7053561da3665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AgKEAgRGAI4AUIIdGhpbmtpbmcSDBE8CE3l1TEVngsTJhoM0tDwN6ADZpg06r94IjD/080dNjOQ2JF0N2g9oyTMQzlhd6PbCtHVapcD1Q7SQBYK07lxQMQ10fWNxNqMqgkqhQhMW1KJoyunvG9EqlEPuvfItFqv4d0kuuhlonGOTUjXtQ7/chiM8yAyW7i8vTypQeonqTLACwkhEaIKy8+IQCnIwK74t7qRYnZxIr/SZWTHuCjv/8ZKS+Nhs6AXQkxOfGqJYZ7E4/JLWyBA6VJUnEqJo1z0Nuk2iKZ273zTVOzE2hjBU1CdBXF7LFyo9K6x9HAS3jKVa68Ww4ap2Hq5svODdN2XBP99xWhRmtS5oDO0NvyQ9MHh6Nl7gk57IQx8ykaauZ5WTXbhbWHv+Pumt7YmXVrjZmV/s5rbZRJlqXKC+9h8iqCS1/JjfGdnbLQyGATBO7q3mW0q48tPRG4PZ74IWuSZ3tU+qFdo5WTIgyK/tySxCrLeo/rtwceTyNx90YedyC39Nd98kM3AIraGKtYFYCLEaVyp8mac5Y4eywMk9XjymfdC0lOqGaamFCzxmqDbz2rvTDne8Iy6PFfn5TUCoMptgsiHRWcp9uyZZQbQEAS25ZUmg3+mDHUucjUDJmj7qdiqhrWyCbVEM+WaAKdFyPeq+CTtmV0E0CE8pZit6A7uGdLOQbd8p1dWSWJF2W/SK9KPXZWMHX83xL+AsPTiU/eVHpsAZv70LhHGK1ppTbdjiW+dfoE6PQkcWnkdG+OAG34nh/FcE9qRR8q/ZjmTPKJy1+UOPwNUC1i9YDmtHauGISu2ZHZZIkcHGtWnzh5z2Wrdo1i9pgIbtQPioRlDTazG11dOAy3tilWYVBWX/zDAaskWTTucX9bf8RPOh0sEzk5NWV6Xa/zVy6mReIISMCHyZhUoeysXfbspmeb0lI7/y3QNCqMog8BPHCUCtNFI5ZN/UAnUVMW6aU1YCHQEch5W0I1IdjvN3Ufhs9hQLvJus8sOTXX0yMDl2moJOAyCGKI8Kt4RuoJ3KZy23UHLrsuo6x6V5dKoF2ODRu0IZtXmIOAWeZAYorAe9rS27cCQ4fdn63A/zl+hzTufsTxLWYny4lCWFRqmtrRsP7gnniZzQmDV6uEoNASSB5oy9cg/iqfFqIoSKAN86EYR7udreYkqvW5+QC0gQroC4yQOjp+wS/eu0lHcp6j2dz5ITjyPw0pA0bl2k1H38+Txyu+xLi6pLn/3YAsPIMIyXzs3MaHgJhiwaJKNbR3liMvXIfTTC7tllYR+f3pbAcSpBpzuIcck20vwEYetz3u3TtCO0Rf+IS5X2tBUG9mW0GwObWepSofoX9PQPvByBcAbFhtzEqmKHhIZ/q219Lh7voaGiY9dKxrF3Llyprw2jcY9E5SLrqZPdA/XaOL8CBvgxScC8e2dPJw4tDJhLDw5rGZTc9S0k1CBQyezXNOLD9VL52wOHETYUyqfQnD8/B1E66ZttmhNzNIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D1ZTuJ9JTxF39M6Cy5aJnN",
      "input": {
        "note": "Roll is tracking (0.5) and the red cup sits right beside the jug's neck opening in the wrist view. Continuing the roll to 1.2 rad to pour into the red cup.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 1.2,
          "right_x": 0.48,
          "right_y": 0.24,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01D1ZTuJ9JTxF39M6Cy5aJnN",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3794, -0.0967, -0.0868, 0.9983, 0.3271, 1.7611, 1.1534, 0.2707, -0.3943, 1.042, 0.1566]\nstate[eef_state]: left_x=0.3048 left_y=0.0034 left_z=0.1901 left_yaw=0.0546 left_pitch=-0.0013 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4748 right_y=0.2365 right_z=0.2037 right_yaw=0.2215 right_pitch=-0.0684 right_roll=1.0895 right_gripper=0.1566\nstate[joint_eff]: [-0.1436, -1.5795, 7.0085, 1.7949, -0.0415, -0.0757, -0.0122, -0.6632, -9.1282, 7.2821, 2.4151, -0.149, 0.2027, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 461):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4cd532ec31f8af509cc1a635b247770369acfa1725a5d9cafcb38a93bdcc6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 461):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a082e82cb2242be05f54f5f644a84d8983c1daa8749e3c44212abd7b34e15df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 461):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63318a6812f6efc46ebe41203a4a53411c3bcc2bfcc1cca31ef7ebdb7bd595a9",
        "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 · 14.