adhoc

completed
2026-09-03T02:19:02.109552+00:00 inspect-robots 0.58.0git unknown
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
20
max_output_tokens
null
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
chat
wire_capture
true
seed
0
max steps
900
duration
510.7 s
total steps
136
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Pick up the red block from the table and place it inside the bowl.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
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 20 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. 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: Pick up the red block from the table and place it inside the bowl.
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 20 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. 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: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe left wrist camera shows the red block just ahead and to the right of the left gripper; the top camera shows the block roughly 15 cm in front of the left arm with the bowl further on. Moving the left arm forward, slightly right and lower to approach the block.
move_to
left_x0.4000left_y-0.0600left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.384, -0.0193, -0.0338, 0.9993, -0.0212, 0.7956, 0.6079, -0.3954, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2933 right_y=0.0009 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.4154, 10.1949, 1.8242, -0.0708, 0.1929, -0.0904, -0.3897, -1.6615, 9.6615, 1.9023, -0.0415, -0.0171, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.12}, "note": "The left wrist camera shows the red block just ahead and to the right of the left gripper; the top camera shows the block roughly 15 cm in front of the left arm with the bowl further on. Moving the left arm forward, slightly right and lower to approach the block."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteIn the top camera the block is about 12 cm ahead of the left gripper, and the wrist camera shows it to the right of the fingers. Advancing forward and to the right, lowering slightly to hover over the block.
move_to
left_x0.4700left_y-0.1000left_z0.0700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2424, 1.3903, 0.6399, 0.0448, -0.1925, -0.157, 0.9992, -0.0212, 0.8005, 0.6147, -0.4305, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3761 left_y=-0.0545 left_z=0.0908 left_yaw=-0.0099 left_pitch=-0.1186 left_roll=0.0194 left_gripper=0.9992 right_x=0.2896 right_y=0.001 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0336 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [-0.5128, -5.9419, 8.7316, 1.9805, -0.188, -0.0122, -0.0171, -0.0615, -1.6068, 6.5709, 2.0391, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.1, "left_z": 0.07, "left_pitch": 0.0}, "note": "In the top camera the block is about 12 cm ahead of the left gripper, and the wrist camera shows it to the right of the fingers. Advancing forward and to the right, lowering slightly to hover over the block."})
tool
executing move_to over 8 steps (0.8s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe top camera shows the block just ahead and to the right (negative y) of the left gripper, and it's no longer in the wrist camera view. Shifting forward and further right to center the block between the fingers.
move_to
left_x0.5000left_y-0.1300left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3096, 1.805, 0.8436, 0.2787, -0.2573, -0.1818, 0.9992, -0.0212, 0.8032, 0.6132, -0.4549, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4508 left_y=-0.0932 left_z=0.0504 left_yaw=-0.0103 left_pitch=-0.0852 left_roll=0.0341 left_gripper=0.9992 right_x=0.286 right_y=0.001 right_z=0.1665 right_yaw=-0.0002 right_pitch=-0.0622 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.5402, -8.5675, 7.706, 1.9658, -0.2173, 0.0317, -0.0122, -0.0479, -1.4701, 7.1043, 1.9609, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.13, "left_z": 0.06}, "note": "The top camera shows the block just ahead and to the right (negative y) of the left gripper, and it's no longer in the wrist camera view. Shifting forward and further right to center the block between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteTop camera shows the red block right at the left gripper's fingertips, slightly forward and to the right; the wrist camera no longer sees it, suggesting it is beneath the fingers. Nudging forward/right and lowering to grasp height.
move_to
left_x0.5100left_y-0.1400left_z0.0250
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3546, 1.9484, 1.0714, 0.1753, -0.2863, -0.2153, 0.9992, -0.0212, 0.807, 0.6132, -0.4744, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4904 left_y=-0.1246 left_z=0.0529 left_yaw=-0.0126 left_pitch=-0.0968 left_roll=0.0312 left_gripper=0.9992 right_x=0.2832 right_y=0.0011 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.4855, -9.3744, 7.8701, 1.58, -0.2369, -0.0024, -0.0122, -0.0889, -1.4701, 6.9675, 2.0195, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.14, "left_z": 0.025}, "note": "Top camera shows the red block right at the left gripper's fingertips, slightly forward and to the right; the wrist camera no longer sees it, suggesting it is beneath the fingers. Nudging forward/right and lowering to grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteTop camera shows the red block just beyond the left fingertips and slightly to the side; wrist camera doesn't see it, so it's probably just under the camera's view. Moving 2–3 cm further forward and down to bracket the block between the fingers.
move_to
left_x0.5300left_y-0.1450left_z0.0200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3649, 2.022, 1.1275, 0.1757, -0.2955, -0.226, 0.9992, -0.0212, 0.8078, 0.6132, -0.4858, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.501 left_y=-0.1325 left_z=0.0388 left_yaw=-0.0089 left_pitch=-0.1106 left_roll=0.0344 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1593 right_yaw=0.0002 right_pitch=-0.0976 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.7179, -8.4718, 6.5573, 1.409, -0.2027, 0.0073, -0.0122, -0.1162, -1.2239, 7.3094, 1.8095, -0.0659, -0.0024, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.145, "left_z": 0.02, "left_pitch": 0.0}, "note": "Top camera shows the red block just beyond the left fingertips and slightly to the side; wrist camera doesn't see it, so it's probably just under the camera's view. Moving 2\u20133 cm further forward and down to bracket the block between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteTop camera shows the red block directly beneath the left gripper's jaws at table height. Closing the gripper to attempt the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3717, 2.0865, 1.1389, 0.2085, -0.2977, -0.2375, 0.9986, -0.0212, 0.8116, 0.6128, -0.5003, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5033 left_y=-0.1368 left_z=0.0169 left_yaw=-0.0068 left_pitch=-0.1287 left_roll=0.0341 left_gripper=0.9986 right_x=0.2793 right_y=0.0011 right_z=0.1554 right_yaw=0.0001 right_pitch=-0.1163 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.5128, -10.8376, 6.653, 1.7851, -0.2222, 0.0513, -0.0757, -0.1709, -1.4017, 7.0769, 1.7411, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Top camera shows the red block directly beneath the left gripper's jaws at table height. Closing the gripper to attempt the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper closed fully on nothing—the top camera shows the red block just beside the jaws, further to the arm's right (negative y). Reopening, lifting, and shifting right to re-center over the block with the wrist camera.
move_to
left_gripper1.0000left_z0.0800left_y-0.1700left_x0.5000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3717, 2.0865, 1.1385, 0.2005, -0.2974, -0.2424, 0.009, -0.0212, 0.8116, 0.6132, -0.5232, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.502 left_y=-0.1363 left_z=0.0154 left_yaw=-0.004 left_pitch=-0.1366 left_roll=0.0331 left_gripper=0.009 right_x=0.2757 right_y=0.0012 right_z=0.1512 right_yaw=0.0002 right_pitch=-0.1388 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [0.0479, -10.7692, 5.6821, 1.6874, -0.1001, 0.0122, 0.6178, -0.0752, -1.1282, 7.2821, 1.8144, -0.0513, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08, "left_y": -0.17, "left_x": 0.5}, "note": "The gripper closed fully on nothing\u2014the top camera shows the red block just beside the jaws, further to the arm's right (negative y). Reopening, lifting, and shifting right to re-center over the block with the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteTop camera shows the red block just forward-right of the open left jaws, but the wrist camera cannot see it (it's under/behind the view). Raising the hand and tipping it forward to get the block in the wrist camera before descending.
