adhoc

completed
2026-09-03T02:40:53.343946+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
398.2 s
total steps
105
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
I'll start by moving the left arm over where I estimate the red block is (to the left arm's right and slightly forward), keeping the gripper open, then refine using the wrist camera.
agent noteTop cam shows the red block ~15 cm to the left arm's right and a bit forward, the bowl further right near the right arm. Moving the left gripper above the estimated block position at a safe height to refine with the wrist camera.
move_to
left_x0.3500left_y-0.1500left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.384, -0.0193, -0.0299, 0.9993, -0.0212, 0.7952, 0.6067, -0.3958, -0.0174, -0.0261, 0.9996] state[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1776 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.4291, 10.2085, 1.8388, -0.0464, 0.1734, -0.0904, -0.4034, -1.6615, 9.7299, 1.9121, -0.0806, 0.0855, -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
I'll start by moving the left arm over where I estimate the red block is (to the left arm's right and slightly forward), keeping the gripper open, then refine using the wrist camera.
move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.1, "left_gripper": 1.0}, "note": "Top cam shows the red block ~15 cm to the left arm's right and a bit forward, the bowl further right near the right arm. Moving the left gripper above the estimated block position at a safe height to refine with the wrist camera."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe left wrist cam shows the red block centered between the open jaws, slightly ahead. Descending toward table height with a small forward shift to bring the block between the fingertips.
move_to
left_x0.3600left_y-0.1400left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6445, 1.4136, 0.5953, 0.0517, -0.5064, -0.3981, 0.9993, -0.0212, 0.8005, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3348 left_y=-0.14 left_z=0.0793 left_yaw=-0.0226 left_pitch=-0.0811 left_roll=0.0447 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1691 right_yaw=0.0025 right_pitch=-0.0412 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.7641, 8.6496, 1.7851, -0.4029, 0.0171, -0.0904, -0.1436, -1.6752, 6.9128, 2.0147, -0.0464, -0.0708, -0.0073] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.14, "left_z": 0.03, "left_gripper": 1.0}, "note": "The left wrist cam shows the red block centered between the open jaws, slightly ahead. Descending toward table height with a small forward shift to bring the block between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe block is centered in the wrist view but still a bit ahead of the fingertips; the arm only partially reached the last target. Continuing down and forward so the block sits between the jaws.
move_to
left_x0.3650left_y-0.1350left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6147, 1.5391, 0.5697, 0.1589, -0.4915, -0.3908, 0.9993, -0.0208, 0.8024, 0.6075, -0.4515, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3405 left_y=-0.1339 left_z=0.0443 left_yaw=-0.0055 left_pitch=-0.1233 left_roll=0.0672 left_gripper=0.9993 right_x=0.2856 right_y=0.0011 right_z=0.1648 right_yaw=0.0029 right_pitch=-0.0621 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.212, -6.1333, 5.9419, 1.873, -0.1832, 0.105, -0.0904, -0.1026, -1.1009, 6.9812, 1.8877, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.135, "left_z": 0.015, "left_gripper": 1.0}, "note": "The block is centered in the wrist view but still a bit ahead of the fingertips; the arm only partially reached the last target. Continuing down and forward so the block sits between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm didn't move on the last command (z stuck at 0.045 with flat effort), so the IK seems to be holding. Commanding a larger step down and forward with pitch explicitly level to get the jaws around the block.
move_to
left_x0.3800left_y-0.1350left_z0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6144, 1.5391, 0.5697, 0.1658, -0.4908, -0.3904, 0.9993, -0.0212, 0.8024, 0.6075, -0.4557, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3414 left_y=-0.1346 left_z=0.0454 left_yaw=-0.0064 left_pitch=-0.118 left_roll=0.0631 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.164 right_yaw=0.0028 right_pitch=-0.0663 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.1436, -6.4479, 5.8462, 1.8632, -0.1783, 0.1294, -0.0904, -0.1709, -1.2103, 6.9812, 1.7118, -0.0806, -0.0757, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.135, "left_z": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm didn't move on the last command (z stuck at 0.045 with flat effort), so the IK seems to be holding. Commanding a larger step down and forward with pitch explicitly level to get the jaws around the block."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe left arm is not tracking downward targets at all (joints frozen, effort flat) — likely an IK/joint-limit stall in this posture. Lifting back up to a reachable height above the block to reset and re-approach from above.