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.5026, 1.6661, 1.2194, 0.0212, 0.279, 0.0692, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4693 right_y=0.2065 right_z=0.2242 right_yaw=0.2203 right_pitch=0.1558 right_roll=-0.0374 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4838, 7.0359, 1.7363, -0.0611, -0.0562, -0.0122, 0.2256, -9.5385, 10.4957, 2.0342, 0.2857, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.395, 1.7226, 1.3495, -0.1444, -0.1081, 0.5022, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4746 right_y=0.2224 right_z=0.2182 right_yaw=0.2231 right_pitch=-0.0252 right_roll=0.4963 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4564, 7.0085, 1.707, -0.0708, -0.0757, -0.0122, -0.4034, -8.9368, 10.9333, 1.956, -0.0073, 0.1636, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3794, -0.0967, -0.0868, 0.9983, 0.3271, 1.7611, 1.1534, 0.2707, -0.3943, 1.042, 0.1566]\nstate[eef_state]: left_x=0.3048 left_y=0.0034 left_z=0.1901 left_yaw=0.0546 left_pitch=-0.0013 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4748 right_y=0.2365 right_z=0.2037 right_yaw=0.2215 right_pitch=-0.0684 right_roll=1.0895 right_gripper=0.1566\nstate[joint_eff]: [-0.1436, -1.5795, 7.0085, 1.7949, -0.0415, -0.0757, -0.0122, -0.6632, -9.1282, 7.2821, 2.4151, -0.149, 0.2027, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 461):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4cd532ec31f8af509cc1a635b247770369acfa1725a5d9cafcb38a93bdcc6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 461):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a082e82cb2242be05f54f5f644a84d8983c1daa8749e3c44212abd7b34e15df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 461):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63318a6812f6efc46ebe41203a4a53411c3bcc2bfcc1cca31ef7ebdb7bd595a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSwwcKEAgRGAI4AUIIdGhpbmtpbmcSDO/F1ZbvMzaUpO9wSBoMvFaqlps8EUzfv2xMIjBraUopHQwXEvepAFW6TBMYWwjybxTZzHwqQNqvyMrXvcyop/yI9+fdDIGyCjll/9kq4AZkcCE32CVV4vlC5hXHV2oz/6n9ovfPZ6gq0g9n33x70LQQCyAEEzJpt9XCr2xc3ShtN8uT+POeHADiCNFKHSYvdLy9D1VIWK2VhN1zAya9dcjjzxT/asIjDarZbSLdl/EzWdPIN/WzCJFLMyhKfT+VisOSKpxczFO0UALTspkmY708E0EU/bA+Yl3GaFGtMXexnjPUE7jceFRCUl6GOaxwqnBA96abS5gu32u3lLwPYF5A09npta1bWl6lxKzPsHSE2w3SecLElnr1uIDZlJYkw4H7ZC6oE0rYru//W+p5/R3NoluerxdSHg9ny2bs1a0kQuoAg0dr5WdPzFMQYN4Q9YgyGkzFq2EPl++yPNjwRfBmuDnEydGwNitYJO7LQbnU+OprhZOeHOJWTs1n871adqjCB5tdR3v/7Y0/QzmVmyiB4C/VEOf4ulTYZaHPYpfdmG6nG2Y/AFb4chjmUJiDtu5cZ2ms0R5dlaZdNeS4rMe/6QliUcuAL3KHUu9/yoDs2seba7/6CCKVTW9YxwGxa2+HAmD2Tvx5MoRj+Y9LjErrdCbNNkYaPWdGD8aeEmTuhtsqC5njGqCGKox/zzGKh+J2KKcp/29CBeStqGFUPhyO/d2krN1QjhF0/gpHET8Vi7iCwCg36qzOygTIP+JxFreLXgWtEFUsudVm1yBL0LA9eIPZWFHDGqdT/MSjs0BQ8oHbCop8tUZswbYDWImd2YbkxQukg0mMyYSKR+f27LvcGgOLb8EpW4EUinf1HTjfSCP6qgY4KBTQoh82T3yMzneM1kwiQUtEWTKe+weyLZBy0AYmJ+m/l3vJERdF65Kax+95UH6eBO4Q6zBjwJUVoHl7qeRVqlK7mnND1LNST/itWD6lYm6f4XyFV91Ana4zrvs8qbM6HB+YMccA644W31nUCO2pOzzEMPgNi8r4kmX8qI8jPl8qqMiXrRkKe4GinUJxztZvqtOv8a2G2DPpQKsAQFQZsIDkPJiWNUshJyn8BdfQ2l8FE+6pE3jG+Q0cCbN4VPvcKxQvmlxp5VrCg+ZCMWfiLlzVa/SOPF4QbT+7ZesKFNQ++b65usKT18KHJqGhF19JWo/dQedm/geh9MeK5XFZayfom8bLwaJH3Y/TU9iJPB0cLILNIO2UNgcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GnCkfNScpBcApWJexsj19o",
      "input": {
        "note": "The jug is tipped ~60° with its spout at the red cup's rim in both views. Rolling a little further to complete the pour.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 1.45,
          "right_x": 0.48,
          "right_y": 0.25,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GnCkfNScpBcApWJexsj19o",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3271, 1.8179, 1.0782, 0.5388, -0.4358, 1.3262, 0.1569]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4785 right_y=0.2449 right_z=0.2015 right_yaw=0.2113 right_pitch=-0.0766 right_roll=1.3524 right_gripper=0.1569\nstate[joint_eff]: [-0.1299, -1.5385, 7.0496, 1.7411, -0.0415, -0.0562, -0.0122, 0.0752, -9.5521, 6.9812, 2.3468, -0.2466, 0.1734, 0.4469]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1f90969575de06d56860c43a504785019511068c3eb4b2fecb3e3f6b59f242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98baf9d44003818037d722943575d9736c2acc6a3c0c16be0d8dcdbae93a006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0c7c02c868f9d3c8c78744d4a16606825b52cfc5fadc3d545d00c765624797f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 