move_to
left_x0.5200left_y-0.1550left_z0.0900left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4427, 2.0296, 1.264, -0.0616, -0.3439, -0.3038, 0.9951, -0.0212, 0.8116, 0.6132, -0.5537, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4926 left_y=-0.1637 left_z=0.0483 left_yaw=0.0019 left_pitch=-0.1952 left_roll=0.0496 left_gripper=0.9951 right_x=0.2706 right_y=0.0013 right_z=0.1457 right_yaw=0.0003 right_pitch=-0.1693 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.6222, -13.8325, 8.6632, 1.5556, -0.2662, 0.022, -0.1392, 0.0205, -1.2103, 6.9128, 1.8877, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.155, "left_z": 0.09, "left_pitch": 0.1}, "note": "Top camera shows the red block just forward-right of the open left jaws, but the wrist camera cannot see it (it's under/behind the view). Raising the hand and tipping it forward to get the block in the wrist camera before descending."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteTop camera shows the block just under/adjacent to the open left jaws; accounting for parallax (the gripper is raised), the block is likely right below the fingers, explaining why the wrist camera doesn't see it. Descending to grasp height at this spot.
move_to
left_x0.5150left_y-0.1600left_z0.0300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4305, 2.0232, 1.1435, 0.2623, -0.3969, -0.2169, 0.9964, -0.0212, 0.8162, 0.6132, -0.5732, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5097 left_y=-0.155 left_z=0.0642 left_yaw=0.0013 left_pitch=0.0068 left_roll=0.061 left_gripper=0.9964 right_x=0.2674 right_y=0.0014 right_z=0.1411 right_yaw=0.0002 right_pitch=-0.1934 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.1983, -12.2051, 6.1197, 2.0928, -0.2222, 0.2125, 0.1148, -0.1162, -1.5795, 6.8718, 1.7411, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.515, "left_y": -0.16, "left_z": 0.03, "left_pitch": 0.0}, "note": "Top camera shows the block just under/adjacent to the open left jaws; accounting for parallax (the gripper is raised), the block is likely right below the fingers, explaining why the wrist camera doesn't see it. Descending to grasp height at this spot."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteTop camera shows the red block below the gripper in the image, which corresponds to further toward the arm's right (more negative y); the wrist camera still shows only table. Shifting 4 cm to the right at a slightly higher height to bring the block into the wrist view.
move_to
left_x0.5100left_y-0.2000left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4328, 2.0987, 1.1393, 0.3351, -0.4084, -0.2184, 0.9965, -0.0212, 0.8181, 0.6128, -0.5938, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5132 left_y=-0.1559 left_z=0.0383 left_yaw=0.0091 left_pitch=0.0035 left_roll=0.0687 left_gripper=0.9965 right_x=0.2638 right_y=0.0015 right_z=0.1368 right_yaw=0.0003 right_pitch=-0.2162 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.2393, -10.5778, 6.3248, 1.8926, -0.105, -0.0904, 0.0024, -0.1846, -1.347, 6.8581, 1.7411, -0.0366, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.2, "left_z": 0.06}, "note": "Top camera shows the red block below the gripper in the image, which corresponds to further toward the arm's right (more negative y); the wrist camera still shows only table. Shifting 4 cm to the right at a slightly higher height to bring the block into the wrist view."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe block is now hidden under the left arm in the top view and still not in the wrist camera; comparing pixel offsets to the bowl size suggests the block is roughly 10 cm further to the arm's right (negative y) than the gripper. Moving right to y=-0.25 at a modest height to spot it in the wrist camera.
move_to
left_x0.5100left_y-0.2500left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5224, 2.1338, 1.2186, 0.2146, -0.4629, -0.2729, 0.9967, -0.0212, 0.8181, 0.6128, -0.6128, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5025 left_y=-0.1942 left_z=0.0307 left_yaw=-0.0067 left_pitch=-0.0463 left_roll=0.0883 left_gripper=0.9967 right_x=0.2604 right_y=0.0015 right_z=0.1336 right_yaw=0.0006 right_pitch=-0.2353 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [0.0342, -14.147, 8.4718, 1.6435, -0.3443, -0.0464, 0.0024, -0.0889, -1.1966, 6.7897, 1.6435, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.25, "left_z": 0.07}, "note": "The block is now hidden under the left arm in the top view and still not in the wrist camera; comparing pixel offsets to the bowl size suggests the block is roughly 10 cm further to the arm's right (negative y) than the gripper. Moving right to y=-0.25 at a modest height to spot it in the wrist camera."})
tool
executing move_to over 5 steps (0.5s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe red block is no longer visible in any camera—the left arm is occluding it in the top view. Retracting the left arm up and back, tilted forward, so both the top and wrist cameras can locate the block again.
move_to
left_x0.3500left_y-0.1500left_z0.2500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6132, 2.1506, 1.4288, 0.0006, -0.5171, -0.3386, 0.9971, -0.0212, 0.8192, 0.6128, -0.6323, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5072 left_y=-0.2458 left_z=0.0685 left_yaw=-0.0192 left_pitch=-0.042 left_roll=0.0756 left_gripper=0.9971 right_x=0.2569 right_y=0.0016 right_z=0.1301 right_yaw=0.0005 right_pitch=-0.2559 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.253, -10.2085, 8.1573, 1.4774, -0.3346, -0.0073, 0.0269, -0.0479, -1.2239, 6.7897, 1.6337, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.25, "left_pitch": 0.3}, "note": "The red block is no longer visible in any camera\u2014the left arm is occluding it in the top view. Retracting the left arm up and back, tilted forward, so both the top and wrist cameras can locate the block again."})
tool
executing move_to over 13 steps (1.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe arm only partially tracked the last target and the block is still hidden beneath the left arm in the top view. Continuing to pull the left arm back and up toward home so the top camera can reveal where the block is.
move_to
left_x0.3000left_y-0.1000left_z0.2500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7116, 1.9045, 1.1278, -0.0067, -0.6415, -0.2466, 0.9971, -0.0208, 0.8234, 0.6128, -0.6598, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4298 left_y=-0.2263 left_z=0.0833 left_yaw=-0.0709 left_pitch=-0.052 left_roll=0.256 left_gripper=0.9971 right_x=0.2518 right_y=0.0018 right_z=0.1246 right_yaw=0.0011 right_pitch=-0.2876 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.9094, -11.9043, 10.0308, 2.42, -0.5495, 0.149, -0.0073, 0.0205, -1.2513, 6.7487, 1.7021, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.25, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm only partially tracked the last target and the block is still hidden beneath the left arm in the top view. Continuing to pull the left arm back and up toward home so the top camera can reveal where the block is."})
tool
executing move_to over 12 steps (1.2s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe left wrist camera now shows the red block at the bottom of the image between/just behind the fingertips, slightly to the right—so the block is nearly under the gripper at about x≈0.39, y≈-0.20. Descending toward it while leveling the tool.