move_to
left_x0.3700left_y-0.1350left_z0.1200left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6144, 1.5391, 0.5694, 0.1791, -0.4904, -0.3901, 0.9993, -0.0212, 0.8062, 0.6075, -0.4816, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3431 left_y=-0.1358 left_z=0.0473 left_yaw=-0.0078 left_pitch=-0.1075 left_roll=0.0558 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0961 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.0615, -6.4205, 5.8598, 1.6825, -0.1636, 0.1392, -0.0855, -0.212, -1.388, 6.9675, 1.917, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.135, "left_z": 0.12, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm is not tracking downward targets at all (joints frozen, effort flat) \u2014 likely an IK/joint-limit stall in this posture. Lifting back up to a reachable height above the block to reset and re-approach from above."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteWrist cam now shows the block between the jaws, slightly right of center and close to the fingertips. Descending straight down toward the block top to position for a grasp.
move_to
left_x0.3650left_y-0.1300left_z0.0500left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5617, 1.4452, 0.6563, 0.0761, -0.4755, -0.3691, 0.9993, -0.0212, 0.8097, 0.6075, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3616 left_y=-0.1278 left_z=0.094 left_yaw=0.0185 left_pitch=-0.0491 left_roll=0.0204 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1182 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.5265, -6.3658, 7.6239, 1.4823, -0.0855, 0.1978, -0.0855, -0.0889, -1.5385, 6.9265, 1.7949, -0.022, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.13, "left_z": 0.05, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Wrist cam now shows the block between the jaws, slightly right of center and close to the fingertips. Descending straight down toward the block top to position for a grasp."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteBlock is centered between the jaw tips in the wrist view, just slightly ahead. Descending a bit further with a small forward nudge so the fingers surround the block before closing.
move_to
left_x0.3700left_y-0.1250left_z0.0200left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5636, 1.5898, 0.5549, 0.2821, -0.4755, -0.3603, 0.9993, -0.0212, 0.8127, 0.6064, -0.5121, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3558 left_y=-0.125 left_z=0.0408 left_yaw=0.0133 left_pitch=-0.0829 left_roll=0.0494 left_gripper=0.9993 right_x=0.2765 right_y=0.0012 right_z=0.15 right_yaw=0.0027 right_pitch=-0.1342 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [-0.3897, -8.6769, 6.2291, 2.3077, -0.2515, -0.0708, -0.0855, -0.0752, -0.8957, 7.0085, 1.7949, -0.0611, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.125, "left_z": 0.02, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Block is centered between the jaw tips in the wrist view, just slightly ahead. Descending a bit further with a small forward nudge so the fingers surround the block before closing."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteWrist cam shows the block clearly, centered but still a few cm ahead of the fingertips, and the arm is lagging its targets. Pushing further forward and down so the jaws straddle the block.
move_to
left_x0.3900left_y-0.1220left_z0.0150left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5602, 1.6318, 0.5152, 0.3813, -0.4751, -0.3672, 0.9993, -0.0212, 0.8127, 0.606, -0.5278, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.355 left_y=-0.123 left_z=0.0294 left_yaw=0.0195 left_pitch=-0.0681 left_roll=0.0341 left_gripper=0.9993 right_x=0.2739 right_y=0.0013 right_z=0.1469 right_yaw=0.0027 right_pitch=-0.1502 right_roll=0.0047 right_gripper=0.9996 state[joint_eff]: [0.3077, -5.4632, 6.2701, 1.5849, -0.1587, 0.0659, -0.0855, -0.1162, -0.9641, 6.9538, 1.746, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.122, "left_z": 0.015, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Wrist cam shows the block clearly, centered but still a few cm ahead of the fingertips, and the arm is lagging its targets. Pushing further forward and down so the jaws straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe arm is frozen again — the IK refuses forward/down targets with level pitch in this posture. Trying a small forward pitch to tip the fingertips ahead toward the block, which sits a few cm in front of the jaws.
move_to
left_x0.3700left_y-0.1220left_z0.0200left_pitch0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5602, 1.6329, 0.5152, 0.3813, -0.4755, -0.3676, 0.9993, -0.0212, 0.8127, 0.606, -0.5503, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3549 left_y=-0.1229 left_z=0.0291 left_yaw=0.02 left_pitch=-0.0689 left_roll=0.0346 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1429 right_yaw=0.0028 right_pitch=-0.1727 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [0.4308, -5.7504, 6.4205, 1.5897, -0.1294, 0.0952, -0.0904, -0.1026, -1.2103, 7.1043, 1.8193, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.122, "left_z": 0.02, "left_pitch": 0.15, "left_gripper": 1.0}, "note": "The arm is frozen again \u2014 the IK refuses forward/down targets with level pitch in this posture. Trying a small forward pitch to tip the fingertips ahead toward the block, which sits a few cm in front of the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe gripper is now at table height and the wrist cam shows the red block large and centered between the two jaws. Closing the gripper to grasp the block.