53 attempt 0 · /messages · status 200 · 10.23 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.395, 1.7226, 1.3495, -0.1444, -0.1081, 0.5022, 0.153]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4746 right_y=0.2224 right_z=0.2182 right_yaw=0.2231 right_pitch=-0.0252 right_roll=0.4963 right_gripper=0.153\nstate[joint_eff]: [-0.0889, -1.4564, 7.0085, 1.707, -0.0708, -0.0757, -0.0122, -0.4034, -8.9368, 10.9333, 1.956, -0.0073, 0.1636, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3794, -0.0967, -0.0868, 0.9983, 0.3271, 1.7611, 1.1534, 0.2707, -0.3943, 1.042, 0.1566]\nstate[eef_state]: left_x=0.3048 left_y=0.0034 left_z=0.1901 left_yaw=0.0546 left_pitch=-0.0013 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4748 right_y=0.2365 right_z=0.2037 right_yaw=0.2215 right_pitch=-0.0684 right_roll=1.0895 right_gripper=0.1566\nstate[joint_eff]: [-0.1436, -1.5795, 7.0085, 1.7949, -0.0415, -0.0757, -0.0122, -0.6632, -9.1282, 7.2821, 2.4151, -0.149, 0.2027, 0.6716]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3271, 1.8179, 1.0782, 0.5388, -0.4358, 1.3262, 0.1569]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4785 right_y=0.2449 right_z=0.2015 right_yaw=0.2113 right_pitch=-0.0766 right_roll=1.3524 right_gripper=0.1569\nstate[joint_eff]: [-0.1299, -1.5385, 7.0496, 1.7411, -0.0415, -0.0562, -0.0122, 0.0752, -9.5521, 6.9812, 2.3468, -0.2466, 0.1734, 0.4469]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1f90969575de06d56860c43a504785019511068c3eb4b2fecb3e3f6b59f242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98baf9d44003818037d722943575d9736c2acc6a3c0c16be0d8dcdbae93a006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c7c02c868f9d3c8c78744d4a16606825b52cfc5fadc3d545d00c765624797f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgRGAI4AUIIdGhpbmtpbmcSDGqtZJo/ihi2vEGq/hoM2lgayUifEf49yd3eIjCJ1nIeQlIPZz8efeQ0M81FddFBqWJxCIk65McuqnrEskqtvs6N2ajUAKGfRJE/CvMq5QcRXaRRiz2DU6zJou801CfJ95IX+shyr3deHcVES+mxAlWKUO0B8oaSKVv1CDnOPqMwCPRvLjo3pBHGI+sGl7/fnp6YTVZ/7JOkyeoqcJmK0vxVh9sEg1x3kgHRuWgIer7ozyrwkEjtsMEUrmYF2kL25gOUgJckM8Z5/ZMYon3oFOIy+xAUOmRwdx33zqQjeNM2XcqpdvkVze46IfMG4Sy7AauZZL+LCHjSrPNlzcxnl7ZxpPoPRFpbUb27E7Bq/BIazzt4aVb4VYuxsnSMGjfsZG/C2djQDr4VaodTq0E5E8ySwpIweKlYfJIk3DBPQQiUzBRj+Ezy+0DmsLTQugenuf7wzFbV6uaV8LaiWq2U+6eK3nKjO4nR5pQ8Kjv956fsz8IhUKwawgO41jF2cqWwS39QFxyl2+XoTU7u/YzwDT4NbeeedCenIZF0c54R6aGTGRKk4YAeH52RxaqELUrk18QmUstPqULYjVCCtKfU5v4rZkHIwH6LDM8b6JJ3M1BHralUeQgA1k1Nfc2vHVw+YjivsLlOVcHRLCfllpnXiKDNc7fsawYt8mtxTJRojqdJKgDDOwUsorbAVoGmTTQF5nMbqlOUN2zXBTUW2jUCTEPrTbdDc+Ric2uFJ9ZkwlBbXzG99FoQM5W1XMhNC6e6B8CPl+rlZ9MsJvH+GwGvJij2zCU6WwOnlKXcuJHnulrWtBFbF68aJfXbl8BmDc0qswHnW3vF/r0b+iOj1RzHTTz+nlb0S51BEnr25ZHuQxY37PbY41uyxkzeE1yRyhSfgoqidUfdYjftt4J9X2M3IcLqXwycqkoSwyBFTC8EdHiWG7+q2gQwJy6sY0NaB7PZzrGOTs9Dknugdoy2NNsSgMnR/+QOrLLZIF/IQVpwYaow9l5SI8jaHFGJYyzJBSd6c0g3dETJ0FugnE8fxh2XTXav9vflG4fi7GQlwR9p5BJpRUzuOFTlZf3PFyr+S9wmivhHT1fk8YqUkujK5K9xJ0PN/BcgqmCk0EuAPb4te1UVpfy2QmYVEy2MVY2me99Ap4euXXrkhQyfOKQNgdQLnTmif3faM8RUTWNb871QZe54mjy6N8qcxyN+6xijQIpiff9FM3vuJxeNBFsDBICodzmkJGhCIlq4CE9s83C/1NjpLzdT85DJ6PbIvu4jvNrqZZOu8VvS/SZmfh9bTwIyoRHJw1RT0zl+IO/lhyAEQKyv+9AfInjQ8S3NTv1Z06ssc4s7yxlvq0TDW7PY8kYzNKmyq7U1GO4rRz1eROgZxcBEidlFLrLHvN/U6He3MB1pEq0lPDqExycxR5VTOr9/nrXvKrwrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ShFSUkTuTf3ZKaspDX2ZC",
      "input": {
        "note": "Pour completed with the jug tipped ~77° over the red cup. Rolling the jug back upright and moving it right, away from the cups, to set it down.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": 0.0,