move_to
left_x0.3900left_y-0.2000left_z0.0600left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6994, 1.5669, 0.8639, 0.0441, -0.6399, -0.2405, 0.9971, -0.0212, 0.8276, 0.6128, -0.6765, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3857 left_y=-0.1819 left_z=0.1338 left_yaw=-0.0633 left_pitch=0.0466 left_roll=0.1863 left_gripper=0.9971 right_x=0.2487 right_y=0.0018 right_z=0.121 right_yaw=0.001 right_pitch=-0.3085 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.0068, -7.788, 6.3932, 1.6532, -0.1685, 0.0024, -0.0122, 0.0068, -1.4291, 7.0359, 1.536, -0.0464, -0.0366, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.2, "left_z": 0.06, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left wrist camera now shows the red block at the bottom of the image between/just behind the fingertips, slightly to the right\u2014so the block is nearly under the gripper at about x\u22480.39, y\u2248-0.20. Descending toward it while leveling the tool."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe wrist camera shows the red block centered horizontally between the fingertips at the bottom of the frame, so it is directly beneath/slightly behind the jaws. Descending to grasp height with a small backward shift to center it.
move_to
left_x0.3800left_y-0.1900left_z0.0300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6754, 1.6142, 0.8558, 0.1043, -0.5602, -0.3344, 0.9971, -0.0212, 0.8284, 0.6128, -0.68, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3927 left_y=-0.1897 left_z=0.1173 left_yaw=-0.0505 left_pitch=0.0285 left_roll=0.0632 left_gripper=0.9971 right_x=0.248 right_y=0.0018 right_z=0.1203 right_yaw=0.0009 right_pitch=-0.3127 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.335, -6.2564, 4.6017, 1.5214, -0.1197, -0.1294, -0.0122, -0.1026, -1.2376, 6.7214, 1.3993, -0.0415, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.19, "left_z": 0.03, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The wrist camera shows the red block centered horizontally between the fingertips at the bottom of the frame, so it is directly beneath/slightly behind the jaws. Descending to grasp height with a small backward shift to center it."})
tool
executing move_to over 6 steps (0.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe wrist camera now shows the red block large and centered between the two fingertips at table height. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.68, 1.8015, 0.6838, 0.3817, -0.5262, -0.3878, 0.9971, -0.0212, 0.8295, 0.6128, -0.688, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3744 left_y=-0.184 left_z=0.0255 left_yaw=-0.052 left_pitch=-0.0489 left_roll=0.049 left_gripper=0.9971 right_x=0.2465 right_y=0.0018 right_z=0.1188 right_yaw=0.0009 right_pitch=-0.3219 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [-0.0342, -7.6103, 4.9709, 1.8339, -0.1343, -0.0904, -0.0122, -0.1709, -1.2376, 6.7077, 1.4676, -0.0464, -0.0464, -0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist camera now shows the red block large and centered between the two fingertips at table height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe jaws closed just behind the block and nudged it forward; the wrist camera now shows it ~5 cm ahead of the fingertips. Reopening and advancing 6 cm forward at grasp height to bracket the block.
move_to
left_gripper1.0000left_x0.4300left_y-0.1800left_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.68, 1.8229, 0.6727, 0.3771, -0.5266, -0.3946, 0.0085, -0.0212, 0.8307, 0.6128, -0.7025, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.3693 left_y=-0.1798 left_z=0.0131 left_yaw=-0.0466 left_pitch=-0.0784 left_roll=0.0655 left_gripper=0.0085 right_x=0.2437 right_y=0.0018 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3375 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.1299, -9.4291, 5.9009, 1.5556, -0.1636, 0.0513, 0.6422, -0.0752, -1.1692, 6.8308, 1.5214, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": -0.18, "left_z": 0.03}, "note": "The jaws closed just behind the block and nudged it forward; the wrist camera now shows it ~5 cm ahead of the fingertips. Reopening and advancing 6 cm forward at grasp height to bracket the block."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe wrist camera now shows the red block sitting between the open fingertips, slightly ahead and to the arm's right. Creeping 2 cm forward while closing the jaws to grasp it.
move_to
left_gripper0.0000left_x0.4400left_y-0.1800left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5735, 1.9053, 0.8608, 0.2794, -0.4625, -0.3298, 0.9956, -0.0212, 0.8307, 0.6128, -0.7242, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4196 left_y=-0.1729 left_z=0.0218 left_yaw=-0.025 left_pitch=-0.0992 left_roll=0.0753 left_gripper=0.9956 right_x=0.2393 right_y=0.002 right_z=0.1132 right_yaw=0.0012 right_pitch=-0.3593 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [0.4171, -7.9385, 7.6513, 1.5556, -0.0708, 0.1783, -0.1245, -0.1162, -1.1282, 6.694, 1.5604, -0.0366, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_x": 0.44, "left_y": -0.18, "left_z": 0.02}, "note": "The wrist camera now shows the red block sitting between the open fingertips, slightly ahead and to the arm's right. Creeping 2 cm forward while closing the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe gripper closed on empty air again: the approver clamped the forward motion so the jaws shut before reaching the block, which is still ~4 cm ahead of the fingertips in the wrist camera. With only one or two LLM calls left in the budget there is not enough remaining to re-open, grasp, lift, carry to the bowl and release.
give_up
hindsightRig facts: the top camera looks down with the left arm entering from the image left and the bowl at image center; image-down corresponds to the left arm's -y (to the arm's right). The block was actually at roughly left_x≈0.46, left_y≈-0.18 (table height z≈0.015), not at x≈0.50, y≈-0.13 as I first estimated from the top camera—parallax from a raised gripper made me overshoot in x and undershoot in -y. The left wrist camera looks forward/down between the fingers; when the block is visible at the bottom center of the frame between the fingertip silhouettes it is still ~4-6 cm AHEAD of the grasp point, not under it—advance an extra 4-5 cm before closing. Never combine a translation with gripper close in one move_to: the approver clamps large deltas so the gripper finishes closing before the translation completes. Steps of >3-4 cm often get delta_clamped and undershoot; plan positions in small increments and verify with the wrist camera. Budget is only 20 calls, so don't spend calls guessing from the top camera—retract to a high pose early (z≈0.15-0.25) to get the block in the wrist camera, then descend directly over it.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5667, 1.9545, 0.9222, 0.242, -0.4572, -0.3302, 0.0083, -0.0212, 0.8341, 0.6128, -0.7364, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4293 left_y=-0.1765 left_z=0.015 left_yaw=-0.0207 left_pitch=-0.1227 left_roll=0.085 left_gripper=0.0083 right_x=0.2369 right_y=0.002 right_z=0.1107 right_yaw=0.0014 right_pitch=-0.3749 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.5402, -8.0752, 7.3641, 1.6874, -0.1685, 0.0855, 0.6178, -0.0615, -1.4291, 6.7624, 1.4042, -0.0611, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The gripper closed on empty air again: the approver clamped the forward motion so the jaws shut before reaching the block, which is still ~4 cm ahead of the fingertips in the wrist camera. With only one or two LLM calls left in the budget there is not enough remaining to re-open, grasp, lift, carry to the bowl and release.", "hindsight": "Rig facts: the top camera looks down with the left arm entering from the image left and the bowl at image center; image-down corresponds to the left arm's -y (to the arm's right). The block was actually at roughly left_x\u22480.46, left_y\u2248-0.18 (table height z\u22480.015), not at x\u22480.50, y\u2248-0.13 as I first estimated from the top camera\u2014parallax from a raised gripper made me overshoot in x and undershoot in -y. The left wrist camera looks forward/down between the fingers; when the block is visible at the bottom center of the frame between the fingertip silhouettes it is still ~4-6 cm AHEAD of the grasp point, not under it\u2014advance an extra 4-5 cm before closing. Never combine a translation with gripper close in one move_to: the approver clamps large deltas so the gripper finishes closing before the translation completes. Steps of >3-4 cm often get delta_clamped and undershoot; plan positions in small increments and verify with the wrist camera. Budget is only 20 calls, so don't spend calls guessing from the top camera\u2014retract to a high pose early (z\u22480.15-0.25) to get the block in the wrist camera, then descend directly over it."})
tool
give_up: The gripper closed on empty air again: the approver clamped the forward motion so the jaws shut before reaching the block, which is still ~4 cm ahead of the fingertips in the wrist camera. With only one or two LLM calls left in the budget there is not enough remaining to re-open, grasp, lift, carry to the bowl and release.