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]: [-0.5701, 1.8297, 0.4381, 0.7174, -0.5377, -0.3233, 0.9987, -0.0212, 0.8158, 0.6056, -0.5785, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3569 left_y=-0.1171 left_z=-0.0015 left_yaw=0.0335 left_pitch=0.0037 left_roll=0.0699 left_gripper=0.9987 right_x=0.2652 right_y=0.0014 right_z=0.137 right_yaw=0.0029 right_pitch=-0.2044 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.0068, -4.3829, 1.9761, 0.4469, -0.1001, 0.1832, -0.149, -0.0752, -1.0872, 6.8718, 1.8681, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is now at table height and the wrist cam shows the red block large and centered between the two jaws. Closing the gripper to grasp the block."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper closed on nothing — the wrist cam shows the block still about 5 cm ahead of the closed fingertips. Reopening, lifting slightly, and shifting forward 5 cm to re-center over the block.
move_to
left_x0.4050left_y-0.1150left_z0.0300left_pitch0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5743, 1.8435, 0.4274, 0.7452, -0.5468, -0.3294, 0.0108, -0.0212, 0.8173, 0.6056, -0.6121, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3552 left_y=-0.1162 left_z=-0.0038 left_yaw=0.0397 left_pitch=0.0101 left_roll=0.0674 left_gripper=0.0108 right_x=0.2593 right_y=0.0016 right_z=0.1308 right_yaw=0.0031 right_pitch=-0.2395 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [0.2256, -7.8701, 4.5197, 1.2967, -0.0904, 0.0415, 0.906, -0.0479, -1.2513, 6.8171, 1.8339, -0.0415, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.115, "left_z": 0.03, "left_pitch": 0.15, "left_gripper": 1.0}, "note": "The gripper closed on nothing \u2014 the wrist cam shows the block still about 5 cm ahead of the closed fingertips. Reopening, lifting slightly, and shifting forward 5 cm to re-center over the block."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWrist cam now shows the block at the fingertip depth but shifted to the image right, near the right jaw; image-right corresponds to more negative y. Shifting 2 cm right and descending to table height so the block sits between the jaws.
move_to
left_x0.3950left_y-0.1300left_z-0.0050left_pitch0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.503, 1.8862, 0.5095, 0.8207, -0.5362, -0.2314, 0.995, -0.0212, 0.8185, 0.6056, -0.635, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3928 left_y=-0.109 left_z=0.0172 left_yaw=0.053 left_pitch=0.0981 left_roll=0.0841 left_gripper=0.995 right_x=0.2551 right_y=0.0017 right_z=0.1268 right_yaw=0.0033 right_pitch=-0.2635 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [0.3897, -6.1744, 5.9419, 2.0879, -0.0562, 0.1538, -0.0171, -0.0889, -1.0735, 6.8444, 1.663, -0.0366, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.13, "left_z": -0.005, "left_pitch": 0.12, "left_gripper": 1.0}, "note": "Wrist cam now shows the block at the fingertip depth but shifted to the image right, near the right jaw; image-right corresponds to more negative y. Shifting 2 cm right and descending to table height so the block sits between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteTop cam shows the block just to the right (more negative y) of the gripper, and the wrist cam agrees: block near the right jaw, slightly ahead. Shifting another 2.5 cm in -y and down to table level to bracket the block.