          "right_x": 0.48,
          "right_y": 0.15,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_017ShFSUkTuTf3ZKaspDX2ZC",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3328, 1.6047, 1.224, -0.0284, 0.0536, 0.2691, 0.1564]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1595 right_z=0.2427 right_yaw=0.1355 right_pitch=0.1392 right_roll=0.2411 right_gripper=0.1564\nstate[joint_eff]: [-0.212, -1.6068, 7.0906, 1.7265, -0.0904, -0.0708, -0.0122, 0.4034, -10.0581, 7.665, 2.083, 0.0269, -0.1001, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926a7bf0859d220bd72edbc6131586a38ac6c548a4a44cbdc4327fd0c7716908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a72594d371d914a066a69b0847c45df552eb259818592bdb2cb1fdee3109790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85a0adc642f49bf46f42f8189602e841fe9395979bd09b1788d35a788cdce044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 54 attempt 0 · /messages · status 200 · 7.362 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3794, -0.0967, -0.0868, 0.9983, 0.3271, 1.7611, 1.1534, 0.2707, -0.3943, 1.042, 0.1566]\nstate[eef_state]: left_x=0.3048 left_y=0.0034 left_z=0.1901 left_yaw=0.0546 left_pitch=-0.0013 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4748 right_y=0.2365 right_z=0.2037 right_yaw=0.2215 right_pitch=-0.0684 right_roll=1.0895 right_gripper=0.1566\nstate[joint_eff]: [-0.1436, -1.5795, 7.0085, 1.7949, -0.0415, -0.0757, -0.0122, -0.6632, -9.1282, 7.2821, 2.4151, -0.149, 0.2027, 0.6716]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3271, 1.8179, 1.0782, 0.5388, -0.4358, 1.3262, 0.1569]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4785 right_y=0.2449 right_z=0.2015 right_yaw=0.2113 right_pitch=-0.0766 right_roll=1.3524 right_gripper=0.1569\nstate[joint_eff]: [-0.1299, -1.5385, 7.0496, 1.7411, -0.0415, -0.0562, -0.0122, 0.0752, -9.5521, 6.9812, 2.3468, -0.2466, 0.1734, 0.4469]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3328, 1.6047, 1.224, -0.0284, 0.0536, 0.2691, 0.1564]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1595 right_z=0.2427 right_yaw=0.1355 right_pitch=0.1392 right_roll=0.2411 right_gripper=0.1564\nstate[joint_eff]: [-0.212, -1.6068, 7.0906, 1.7265, -0.0904, -0.0708, -0.0122, 0.4034, -10.0581, 7.665, 2.083, 0.0269, -0.1001, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926a7bf0859d220bd72edbc6131586a38ac6c548a4a44cbdc4327fd0c7716908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a72594d371d914a066a69b0847c45df552eb259818592bdb2cb1fdee3109790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a0adc642f49bf46f42f8189602e841fe9395979bd09b1788d35a788cdce044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxA0KEAgRGAI4AUIIdGhpbmtpbmcSDK/XtbPo21wBmR5QbBoMzj9W4MApFOXNIQxbIjCtnrU2zBuKilCDLC0izi+7KJ3fJu7CKsBDrcI1XJDvCn2MZb3lpIDfXaL5Pwz5+Xgq4QybOxqF9s2q5F6AsMUH9NFbvutusrWJD0VPlGzuM4xPgnvtaCbiEPoVJzErhVa4Meg913YbWYyHUZd0KQkeAyZG3quyQ4Qg0yqgANFhldGz+aqr1r41vRoxFT1fBtNOYR0y+oxB8vVHHJLNw5f7+CIR1tJ+OWN9rlMucHIfR6Hq+g7PyPS2yp6EtmezxvZUBcnM0TCTGi4w2O7ON57eAuKoTyMst7FzmgdjjhMbx5Oo/E6jqykjaRRaW1LFb1cBO7vtk6qDDYLwrypt+A19C5Q9YgV1mJkx3noSVifKtIygCztQ4ZKtleWJ0UmDqIaFpamOK+8iwnVgLALBbHc8ImWBmdSdv5K+iQhfh+I/jITi+GNqWH9Ie5wHhCNZ1WK4kIhVNGWWN2/tPaMB1I2uoAuzHVpg7kCq9bitoUFcNKQeLvKR52vgddawsE4WcjwVU3icfaOOB2bWYcj0/4NI2nt6TZSxbefMyN6GnajAx9OLbPwe4tA0Qqm89EiPB+lBF2NTm1SphKxvX6H7Ay8HaQ1PYnVf1BiXF0VvxCs84RNVbjaO3iU0OS+f7UiD0nNWOtOUWQLnLo9LtC3uZxgI00F00IhvsNQlTE4svUIWuThc+Dv7VzpjBvV/r/Ndl5eBwzfSSY9Wukd6aULDrfpFbFBQTGvnZPAsjolREKdb6578F8udY21x0q/PGHwnrZ2NaboLO2UeGEChIPVr2Xx2JZhXtEVqQCsrh/TzkDq1fUuHpVechkQlzPbQvYmO0jksLlIVF