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "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].",
      "name": "move_to",
      "parameters": {
        "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"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "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"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "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"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 40.51 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "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 20 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\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.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.384, -0.0193, -0.0338, 0.9993, -0.0212, 0.7956, 0.6079, -0.3954, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2933 right_y=0.0009 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4154, 10.1949, 1.8242, -0.0708, 0.1929, -0.0904, -0.3897, -1.6615, 9.6615, 1.9023, -0.0415, -0.0171, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be255dfd91709689c4ba0a938ce969d76a0255432d5e7971f632e1154cf378bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:57f9665e9a9c19dde03b1e85444771ea1e247d044ca69123a9df5eca95a3bdde"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90c78967d7361cb07f8b66d5fc01e6ed059b23dbf848e4155eed9eafa3ad7bc0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob be255dfd9170
wire blob 57f9665e9a9c
wire blob 90c78967d736
call 1 attempt 0 · /chat/completions · status 200 · 52.92 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.06, \"left_z\": 0.12}, \"note\": \"The left wrist camera shows the red block just ahead and to the right of the left gripper; the top camera shows the block roughly 15 cm in front of the left arm with the bowl further on. Moving the left arm forward, slightly right and lower to approach the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01B4TCuepw6rU7L7Gh8MA1tA",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01B4TCuepw6rU7L7Gh8MA1tA"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2424, 1.3903, 0.6399, 0.0448, -0.1925, -0.157, 0.9992, -0.0212, 0.8005, 0.6147, -0.4305, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.0545 left_z=0.0908 left_yaw=-0.0099 left_pitch=-0.1186 left_roll=0.0194 left_gripper=0.9992 right_x=0.2896 right_y=0.001 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0336 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.9419, 8.7316, 1.9805, -0.188, -0.0122, -0.0171, -0.0615, -1.6068, 6.5709, 2.0391, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f4884130a2e90a2b2c856ebcaa35a4ff5af793c43aa718828e0b0417ce38b94"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dee5161d376431bdbbed8227d1c95e48f0c001d706098f6d2837002874d956cd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:776840d6ababec892a11549d7fb68ad9a819b1ea82b1f94f7b7939e3919a840c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5f4884130a2e
wire blob dee5161d3764
wire blob 776840d6abab
call 2 attempt 0 · /chat/completions · status 200 · 18.51 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.384, -0.0193, -0.0338, 0.9993, -0.0212, 0.7956, 0.6079, -0.3954, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2933 right_y=0.0009 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4154, 10.1949, 1.8242, -0.0708, 0.1929, -0.0904, -0.3897, -1.6615, 9.6615, 1.9023, -0.0415, -0.0171, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.47, \"left_y\": -0.1, \"left_z\": 0.07, \"left_pitch\": 0.0}, \"note\": \"In the top camera the block is about 12 cm ahead of the left gripper, and the wrist camera shows it to the right of the fingers. Advancing forward and to the right, lowering slightly to hover over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01S3NHF7ADKY74bbyDUusK26",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01S3NHF7ADKY74bbyDUusK26"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3096, 1.805, 0.8436, 0.2787, -0.2573, -0.1818, 0.9992, -0.0212, 0.8032, 0.6132, -0.4549, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4508 left_y=-0.0932 left_z=0.0504 left_yaw=-0.0103 left_pitch=-0.0852 left_roll=0.0341 left_gripper=0.9992 right_x=0.286 right_y=0.001 right_z=0.1665 right_yaw=-0.0002 right_pitch=-0.0622 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.5675, 7.706, 1.9658, -0.2173, 0.0317, -0.0122, -0.0479, -1.4701, 7.1043, 1.9609, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da18d0fe4e8b01fcd762865707fc660d2be14f50795e247bfd928400f0db7ba0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:922647a6e460dc2b4e1e462b114b9c362ef329ba09e8dd153949d4e8899b9aa9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aea8deee4b23341e252c78ede38dab464f40683cb929dc96b5d57b1d276c7144"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob da18d0fe4e8b
wire blob 922647a6e460
wire blob aea8deee4b23
call 3 attempt 0 · /chat/completions · status 200 · 25.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2424, 1.3903, 0.6399, 0.0448, -0.1925, -0.157, 0.9992, -0.0212, 0.8005, 0.6147, -0.4305, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.0545 left_z=0.0908 left_yaw=-0.0099 left_pitch=-0.1186 left_roll=0.0194 left_gripper=0.9992 right_x=0.2896 right_y=0.001 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0336 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.9419, 8.7316, 1.9805, -0.188, -0.0122, -0.0171, -0.0615, -1.6068, 6.5709, 2.0391, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.13, \"left_z\": 0.06}, \"note\": \"The top camera shows the block just ahead and to the right (negative y) of the left gripper, and it's no longer in the wrist camera view. Shifting forward and further right to center the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VTU2YGJy3STYUv1n24jUAX",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01VTU2YGJy3STYUv1n24jUAX"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3546, 1.9484, 1.0714, 0.1753, -0.2863, -0.2153, 0.9992, -0.0212, 0.807, 0.6132, -0.4744, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4904 left_y=-0.1246 left_z=0.0529 left_yaw=-0.0126 left_pitch=-0.0968 left_roll=0.0312 left_gripper=0.9992 right_x=0.2832 right_y=0.0011 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -9.3744, 7.8701, 1.58, -0.2369, -0.0024, -0.0122, -0.0889, -1.4701, 6.9675, 2.0195, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:35c28de59728c52e94ac5f2bd68ad9cf9bbb97e8e9e75ca3504c901f8168b572"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7882ac592b55f28c599257b26adcadc2df9031a663622ce838164ab7482a6fea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:33dd05d4e6474e60a315ac5ee1b62e583cf928b0838a1dd39bb449ec487f019e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 35c28de59728
wire blob 7882ac592b55
wire blob 33dd05d4e647