move_to
left_x0.4000left_y-0.1470left_z-0.0120left_pitch0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5381, 1.9774, 0.5381, 0.8936, -0.5686, -0.2375, 0.9985, -0.0212, 0.8173, 0.6056, -0.6395, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3969 left_y=-0.1219 left_z=0.006 left_yaw=0.0479 left_pitch=0.1163 left_roll=0.0874 left_gripper=0.9985 right_x=0.2542 right_y=0.0017 right_z=0.1263 right_yaw=0.0033 right_pitch=-0.2669 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [-0.4581, -7.9658, 3.4667, 1.7411, -0.3101, -0.105, -0.1685, -0.0205, -1.0051, 7.0085, 1.536, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.147, "left_z": -0.012, "left_pitch": 0.12, "left_gripper": 1.0}, "note": "Top cam shows the block just to the right (more negative y) of the gripper, and the wrist cam agrees: block near the right jaw, slightly ahead. Shifting another 2.5 cm in -y and down to table level to bracket the block."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteTop cam shows the gripper now directly over the block and the wrist cam shows it centered between the jaws at table height. Closing the gripper to 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]: [-0.5678, 2.0254, 0.5507, 0.9398, -0.5926, -0.2665, 0.9985, -0.0212, 0.8223, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.397 left_y=-0.132 left_z=0.0008 left_yaw=0.054 left_pitch=0.1334 left_roll=0.0652 left_gripper=0.9985 right_x=0.2509 right_y=0.0017 right_z=0.1223 right_yaw=0.0035 right_pitch=-0.2898 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [0.4444, -8.841, 4.0684, 1.2967, -0.1832, 0.0757, -0.1685, -0.0889, -1.3333, 6.9812, 1.6044, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Top cam shows the gripper now directly over the block and the wrist cam shows it centered between the jaws at table height. Closing the gripper to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteGripper closed fully on empty air again — the wrist cam is set back from the fingertips, so the block is actually ~5 cm ahead of the jaws. Reopening and moving 5 cm further forward to straddle the block.
move_to
left_x0.4450left_y-0.1330left_z0.0000left_pitch0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5682, 2.0254, 0.5507, 0.9237, -0.5926, -0.2661, 0.0102, -0.0212, 0.823, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3954 left_y=-0.1311 left_z=-0.0022 left_yaw=0.0523 left_pitch=0.1203 left_roll=0.0749 left_gripper=0.0102 right_x=0.2474 right_y=0.0018 right_z=0.1192 right_yaw=0.0036 right_pitch=-0.3093 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [-0.335, -8.0615, 3.3436, 1.7753, -0.2027, -0.0366, 0.8523, -0.0479, -1.0598, 6.7624, 1.5507, -0.0317, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.133, "left_z": 0.0, "left_pitch": 0.12, "left_gripper": 1.0}, "note": "Gripper closed fully on empty air again \u2014 the wrist cam is set back from the fingertips, so the block is actually ~5 cm ahead of the jaws. Reopening and moving 5 cm further forward to straddle the block."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteBoth cameras now show the block at the correct depth but sitting against the right jaw (the -y side). Shifting the gripper ~3 cm in -y so the block sits between the jaws.
move_to
left_x0.4400left_y-0.1580left_z-0.0050left_pitch0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4953, 2.0861, 0.7132, 0.8505, -0.5507, -0.2398, 0.9949, -0.0212, 0.823, 0.6056, -0.688, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4402 left_y=-0.1287 left_z=0.0034 left_yaw=0.079 left_pitch=0.1308 left_roll=0.0648 left_gripper=0.9949 right_x=0.2451 right_y=0.0019 right_z=0.1174 right_yaw=0.0037 right_pitch=-0.3211 right_roll=0.009 right_gripper=0.9996 state[joint_eff]: [0.5949, -7.7333, 5.4085, 1.5604, 0.0611, 0.1832, -0.0708, -0.0889, -1.1419, 6.8718, 1.4823, -0.0366, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.158, "left_z": -0.005, "left_pitch": 0.12, "left_gripper": 1.0}, "note": "Both cameras now show the block at the correct depth but sitting against the right jaw (the -y side). Shifting the gripper ~3 cm in -y so the block sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
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 noteWrist cam shows the block now between the two jaws at fingertip depth, slightly toward the right jaw. 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]: [-0.5571, 2.1159, 0.7616, 0.8246, -0.5987, -0.2821, 0.9985, -0.0212, 0.823, 0.6056, -0.7025, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.4405 left_y=-0.1529 left_z=0.0024 left_yaw=0.0786 left_pitch=0.1401 left_roll=0.0502 left_gripper=0.9985 right_x=0.2422 right_y=0.0019 right_z=0.1152 right_yaw=0.0035 right_pitch=-0.3356 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [-0.1436, -7.9658, 5.3949, 1.4237, -0.1734, 0.0708, -0.1734, -0.1162, -1.0872, 6.6803, 1.5067, -0.0464, -0.0171, -0.0122] 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_gripper": 0.0}, "note": "Wrist cam shows the block now between the two jaws at fingertip depth, slightly toward the right jaw. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteBudget nearly exhausted after three failed grasp attempts; the left arm repeatedly closed on air because the block kept sitting just outside the jaws (forward and toward -y), and the IK stalled on several low/forward targets.