7taJrZsrcjNdxM8GJ1uea1M4pfYmS3J831JAQ7rm9wQ7k5lbaZ3C/5/EH+FTPEfNS0mdxXs4XB1udtujY1fSOZi9w2CnI675gC9VgcQ5wvFwTiRrnaXfnmTxiGeHK5W6yjJnZNXL5KwxYPQcLZ2aiiphuNH4jlY+bIcwM/HbWjTqxXznvrmiO00YinBqlV44cGmCQxT8OW80l6qc/XzYhI/WNQGcxXgiH+GqbrbTotmR3PAu4ARHKZg+ikmK0bYCT09SX6F+QjmU/iFe5fXMDX3zvS4YBihqwrmlYROTGeDXDmQFSDS8ZsWa6Q/TM03IOuE/sj1ThnryZ4iuyi8GSsTPWz7D/hI86xDSdwV9YiPoJthbDh7HkWcBJRj8bQlfQmOenvIyampqUPP56lKZPeAGcR0oPia9a20MPFO1RdvHdEivxkiiYw/y+OSjTKy9hAE6mtQiFr7oYu8Ch2kEiZ5u/gQS5r8NoPhQoNb4R5NqcwXs4r2iBe7PlmmSMegeXM+wPEINXV1oygk9VwEMJBxaWgl4nW0NkLwc0ZiOaFMKdf658DQlmw2U//hsXCXBpv6RQQnSozsT1Cpc2vJZcHwQHSbzhDLH/KxM/N6JgLDnpbzOdcSrOwcyKSCxeSaCgKY7Jcz/mSp2oWdmQPPOPP5P6ofzRFpVZDy9r14DAzbiVEq8ZSetgDv40C56wLUyNbA7ZpRZMGFhu+qbyZuGvlznb7xQ7GT2WPCw2k9CwvKroIEN/0vfJzlYSUh9qwJ2amQP0vYqdo0C9xPhnYdSVAx72NrfiO63GBU0MYI1tZ3uc1glhia5O3W/c31dN4Rc6jiCOKxyHpxBx59K84JEUSvFuNMLjFCbd5V2+FETDZiIVEJ9Q9wAMmuVjdVrG+Z2d81NugqJhpRJuRLcYSVtrKrR4cBi7hvkC6KcN5D9JhuFMBslKZZQULxzv3TBY8+vskJCMzqPavd6gRqupTar4YkRdHXXJG2eFh5suPTNDD3fM6TQLh8wL1Y3zsuBOklLMZ/iwjf/pdik1a5MF272myAJZj3o/kIEqL4EHa3oopn+LW2wyv+Khx0XPjZ91Lmif2UnlFxEtvvnFk4XxZ5GQMkk5cw7N9fyxF6psEFmtCCR3XJkhJZjDi7CxW8u9O62me/VV3jfeCZZ8p4hzKWE13yl6QcaxlTeJqzJEmF0hcvi/F5mwXrGHtjaEmNwXaHzi3/+FFz/MhUzsftYNsiNgVRBu/dYuFjRyYAO2W47JIGuDp74HzP24eXefuCJtUZ4ASoodEYPlCJ6iLhjjVqw9EeZy1KxKn0KA47seWVAVN5+XUszcKCv/hB6lxN5MCtz3lOr9kkoOa54uuZ3qU1mxWc7VBG4d4ZDTt/eWDF/OP+89bQksSH/rtLcN8hHp+HGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PiHZRP5mwHZdY6kF8BDXk9",
      "input": {
        "note": "Jug appears upright relative to the wrist camera as the roll returns to 0. Moving it further right, clear of the cups, to its set-down spot.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.48,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PiHZRP5mwHZdY6kF8BDXk9",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.308, 1.5761, 1.0988, 0.0921, 0.2329, 0.0978, 0.1562]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1134 right_z=0.2261 right_yaw=0.0477 right_pitch=0.1901 right_roll=0.0183 right_gripper=0.1562\nstate[joint_eff]: [-0.0889, -1.5932, 7.2, 1.7509, -0.0806, -0.0317, -0.0122, -0.4718, -10.9607, 7.2, 2.2589, 0.1538, 0.0024, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b33bc5da45fd010e13620a57e730f3e43bab49472e9bd487649b8085aa3537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c55c3a21b134a69408d529d9a62523a3ea1cd4296d7788a9cb40552b55eb03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf3be5ba6f51a9e19fe80d859e47c1dee67b44eea8e53fb3564cdc418ecb3983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 55 attempt 0 · /messages · status 200 · 5.182 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3271, 1.8179, 1.0782, 0.5388, -0.4358, 1.3262, 0.1569]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4785 right_y=0.2449 right_z=0.2015 right_yaw=0.2113 right_pitch=-0.0766 right_roll=1.3524 right_gripper=0.1569\nstate[joint_eff]: [-0.1299, -1.5385, 7.0496, 1.7411, -0.0415, -0.0562, -0.0122, 0.0752, -9.5521, 6.9812, 2.3468, -0.2466, 0.1734, 0.4469]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3328, 1.6047, 1.224, -0.0284, 0.0536, 0.2691, 0.1564]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1595 right_z=0.2427 right_yaw=0.1355 right_pitch=0.1392 right_roll=0.2411 right_gripper=0.1564\nstate[joint_eff]: [-0.212, -1.6068, 7.0906, 1.7265, -0.0904, -0.0708, -0.0122, 0.4034, -10.0581, 7.665, 2.083, 0.0269, -0.1001, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.308, 1.5761, 1.0988, 0.0921, 0.2329, 0.0978, 0.1562]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1134 right_z=0.2261 right_yaw=0.0477 right_pitch=0.1901 right_roll=0.0183 right_gripper=0.1562\nstate[joint_eff]: [-0.0889, -1.5932, 7.2, 1.7509, -0.0806, -0.0317, -0.0122, -0.4718, -10.9607, 7.2, 2.2589, 0.1538, 0.0024, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b33bc5da45fd010e13620a57e730f3e43bab49472e9bd487649b8085aa3537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c55c3a21b134a69408d529d9a62523a3ea1cd4296d7788a9cb40552b55eb03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf3be5ba6f51a9e19fe80d859e47c1dee67b44eea8e53fb3564cdc418ecb3983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAgKEAgRGAI4AUIIdGhpbmtpbmcSDHbt7ISfcngqh3MRzBoMvNdWPKAMmP/ejR6MIjDDrfYdhgT3cOWkysJl19T/p+XrNuBjcpjbQsZkFpGNdkwt8CXr85SBN5DenbqmjzkqsQfL02PoMREn8v6brpJzpMc9OF/c60VSnlWshtpiYy3qltRSg2vClE3oMkUOuIxIuztV5qgnd4SI4Tv9E2UP9RAUwQFpwsXrcmJdHJKZFlslh9C7jF8bUu+qmjavdnB+1O0thfTCVOSQ1xWnzQ4WOFLce99VaI7B57Y37IfQoTphBAI0ZtkieEMjYb/laBuxqo2+7gM5Ipxqbmkax83iJzn+obGW+LUkILBxQ6r5xTJm0JLL9JDQM1q81DO4APPOoyzGKfqRg7E/DV4DWfTpdMlulsLlD6t9NvVYynvYWdI7kWM4jP8pArLxyKFe1FF8G86rZqoGQ42TZopweWcv7uQNgmsLF87dwyh7bS46Pf9xLEgUbF17jFdgeLrPk6saeovZIpL0sEdANA418y3/nG97Mk/FLcDQ5zc6n/FIKCCVWpgtCXXVvc7VX7Gc+tXbj0a9Mqinr7FyLt6ogQ9GJPqqfemcPSmGcS3TFpeh7a+R+QTQvxkiWKRT0RHQILSWW8XBBn9NOZ7pLM7choW3ks1CPHFkjCvPM44ToWA+vaDEwW4q4Pj6iqQCvtTDBg3acrJ/TLO3+mYFZG84LFaLUKc4LrPBpLW99uiu4mTuQY/LkCF5F69wxwD2o3NdWKsBjDYK3Itqen18NziXLAjQZnw1HI4AUZqqYYu0qcaOCn87+vFZW73qKnD5JNXw7KRExTyGUHwA/jZqtnyK0REb4WqxlK7Ec3iPtW74TjfqcIgh84uwHlek1IVE1qUAex0h1vRhfZUiQcgJ6nfunupUF6lwcHD4lKYB3k7GPfZe9WJAiNLQrqGQGH1IOqtriwcL4dHMb32KzvDB+sP2xbXVpzcBiBkYXtGCl0pWvRBqM0YFvPE4AxC9PYIHfD+qsXY15w57ckke3XoiwJOe7QaE6Lgy1UWIUeJf/IC8QGBKqwD9P0vJ1bWi/ocPKf1YDi+pY3qzpCtGR6XMg9qOAaWx1/7lOQ4hOVXUcYu5Tqb/kBOf/1t+zWeWuZJqcG1U4EF7zjQMk5AuPbz331uvUMl605zc6iUPvzWL6LdYjju7QBlHTK9S80o0LQVEf+2UAFcxjB/C8/+KNtwoRbGtuXPrb49DYPHCd3YsNv0qr+BMH8qvqTYN8e0g+GmYNzn9iCEwOou4mH7QEgkM7FmTb24YO5FXOe3WkR4b1lw7jh+LQdfZYJfuIgw2T/yK9FESLv5vwd4hhuXthEISKOgC4Vic3V6l2knmFIngcAqxErISb2KDGzcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EuxrG4EHznrAw6xkiS5aRR",
      "input": {
        "note": "Jug is upright in the right gripper over a clear spot right of the cups. Lowering it to the grasp height it stood at (z≈0.20) so its base touches the table.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.48,
          "right_y": 0.1,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EuxrG4EHznrAw6xkiS5aRR",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2871, 1.5806, 0.9367, 0.3637, 0.2306, 0.0582, 0.1596]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0546 left_pitch=-0.0017 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4779 right_y=0.1027 right_z=0.2102 right_yaw=0.0442 right_pitch=0.2918 right_roll=0.0072 right_gripper=0.1596\nstate[joint_eff]: [-0.253, -1.6205, 7.1726, 1.7363, -0.0757, -0.0659, -0.0073, -0.8684, -5.5316, 6.2427, 1.5214, -0.0757, -0.1538, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 494):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8937f752f6bc235ceecc8d9d1ee64c933267ff81bdf9200d0e50afd728846da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 494):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44cb5cc19ccaa34e91f1ec5d8e847fef768be43b2f7681d88d204ff71db01115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 494):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1398292b9f0128c7d63762233cb90ae65dde2113dd758553ce9f7c934faf38b0",