call 4 attempt 0 · /chat/completions · status 200 · 19.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3096, 1.805, 0.8436, 0.2787, -0.2573, -0.1818, 0.9992, -0.0212, 0.8032, 0.6132, -0.4549, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4508 left_y=-0.0932 left_z=0.0504 left_yaw=-0.0103 left_pitch=-0.0852 left_roll=0.0341 left_gripper=0.9992 right_x=0.286 right_y=0.001 right_z=0.1665 right_yaw=-0.0002 right_pitch=-0.0622 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.5675, 7.706, 1.9658, -0.2173, 0.0317, -0.0122, -0.0479, -1.4701, 7.1043, 1.9609, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.14, \"left_z\": 0.025}, \"note\": \"Top camera shows the red block right at the left gripper's fingertips, slightly forward and to the right; the wrist camera no longer sees it, suggesting it is beneath the fingers. Nudging forward/right and lowering to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K6HWBjBU5yozZQgzB7wGoq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01K6HWBjBU5yozZQgzB7wGoq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3649, 2.022, 1.1275, 0.1757, -0.2955, -0.226, 0.9992, -0.0212, 0.8078, 0.6132, -0.4858, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.501 left_y=-0.1325 left_z=0.0388 left_yaw=-0.0089 left_pitch=-0.1106 left_roll=0.0344 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1593 right_yaw=0.0002 right_pitch=-0.0976 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.4718, 6.5573, 1.409, -0.2027, 0.0073, -0.0122, -0.1162, -1.2239, 7.3094, 1.8095, -0.0659, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:add80932b9e0a760ef65a9bcf9a1f8d13ef4e94b84565e7e9d88dc1db3730fe8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32536c1db2d64b6b7eb7c34399d2ca164c84b35c37a5be4b3e5bed453e58a738"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3402436673905107bf09d2073607ea5e29d57e2d402d9e7fbccca3bb5305587b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob add80932b9e0
wire blob 32536c1db2d6
wire blob 340243667390
call 5 attempt 0 · /chat/completions · status 200 · 12.16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3546, 1.9484, 1.0714, 0.1753, -0.2863, -0.2153, 0.9992, -0.0212, 0.807, 0.6132, -0.4744, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4904 left_y=-0.1246 left_z=0.0529 left_yaw=-0.0126 left_pitch=-0.0968 left_roll=0.0312 left_gripper=0.9992 right_x=0.2832 right_y=0.0011 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -9.3744, 7.8701, 1.58, -0.2369, -0.0024, -0.0122, -0.0889, -1.4701, 6.9675, 2.0195, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.145, \"left_z\": 0.02, \"left_pitch\": 0.0}, \"note\": \"Top camera shows the red block just beyond the left fingertips and slightly to the side; wrist camera doesn't see it, so it's probably just under the camera's view. Moving 2\\u20133 cm further forward and down to bracket the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_019FXK4yZ8LFQz42A1GCQWF8",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019FXK4yZ8LFQz42A1GCQWF8"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3717, 2.0865, 1.1389, 0.2085, -0.2977, -0.2375, 0.9986, -0.0212, 0.8116, 0.6128, -0.5003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5033 left_y=-0.1368 left_z=0.0169 left_yaw=-0.0068 left_pitch=-0.1287 left_roll=0.0341 left_gripper=0.9986 right_x=0.2793 right_y=0.0011 right_z=0.1554 right_yaw=0.0001 right_pitch=-0.1163 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.8376, 6.653, 1.7851, -0.2222, 0.0513, -0.0757, -0.1709, -1.4017, 7.0769, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51f833c543a3a1afb03db09e674590156eea6d7d5ada6158b14eb61b170345cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a46142d91a34f92c59f1341924f18c153d329dba0888f97172c4e94c2c0a239"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f3f047f3349f8cf9efcf50368e474edeb603aa329d3a8e5bc2b911f9575cdfe"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 51f833c543a3
wire blob 6a46142d91a3
wire blob 7f3f047f3349
call 6 attempt 0 · /chat/completions · status 200 · 25.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3649, 2.022, 1.1275, 0.1757, -0.2955, -0.226, 0.9992, -0.0212, 0.8078, 0.6132, -0.4858, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.501 left_y=-0.1325 left_z=0.0388 left_yaw=-0.0089 left_pitch=-0.1106 left_roll=0.0344 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1593 right_yaw=0.0002 right_pitch=-0.0976 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.4718, 6.5573, 1.409, -0.2027, 0.0073, -0.0122, -0.1162, -1.2239, 7.3094, 1.8095, -0.0659, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"Top camera shows the red block directly beneath the left gripper's jaws at table height. Closing the gripper to attempt the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NCbCMPvkRT13NMGikJGNJg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NCbCMPvkRT13NMGikJGNJg"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3717, 2.0865, 1.1385, 0.2005, -0.2974, -0.2424, 0.009, -0.0212, 0.8116, 0.6132, -0.5232, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.502 left_y=-0.1363 left_z=0.0154 left_yaw=-0.004 left_pitch=-0.1366 left_roll=0.0331 left_gripper=0.009 right_x=0.2757 right_y=0.0012 right_z=0.1512 right_yaw=0.0002 right_pitch=-0.1388 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -10.7692, 5.6821, 1.6874, -0.1001, 0.0122, 0.6178, -0.0752, -1.1282, 7.2821, 1.8144, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c8d7982cb4655de33a16dd7c9c64d19900ca949cbe1ac45265df89a249689c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d751e788e485660fb33863a455484a67773b23aca4f0d333f1a632fd72ae5df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0f42c0049975e2bb24114a57e1b32904ceaa50a0b534f10e05ea736032662af"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1c8d7982cb46
wire blob 6d751e788e48
wire blob d0f42c004997
call 7 attempt 0 · /chat/completions · status 200 · 23.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3717, 2.0865, 1.1389, 0.2085, -0.2977, -0.2375, 0.9986, -0.0212, 0.8116, 0.6128, -0.5003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5033 left_y=-0.1368 left_z=0.0169 left_yaw=-0.0068 left_pitch=-0.1287 left_roll=0.0341 left_gripper=0.9986 right_x=0.2793 right_y=0.0011 right_z=0.1554 right_yaw=0.0001 right_pitch=-0.1163 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.8376, 6.653, 1.7851, -0.2222, 0.0513, -0.0757, -0.1709, -1.4017, 7.0769, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_z\": 0.08, \"left_y\": -0.17, \"left_x\": 0.5}, \"note\": \"The gripper closed fully on nothing\\u2014the top camera shows the red block just beside the jaws, further to the arm's right (negative y). Reopening, lifting, and shifting right to re-center over the block with the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_015xUyKygemKgPwGCQM4fyPo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_015xUyKygemKgPwGCQM4fyPo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4427, 2.0296, 1.264, -0.0616, -0.3439, -0.3038, 0.9951, -0.0212, 0.8116, 0.6132, -0.5537, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4926 left_y=-0.1637 left_z=0.0483 left_yaw=0.0019 left_pitch=-0.1952 left_roll=0.0496 left_gripper=0.9951 right_x=0.2706 right_y=0.0013 right_z=0.1457 right_yaw=0.0003 right_pitch=-0.1693 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -13.8325, 8.6632, 1.5556, -0.2662, 0.022, -0.1392, 0.0205, -1.2103, 6.9128, 1.8877, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9699e8a86b552086d2e8a1ff878e32f167716e9a0646f3bef930e49ed4697a2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc52f858f42721e4a6e6579b52d08502ee5b2c448e49a47eb22e64867c34bd70"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f10bc9533017b4dbe60c29c8aa0dcbd86fcfb87b390fde9d5630d40a9a4c9149"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a9699e8a86b5
wire blob cc52f858f427
wire blob f10bc9533017