give_up
hindsightRig facts: top_cam looks down with the left arm entering from image-left and the bowl on the right; for the left arm, image-right in top_cam is -y and image-up is +x. Red block was at roughly left_x≈0.45–0.47, left_y≈-0.17 in the left arm's base frame; table surface is around left_z≈-0.01 to 0.0 (z bound is -0.02). The left wrist camera is mounted behind/above the fingertips: an object that looks "between the jaws, slightly ahead" in left_cam is actually ~5 cm ahead of the grasp point — aim so the block appears at the very bottom of the wrist image touching the jaw tips before closing. The IK layer often freezes entirely (no joint motion, flat effort) for targets around x≈0.36–0.40, z<0.04 with pitch 0; adding ~0.12–0.15 rad forward pitch unstuck it and let the gripper reach table height. Gripper close/open takes 10 clamped steps (~1 s). Plan grasp corrections in larger single steps (3–5 cm) to save the 20-call budget; the reach-low approach takes many calls otherwise.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5598, 2.1246, 0.7654, 0.8211, -0.6067, -0.292, 0.0107, -0.0212, 0.8249, 0.6056, -0.7238, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.44 left_y=-0.1527 left_z=-0.0005 left_yaw=0.0871 left_pitch=0.1361 left_roll=0.0495 left_gripper=0.0107 right_x=0.238 right_y=0.002 right_z=0.1116 right_yaw=0.004 right_pitch=-0.3588 right_roll=0.01 right_gripper=0.9996 state[joint_eff]: [0.1299, -10.0581, 3.6308, 1.6825, -0.0708, 0.0952, 0.8669, -0.0615, -1.1145, 6.694, 1.5409, -0.0708, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Budget nearly exhausted after three failed grasp attempts; the left arm repeatedly closed on air because the block kept sitting just outside the jaws (forward and toward -y), and the IK stalled on several low/forward targets.", "hindsight": "Rig facts: top_cam looks down with the left arm entering from image-left and the bowl on the right; for the left arm, image-right in top_cam is -y and image-up is +x. Red block was at roughly left_x\u22480.45\u20130.47, left_y\u2248-0.17 in the left arm's base frame; table surface is around left_z\u2248-0.01 to 0.0 (z bound is -0.02). The left wrist camera is mounted behind/above the fingertips: an object that looks \"between the jaws, slightly ahead\" in left_cam is actually ~5 cm ahead of the grasp point \u2014 aim so the block appears at the very bottom of the wrist image touching the jaw tips before closing. The IK layer often freezes entirely (no joint motion, flat effort) for targets around x\u22480.36\u20130.40, z<0.04 with pitch 0; adding ~0.12\u20130.15 rad forward pitch unstuck it and let the gripper reach table height. Gripper close/open takes 10 clamped steps (~1 s). Plan grasp corrections in larger single steps (3\u20135 cm) to save the 20-call budget; the reach-low approach takes many calls otherwise."})
tool
give_up: Budget nearly exhausted after three failed grasp attempts; the left arm repeatedly closed on air because the block kept sitting just outside the jaws (forward and toward -y), and the IK stalled on several low/forward targets.