        "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 · 5.47 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.3328, 1.6047, 1.224, -0.0284, 0.0536, 0.2691, 0.1564]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1595 right_z=0.2427 right_yaw=0.1355 right_pitch=0.1392 right_roll=0.2411 right_gripper=0.1564\nstate[joint_eff]: [-0.212, -1.6068, 7.0906, 1.7265, -0.0904, -0.0708, -0.0122, 0.4034, -10.0581, 7.665, 2.083, 0.0269, -0.1001, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.308, 1.5761, 1.0988, 0.0921, 0.2329, 0.0978, 0.1562]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1134 right_z=0.2261 right_yaw=0.0477 right_pitch=0.1901 right_roll=0.0183 right_gripper=0.1562\nstate[joint_eff]: [-0.0889, -1.5932, 7.2, 1.7509, -0.0806, -0.0317, -0.0122, -0.4718, -10.9607, 7.2, 2.2589, 0.1538, 0.0024, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2871, 1.5806, 0.9367, 0.3637, 0.2306, 0.0582, 0.1596]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0546 left_pitch=-0.0017 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4779 right_y=0.1027 right_z=0.2102 right_yaw=0.0442 right_pitch=0.2918 right_roll=0.0072 right_gripper=0.1596\nstate[joint_eff]: [-0.253, -1.6205, 7.1726, 1.7363, -0.0757, -0.0659, -0.0073, -0.8684, -5.5316, 6.2427, 1.5214, -0.0757, -0.1538, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 494):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8937f752f6bc235ceecc8d9d1ee64c933267ff81bdf9200d0e50afd728846da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 494):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44cb5cc19ccaa34e91f1ec5d8e847fef768be43b2f7681d88d204ff71db01115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 494):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1398292b9f0128c7d63762233cb90ae65dde2113dd758553ce9f7c934faf38b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1AYKEAgRGAI4AUIIdGhpbmtpbmcSDDWlEMPH5DvLQTOvuBoMrQGX9SmOelZn1wzSIjC4J+pYmDLNBskNlbS4cMo+dohHV5xJsDrlVRot+WakKT4KzEtgnTTvR5aYB7CnEhEq8QW7KzX3hjjxJL3z1Le4iGIIHRgy0F09Rsdvm8LX7A63iBFzbZE6EVsHcjixaw/w0NFJzIaSb8V7ixprSru9EUtffM+cpgEDBjTgh+OMnc3KYQKC1ZcAthqjN06yR69IZOZJXSaZfn6mBU0BHS8VG4yj3QHnotzNmBn9qxrv0uzsO5BSgBmrh9MARcxcAemKnassMG5SokEOg0b69fchJqIMcwJfA/nDyk/HfV0FK5fpUUY750AjAI7Tp0XAoiitg7Ch1BH/UCYluMzDlgy/mz3cfH8kNiS6qw3qyLeDQkmIElYQLc/KM28cdhNJ3OLYzC4TWW+uZsnz4+LL60kaVHdntF2amar18uxeEk/nAAEePZ/qXD9Xi1aPvtVmUVaa4NDT4FcTK5yif0M4LXhWytc7spOYYundDB5dvJoNZBVPFUCRUnGqc+JW7AALMNUnHlGqdjDvkzuX9WVHmx1GTUOF8UFJvrozVh+EeoR9pQURTeHiUlyOX2La3LCoTdUJl/VlzJwkKMtM/ex72QpYaCNK5Hg7WOPVA+V+R/zTwvKgIJ/HiRe8gmCagS7mvBb4vMH9wd8HR5Ku/YVXAJB28+G8RtFBR3nJfJBgqgyo/3ELbPpXP+6HRdvfFUEs7oryMRTpyfzCIy3/ssjj6zB51UGP+k2xDgcqzyqxJ3OFtlC2o6/ws7RgyXhPoaQG5NV/V7/cWRR9Aj8mu8354NXZBNroVgEuqYYUHSxoLPAxzlMg7uREtNp4ODWjIutdE33Ic9lPFld39R1N65OOtS7J1zUkqzkvjc2QwnD97vNOIRtTvPIC2+RTIjsAwrIyVfASSKp3yNAuxKOncu2mfcAO+TWFifKAfgY1foKUL71n/wAskMrPVE+ETdkYJVoROAhgrekS4yAVAKBDqi+JzhDnBeXXP0Ef1P3w+2zmi0vKahN0C0fqPRnL2FjmaG8gfYj4wslpiNbvhz4misb6hWzlFE6x5IAqcYBUVe0AkM6iPyBZdt8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XRmDaazMqfzq6hr68wMkRG",
      "input": {
        "note": "Descent stopped at z=0.21 and the shoulder load dropped, so the jug is standing on the table. Opening the right gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XRmDaazMqfzq6hr68wMkRG",
      "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]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.281, 1.6032, 0.9073, 0.4088, 0.2237, 0.0429, 0.9955]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4784 right_y=0.101 right_z=0.1965 right_yaw=0.0531 right_pitch=0.2846 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.6205, 7.2, 1.707, -0.0904, -0.0659, -0.0122, -0.6085, -7.5829, 6.7077, 2.0391, -0.0708, 0.0073, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa0ef9919b0a261a233a8bb87d8cee4a9031c160f8de8c23c13f233d872a395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd0a316a5a8aedaa6a95af7abb888a4e5e189e13bc9844cb90437802b387a712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 503):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:080794716feb11b399e63dbcac640c0b7739e9825fd129259a4e78c36c8005cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 57 attempt 0 · /messages · status 200 · 14.