call 8 attempt 0 · /chat/completions · status 200 · 33.59 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3717, 2.0865, 1.1385, 0.2005, -0.2974, -0.2424, 0.009, -0.0212, 0.8116, 0.6132, -0.5232, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.502 left_y=-0.1363 left_z=0.0154 left_yaw=-0.004 left_pitch=-0.1366 left_roll=0.0331 left_gripper=0.009 right_x=0.2757 right_y=0.0012 right_z=0.1512 right_yaw=0.0002 right_pitch=-0.1388 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -10.7692, 5.6821, 1.6874, -0.1001, 0.0122, 0.6178, -0.0752, -1.1282, 7.2821, 1.8144, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.155, \"left_z\": 0.09, \"left_pitch\": 0.1}, \"note\": \"Top camera shows the red block just forward-right of the open left jaws, but the wrist camera cannot see it (it's under/behind the view). Raising the hand and tipping it forward to get the block in the wrist camera before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FQrUiAXjaWoYze1Umj6Agm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01FQrUiAXjaWoYze1Umj6Agm"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 2.0232, 1.1435, 0.2623, -0.3969, -0.2169, 0.9964, -0.0212, 0.8162, 0.6132, -0.5732, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5097 left_y=-0.155 left_z=0.0642 left_yaw=0.0013 left_pitch=0.0068 left_roll=0.061 left_gripper=0.9964 right_x=0.2674 right_y=0.0014 right_z=0.1411 right_yaw=0.0002 right_pitch=-0.1934 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -12.2051, 6.1197, 2.0928, -0.2222, 0.2125, 0.1148, -0.1162, -1.5795, 6.8718, 1.7411, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc767675b15f74ff04e25a8cefc15bdde3fe23a1b161926fbe3589c66c8fa3fe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:50e534a1f2b95264ba677100b41c0cb90ad198011ac6443bff49b4d0470d465e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52b691b2975aaf2c48e441fb0af697381168158fbfef823c2542a4f61b48e400"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob dc767675b15f
wire blob 50e534a1f2b9
wire blob 52b691b2975a
call 9 attempt 0 · /chat/completions · status 200 · 26.11 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4427, 2.0296, 1.264, -0.0616, -0.3439, -0.3038, 0.9951, -0.0212, 0.8116, 0.6132, -0.5537, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4926 left_y=-0.1637 left_z=0.0483 left_yaw=0.0019 left_pitch=-0.1952 left_roll=0.0496 left_gripper=0.9951 right_x=0.2706 right_y=0.0013 right_z=0.1457 right_yaw=0.0003 right_pitch=-0.1693 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -13.8325, 8.6632, 1.5556, -0.2662, 0.022, -0.1392, 0.0205, -1.2103, 6.9128, 1.8877, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.515, \"left_y\": -0.16, \"left_z\": 0.03, \"left_pitch\": 0.0}, \"note\": \"Top camera shows the block just under/adjacent to the open left jaws; accounting for parallax (the gripper is raised), the block is likely right below the fingers, explaining why the wrist camera doesn't see it. Descending to grasp height at this spot.\"}",
        "name": "move_to"
      },
      "id": "toolu_017nA4o4nd2YNjTGYncYfZn6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_017nA4o4nd2YNjTGYncYfZn6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 2.0987, 1.1393, 0.3351, -0.4084, -0.2184, 0.9965, -0.0212, 0.8181, 0.6128, -0.5938, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5132 left_y=-0.1559 left_z=0.0383 left_yaw=0.0091 left_pitch=0.0035 left_roll=0.0687 left_gripper=0.9965 right_x=0.2638 right_y=0.0015 right_z=0.1368 right_yaw=0.0003 right_pitch=-0.2162 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -10.5778, 6.3248, 1.8926, -0.105, -0.0904, 0.0024, -0.1846, -1.347, 6.8581, 1.7411, -0.0366, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efc9800033c24ceb4aaf32b7c599528276ef55563dda06d18ed5f104543f5ff5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c557e4e76f406729cabfa71c230274470874de953c61671488e513a2401e3544"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85cdee2a0ccbc46ce7b924f77fc5a654e8c4a37e53d85ad6ed6635e277e7ec28"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob efc9800033c2
wire blob c557e4e76f40
wire blob 85cdee2a0ccb
call 10 attempt 0 · /chat/completions · status 200 · 34.71 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 2.0232, 1.1435, 0.2623, -0.3969, -0.2169, 0.9964, -0.0212, 0.8162, 0.6132, -0.5732, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5097 left_y=-0.155 left_z=0.0642 left_yaw=0.0013 left_pitch=0.0068 left_roll=0.061 left_gripper=0.9964 right_x=0.2674 right_y=0.0014 right_z=0.1411 right_yaw=0.0002 right_pitch=-0.1934 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -12.2051, 6.1197, 2.0928, -0.2222, 0.2125, 0.1148, -0.1162, -1.5795, 6.8718, 1.7411, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.2, \"left_z\": 0.06}, \"note\": \"Top camera shows the red block below the gripper in the image, which corresponds to further toward the arm's right (more negative y); the wrist camera still shows only table. Shifting 4 cm to the right at a slightly higher height to bring the block into the wrist view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Jrd7uzWNPvQHq1z96gBALj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Jrd7uzWNPvQHq1z96gBALj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5224, 2.1338, 1.2186, 0.2146, -0.4629, -0.2729, 0.9967, -0.0212, 0.8181, 0.6128, -0.6128, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5025 left_y=-0.1942 left_z=0.0307 left_yaw=-0.0067 left_pitch=-0.0463 left_roll=0.0883 left_gripper=0.9967 right_x=0.2604 right_y=0.0015 right_z=0.1336 right_yaw=0.0006 right_pitch=-0.2353 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.147, 8.4718, 1.6435, -0.3443, -0.0464, 0.0024, -0.0889, -1.1966, 6.7897, 1.6435, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8513eae4110057876ec3f6541226b807aa83f81abee174dd1e5ea947f5022408"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d94f11bd3b4d0c5eb93b79e46ee3de660514c35857cc9843285343ad2c4d5526"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:edda45ce6cc7824404cf16e7e1da0c29110b8ddb2fb1cdec604fc592a169cbd8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8513eae41100
wire blob d94f11bd3b4d
wire blob edda45ce6cc7
call 11 attempt 0 · /chat/completions · status 200 · 10.36 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 2.0987, 1.1393, 0.3351, -0.4084, -0.2184, 0.9965, -0.0212, 0.8181, 0.6128, -0.5938, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5132 left_y=-0.1559 left_z=0.0383 left_yaw=0.0091 left_pitch=0.0035 left_roll=0.0687 left_gripper=0.9965 right_x=0.2638 right_y=0.0015 right_z=0.1368 right_yaw=0.0003 right_pitch=-0.2162 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -10.5778, 6.3248, 1.8926, -0.105, -0.0904, 0.0024, -0.1846, -1.347, 6.8581, 1.7411, -0.0366, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.25, \"left_z\": 0.07}, \"note\": \"The block is now hidden under the left arm in the top view and still not in the wrist camera; comparing pixel offsets to the bowl size suggests the block is roughly 10 cm further to the arm's right (negative y) than the gripper. Moving right to y=-0.25 at a modest height to spot it in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KchtUJnAT3PYU1npp5zLSr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KchtUJnAT3PYU1npp5zLSr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6132, 2.1506, 1.4288, 0.0006, -0.5171, -0.3386, 0.9971, -0.0212, 0.8192, 0.6128, -0.6323, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.2458 left_z=0.0685 left_yaw=-0.0192 left_pitch=-0.042 left_roll=0.0756 left_gripper=0.9971 right_x=0.2569 right_y=0.0016 right_z=0.1301 right_yaw=0.0005 right_pitch=-0.2559 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.2085, 8.1573, 1.4774, -0.3346, -0.0073, 0.0269, -0.0479, -1.2239, 6.7897, 1.6337, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed6f0f94c27edd69bc19da93a07accdee26212c3cf6391814a937ecb776a831f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec12865155deffbc418b887b2870aa8eb35bced5d90e93296f57a8d0ea4b81db"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c1c0df0bb523afdc170baed5c1de585904fc07b1f60a4df88dd3b7dd7b23cb1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ed6f0f94c27e