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.308, 1.5761, 1.0988, 0.0921, 0.2329, 0.0978, 0.1562]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4792 right_y=0.1134 right_z=0.2261 right_yaw=0.0477 right_pitch=0.1901 right_roll=0.0183 right_gripper=0.1562\nstate[joint_eff]: [-0.0889, -1.5932, 7.2, 1.7509, -0.0806, -0.0317, -0.0122, -0.4718, -10.9607, 7.2, 2.2589, 0.1538, 0.0024, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0868, 0.9983, 0.2871, 1.5806, 0.9367, 0.3637, 0.2306, 0.0582, 0.1596]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0546 left_pitch=-0.0017 left_roll=-0.0046 left_gripper=0.9983 right_x=0.4779 right_y=0.1027 right_z=0.2102 right_yaw=0.0442 right_pitch=0.2918 right_roll=0.0072 right_gripper=0.1596\nstate[joint_eff]: [-0.253, -1.6205, 7.1726, 1.7363, -0.0757, -0.0659, -0.0073, -0.8684, -5.5316, 6.2427, 1.5214, -0.0757, -0.1538, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0566, 0.8452, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, 0.281, 1.6032, 0.9073, 0.4088, 0.2237, 0.0429, 0.9955]\nstate[eef_state]: left_x=0.3047 left_y=0.0034 left_z=0.19 left_yaw=0.0544 left_pitch=-0.0017 left_roll=-0.0042 left_gripper=0.9983 right_x=0.4784 right_y=0.101 right_z=0.1965 right_yaw=0.0531 right_pitch=0.2846 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.6205, 7.2, 1.707, -0.0904, -0.0659, -0.0122, -0.6085, -7.5829, 6.7077, 2.0391, -0.0708, 0.0073, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa0ef9919b0a261a233a8bb87d8cee4a9031c160f8de8c23c13f233d872a395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd0a316a5a8aedaa6a95af7abb888a4e5e189e13bc9844cb90437802b387a712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 503):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:080794716feb11b399e63dbcac640c0b7739e9825fd129259a4e78c36c8005cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Both jugs have been tipped over the red cup and set back down upright. I'll park the right arm and finish.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPWocnQaDiUwzz22T5DCZr",
      "input": {
        "note": "The right jug is released and standing; both containers have been poured over the red cup. Retracting the right arm to its home pose.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01YPWocnQaDiUwzz22T5DCZr",
      "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]: [-0.0566, 0.8494, 0.6559, -0.3798, -0.0967, -0.0864, 0.9983, -0.0067, 0.8581, 0.7448, -0.4126, 0.0154, -0.009, 0.9964]\nstate[eef_state]: left_x=0.305 left_y=0.0034 left_z=0.1888 left_yaw=0.0544 left_pitch=-0.0059 left_roll=-0.0038 left_gripper=0.9983 right_x=0.3111 right_y=-0.0012 right_z=0.22 right_yaw=-0.0221 right_pitch=0.0385 right_roll=-0.0027 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.9077, 7.159, 1.7167, -0.105, -0.0366, -0.0122, -0.2803, -1.6205, 9.1145, 1.9219, -0.0513, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2804b1655bf87fed2768050fed0dc8b289ae334be0611e0b05ce55d4d168b24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 517):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44770fc7156e4b5477b28ff32ff679903b807bf4fd0ae75ee8a948544f29bd83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 517):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aef027f3140c2538fe149273571cfc1f2990d3941dd5cad45670e3ce3f008ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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