wire blob ec12865155de
wire blob 9c1c0df0bb52
call 12 attempt 0 · /chat/completions · status 200 · 15.02 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5224, 2.1338, 1.2186, 0.2146, -0.4629, -0.2729, 0.9967, -0.0212, 0.8181, 0.6128, -0.6128, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5025 left_y=-0.1942 left_z=0.0307 left_yaw=-0.0067 left_pitch=-0.0463 left_roll=0.0883 left_gripper=0.9967 right_x=0.2604 right_y=0.0015 right_z=0.1336 right_yaw=0.0006 right_pitch=-0.2353 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -14.147, 8.4718, 1.6435, -0.3443, -0.0464, 0.0024, -0.0889, -1.1966, 6.7897, 1.6435, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.15, \"left_z\": 0.25, \"left_pitch\": 0.3}, \"note\": \"The red block is no longer visible in any camera\\u2014the left arm is occluding it in the top view. Retracting the left arm up and back, tilted forward, so both the top and wrist cameras can locate the block again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Bsb4bjkq3Z9G7v3a7DjigH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Bsb4bjkq3Z9G7v3a7DjigH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7116, 1.9045, 1.1278, -0.0067, -0.6415, -0.2466, 0.9971, -0.0208, 0.8234, 0.6128, -0.6598, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4298 left_y=-0.2263 left_z=0.0833 left_yaw=-0.0709 left_pitch=-0.052 left_roll=0.256 left_gripper=0.9971 right_x=0.2518 right_y=0.0018 right_z=0.1246 right_yaw=0.0011 right_pitch=-0.2876 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.9094, -11.9043, 10.0308, 2.42, -0.5495, 0.149, -0.0073, 0.0205, -1.2513, 6.7487, 1.7021, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e299073a4532fcc68021623be7537419668d2f480a817f1243f4886893de1026"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4a88d7ea22ba302ef84c338e4b3b88d0be0a7ed9a363d4adc89a8e0911f2062"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:779d91e3d8e83b15758d25bb8374ee29a05b201c63d2265bf359d5abcb6d5d88"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e299073a4532
wire blob f4a88d7ea22b
wire blob 779d91e3d8e8
call 13 attempt 0 · /chat/completions · status 200 · 21.97 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6132, 2.1506, 1.4288, 0.0006, -0.5171, -0.3386, 0.9971, -0.0212, 0.8192, 0.6128, -0.6323, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.2458 left_z=0.0685 left_yaw=-0.0192 left_pitch=-0.042 left_roll=0.0756 left_gripper=0.9971 right_x=0.2569 right_y=0.0016 right_z=0.1301 right_yaw=0.0005 right_pitch=-0.2559 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.2085, 8.1573, 1.4774, -0.3346, -0.0073, 0.0269, -0.0479, -1.2239, 6.7897, 1.6337, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.3, \"left_y\": -0.1, \"left_z\": 0.25, \"left_pitch\": 0.0, \"left_roll\": 0.0}, \"note\": \"The arm only partially tracked the last target and the block is still hidden beneath the left arm in the top view. Continuing to pull the left arm back and up toward home so the top camera can reveal where the block is.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DzdZWHLqKXYqPgCHZN3WFw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DzdZWHLqKXYqPgCHZN3WFw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6994, 1.5669, 0.8639, 0.0441, -0.6399, -0.2405, 0.9971, -0.0212, 0.8276, 0.6128, -0.6765, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.1819 left_z=0.1338 left_yaw=-0.0633 left_pitch=0.0466 left_roll=0.1863 left_gripper=0.9971 right_x=0.2487 right_y=0.0018 right_z=0.121 right_yaw=0.001 right_pitch=-0.3085 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.788, 6.3932, 1.6532, -0.1685, 0.0024, -0.0122, 0.0068, -1.4291, 7.0359, 1.536, -0.0464, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ecb0aced9943a2e3e1d9a47d0c4815d30e1ab9c108fc5a19fd925e7df1504848"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e478275d5a80985007042d3b858b3388df267f513df316865836770d91f76e22"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2f0e581ab08e40e4fff057930e66a87c414371adbd97f2fd0d9a2c349a40e96"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ecb0aced9943
wire blob e478275d5a80
wire blob b2f0e581ab08
call 14 attempt 0 · /chat/completions · status 200 · 16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7116, 1.9045, 1.1278, -0.0067, -0.6415, -0.2466, 0.9971, -0.0208, 0.8234, 0.6128, -0.6598, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4298 left_y=-0.2263 left_z=0.0833 left_yaw=-0.0709 left_pitch=-0.052 left_roll=0.256 left_gripper=0.9971 right_x=0.2518 right_y=0.0018 right_z=0.1246 right_yaw=0.0011 right_pitch=-0.2876 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.9094, -11.9043, 10.0308, 2.42, -0.5495, 0.149, -0.0073, 0.0205, -1.2513, 6.7487, 1.7021, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.2, \"left_z\": 0.06, \"left_pitch\": 0.0, \"left_roll\": 0.0}, \"note\": \"The left wrist camera now shows the red block at the bottom of the image between/just behind the fingertips, slightly to the right\\u2014so the block is nearly under the gripper at about x\\u22480.39, y\\u2248-0.20. Descending toward it while leveling the tool.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NzULCPivGDzygipMHS4NuJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01NzULCPivGDzygipMHS4NuJ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6754, 1.6142, 0.8558, 0.1043, -0.5602, -0.3344, 0.9971, -0.0212, 0.8284, 0.6128, -0.68, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.1897 left_z=0.1173 left_yaw=-0.0505 left_pitch=0.0285 left_roll=0.0632 left_gripper=0.9971 right_x=0.248 right_y=0.0018 right_z=0.1203 right_yaw=0.0009 right_pitch=-0.3127 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2564, 4.6017, 1.5214, -0.1197, -0.1294, -0.0122, -0.1026, -1.2376, 6.7214, 1.3993, -0.0415, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec2dcc310821a701ac977665a28d645d40ef038a64479180b3a1811b378cba46"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:713b9f83ca706cc62f275ef97532322d28092ef4b02353f3d4c9ef86301cc0fc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e0e26207f2e7476df93c33601b99524b44026cc15d62497e673c8b7b6374fad"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ec2dcc310821
wire blob 713b9f83ca70
wire blob 1e0e26207f2e
call 15 attempt 0 · /chat/completions · status 200 · 6.958 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6994, 1.5669, 0.8639, 0.0441, -0.6399, -0.2405, 0.9971, -0.0212, 0.8276, 0.6128, -0.6765, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3857 left_y=-0.1819 left_z=0.1338 left_yaw=-0.0633 left_pitch=0.0466 left_roll=0.1863 left_gripper=0.9971 right_x=0.2487 right_y=0.0018 right_z=0.121 right_yaw=0.001 right_pitch=-0.3085 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.788, 6.3932, 1.6532, -0.1685, 0.0024, -0.0122, 0.0068, -1.4291, 7.0359, 1.536, -0.0464, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.19, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_roll\": 0.0}, \"note\": \"The wrist camera shows the red block centered horizontally between the fingertips at the bottom of the frame, so it is directly beneath/slightly behind the jaws. Descending to grasp height with a small backward shift to center it.\"}",
        "name": "move_to"
      },
      "id": "toolu_019FaJayRhwdFhmxoya7zRgn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019FaJayRhwdFhmxoya7zRgn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.68, 1.8015, 0.6838, 0.3817, -0.5262, -0.3878, 0.9971, -0.0212, 0.8295, 0.6128, -0.688, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3744 left_y=-0.184 left_z=0.0255 left_yaw=-0.052 left_pitch=-0.0489 left_roll=0.049 left_gripper=0.9971 right_x=0.2465 right_y=0.0018 right_z=0.1188 right_yaw=0.0009 right_pitch=-0.3219 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -7.6103, 4.9709, 1.8339, -0.1343, -0.0904, -0.0122, -0.1709, -1.2376, 6.7077, 1.4676, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8b6a7a30eb1efabcea9532b344a4087ccdae457873c0a98e8f5ef4932c26413"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:920f4c7e04369096f98c0b226b02d3cae4a099178cfb91eca10f5f4f2ac9c29b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1604765d253a272b246c7db4736e88daa315053a7fd68785b3185f196f795740"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f8b6a7a30eb1
wire blob 920f4c7e0436
wire blob 1604765d253a
call 16 attempt 0 · /chat/completions · status 200 · 18.55 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6754, 1.6142, 0.8558, 0.1043, -0.5602, -0.3344, 0.9971, -0.0212, 0.8284, 0.6128, -0.68, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3927 left_y=-0.1897 left_z=0.1173 left_yaw=-0.0505 left_pitch=0.0285 left_roll=0.0632 left_gripper=0.9971 right_x=0.248 right_y=0.0018 right_z=0.1203 right_yaw=0.0009 right_pitch=-0.3127 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2564, 4.6017, 1.5214, -0.1197, -0.1294, -0.0122, -0.1026, -1.2376, 6.7214, 1.3993, -0.0415, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The wrist camera now shows the red block large and centered between the two fingertips at table height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01F1zgcgF8hM8gTBnk2F1VRP",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01F1zgcgF8hM8gTBnk2F1VRP"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.68, 1.8229, 0.6727, 0.3771, -0.5266, -0.3946, 0.0085, -0.0212, 0.8307, 0.6128, -0.7025, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3693 left_y=-0.1798 left_z=0.0131 left_yaw=-0.0466 left_pitch=-0.0784 left_roll=0.0655 left_gripper=0.0085 right_x=0.2437 right_y=0.0018 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3375 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.4291, 5.9009, 1.5556, -0.1636, 0.0513, 0.6422, -0.0752, -1.1692, 6.8308, 1.5214, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25e5bad42d258efe5cc0347a6e3ca73a672f638f93c77d32dd37ffaac01e0b78"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b14a32867dee2163bd0933331d104632918a959cb82d49bf565d37401b3377f5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe589e4ff938ef799b8051e549a11eb44781f323492b313a2c4537be94933a8b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 25e5bad42d25
wire blob b14a32867dee
wire blob fe589e4ff938
call 17 attempt 0 · /chat/completions · status 200 · 35.59 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.68, 1.8015, 0.6838, 0.3817, -0.5262, -0.3878, 0.9971, -0.0212, 0.8295, 0.6128, -0.688, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3744 left_y=-0.184 left_z=0.0255 left_yaw=-0.052 left_pitch=-0.0489 left_roll=0.049 left_gripper=0.9971 right_x=0.2465 right_y=0.0018 right_z=0.1188 right_yaw=0.0009 right_pitch=-0.3219 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -7.6103, 4.9709, 1.8339, -0.1343, -0.0904, -0.0122, -0.1709, -1.2376, 6.7077, 1.4676, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_x\": 0.43, \"left_y\": -0.18, \"left_z\": 0.03}, \"note\": \"The jaws closed just behind the block and nudged it forward; the wrist camera now shows it ~5 cm ahead of the fingertips. Reopening and advancing 6 cm forward at grasp height to bracket the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YCRJLRPxJmvacv8WKprLRL",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01YCRJLRPxJmvacv8WKprLRL"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5735, 1.9053, 0.8608, 0.2794, -0.4625, -0.3298, 0.9956, -0.0212, 0.8307, 0.6128, -0.7242, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4196 left_y=-0.1729 left_z=0.0218 left_yaw=-0.025 left_pitch=-0.0992 left_roll=0.0753 left_gripper=0.9956 right_x=0.2393 right_y=0.002 right_z=0.1132 right_yaw=0.0012 right_pitch=-0.3593 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.9385, 7.6513, 1.5556, -0.0708, 0.1783, -0.1245, -0.1162, -1.1282, 6.694, 1.5604, -0.0366, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ab1d0508c0fd13ffe7bb12eaec2751bf255b8c19d5c1c3725a50ab15ebf93df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b23f1c2e30d86d5a33e7fc296a1d86b127fa95ce0989572575d9c97728ae594"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26a85f823cdf066287213a35f0751bc71fe631999fd99f1554d36ec4073dc792"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8ab1d0508c0f
wire blob 3b23f1c2e30d
wire blob 26a85f823cdf
call 18 attempt 0 · /chat/completions · status 200 · 31.16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.68, 1.8229, 0.6727, 0.3771, -0.5266, -0.3946, 0.0085, -0.0212, 0.8307, 0.6128, -0.7025, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3693 left_y=-0.1798 left_z=0.0131 left_yaw=-0.0466 left_pitch=-0.0784 left_roll=0.0655 left_gripper=0.0085 right_x=0.2437 right_y=0.0018 right_z=0.1164 right_yaw=0.0009 right_pitch=-0.3375 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.4291, 5.9009, 1.5556, -0.1636, 0.0513, 0.6422, -0.0752, -1.1692, 6.8308, 1.5214, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0, \"left_x\": 0.44, \"left_y\": -0.18, \"left_z\": 0.02}, \"note\": \"The wrist camera now shows the red block sitting between the open fingertips, slightly ahead and to the arm's right. Creeping 2 cm forward while closing the jaws to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_013sjzQr3AjqjrkEfYeZoHbg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_013sjzQr3AjqjrkEfYeZoHbg"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5667, 1.9545, 0.9222, 0.242, -0.4572, -0.3302, 0.0083, -0.0212, 0.8341, 0.6128, -0.7364, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4293 left_y=-0.1765 left_z=0.015 left_yaw=-0.0207 left_pitch=-0.1227 left_roll=0.085 left_gripper=0.0083 right_x=0.2369 right_y=0.002 right_z=0.1107 right_yaw=0.0014 right_pitch=-0.3749 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.0752, 7.3641, 1.6874, -0.1685, 0.0855, 0.6178, -0.0615, -1.4291, 6.7624, 1.4042, -0.0611, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbf9481fb3a82ab1fc4dc2d3da8d89223c649662c62614173a88c5e56a09e185"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69ce90f3c9d7a6cd7837e991dedfc0096761138ec068dbea94a5e2a4b5b3b1ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6f1f62e5d25d45b515c4809759d6f91f8425f92f67bb18c6503d4be5a59a75c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob cbf9481fb3a8
wire blob 69ce90f3c9d7
wire blob b6f1f62e5d25