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 · 51.48 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, -0.0299, 0.9993, -0.0212, 0.7952, 0.6067, -0.3958, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1776 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.4291, 10.2085, 1.8388, -0.0464, 0.1734, -0.0904, -0.4034, -1.6615, 9.7299, 1.9121, -0.0806, 0.0855, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b53fa79e216d5b22f0779f21b666fe9327b86be4f450fe9fbbf54b5370e4706e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e292a19529cb4e4c622f4600acb0b1882a452d9c2fb8cff29e1bba7bf21d512"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:86c578844471ae52d4f030040bcf77d0ef57b6a2fea4453383e6df77690974be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b53fa79e216d
wire blob 4e292a19529c
wire blob 86c578844471
call 1 attempt 0 · /chat/completions · status 200 · 9.457 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the left arm over where I estimate the red block is (to the left arm's right and slightly forward), keeping the gripper open, then refine using the wrist camera.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.15, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"Top cam shows the red block ~15 cm to the left arm's right and a bit forward, the bowl further right near the right arm. Moving the left gripper above the estimated block position at a safe height to refine with the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PkGC3v7qvxhZJo9Aq3RMqv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01PkGC3v7qvxhZJo9Aq3RMqv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6445, 1.4136, 0.5953, 0.0517, -0.5064, -0.3981, 0.9993, -0.0212, 0.8005, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3348 left_y=-0.14 left_z=0.0793 left_yaw=-0.0226 left_pitch=-0.0811 left_roll=0.0447 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1691 right_yaw=0.0025 right_pitch=-0.0412 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.7641, 8.6496, 1.7851, -0.4029, 0.0171, -0.0904, -0.1436, -1.6752, 6.9128, 2.0147, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e1158775b519f47c7bcb475b4a7a5421ceed679f40a99d74697b0bdc1672423"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85c4dc2d8dda17bc77d864c552cf827c5594f4a36747b38636821bb1db52b826"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:149537cf16f68e69117258f18a9a2c171b122fadf3067b789b1b6c933c2d5b67"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8e1158775b51
wire blob 85c4dc2d8dda
wire blob 149537cf16f6
call 2 attempt 0 · /chat/completions · status 200 · 7.059 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, -0.0299, 0.9993, -0.0212, 0.7952, 0.6067, -0.3958, -0.0174, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1776 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.4291, 10.2085, 1.8388, -0.0464, 0.1734, -0.0904, -0.4034, -1.6615, 9.7299, 1.9121, -0.0806, 0.0855, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.14, \"left_z\": 0.03, \"left_gripper\": 1.0}, \"note\": \"The left wrist cam shows the red block centered between the open jaws, slightly ahead. Descending toward table height with a small forward shift to bring the block between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01R4sMvnforfQKTvXBiBsnGq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01R4sMvnforfQKTvXBiBsnGq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6147, 1.5391, 0.5697, 0.1589, -0.4915, -0.3908, 0.9993, -0.0208, 0.8024, 0.6075, -0.4515, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3405 left_y=-0.1339 left_z=0.0443 left_yaw=-0.0055 left_pitch=-0.1233 left_roll=0.0672 left_gripper=0.9993 right_x=0.2856 right_y=0.0011 right_z=0.1648 right_yaw=0.0029 right_pitch=-0.0621 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.1333, 5.9419, 1.873, -0.1832, 0.105, -0.0904, -0.1026, -1.1009, 6.9812, 1.8877, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:121455b4c8924c3b81767ba4ec044947f70a43dfbb36f24e6e4b963825271397"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef397c5cfe426aa515078da3797eb797cbbfacb8d441b7986a75ccdceae9da8b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8ed9689b83308a033a635f458c98164dc286f511e7c795cd0867e65001a7a99"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 121455b4c892
wire blob ef397c5cfe42
wire blob f8ed9689b833
call 3 attempt 0 · /chat/completions · status 200 · 8.362 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]: [-0.6445, 1.4136, 0.5953, 0.0517, -0.5064, -0.3981, 0.9993, -0.0212, 0.8005, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3348 left_y=-0.14 left_z=0.0793 left_yaw=-0.0226 left_pitch=-0.0811 left_roll=0.0447 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1691 right_yaw=0.0025 right_pitch=-0.0412 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.7641, 8.6496, 1.7851, -0.4029, 0.0171, -0.0904, -0.1436, -1.6752, 6.9128, 2.0147, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.365, \"left_y\": -0.135, \"left_z\": 0.015, \"left_gripper\": 1.0}, \"note\": \"The block is centered in the wrist view but still a bit ahead of the fingertips; the arm only partially reached the last target. Continuing down and forward so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YXifzPVkZSxoe2HeyxKunW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01YXifzPVkZSxoe2HeyxKunW"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6144, 1.5391, 0.5697, 0.1658, -0.4908, -0.3904, 0.9993, -0.0212, 0.8024, 0.6075, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3414 left_y=-0.1346 left_z=0.0454 left_yaw=-0.0064 left_pitch=-0.118 left_roll=0.0631 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.164 right_yaw=0.0028 right_pitch=-0.0663 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.4479, 5.8462, 1.8632, -0.1783, 0.1294, -0.0904, -0.1709, -1.2103, 6.9812, 1.7118, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1d693f9054daeabb55eb993463471f7de1ce6a2c9cd6507aec138bbfc39424f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb60711b9c57db90ecf890f8c2c278f88b48365cd3874978264a4d554ec127a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c583e37ba62f4c00be26fec8b4b451886a54bd835b6ba81980ae41d848d370a0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f1d693f9054d
wire blob eb60711b9c57
wire blob c583e37ba62f
call 4 attempt 0 · /chat/completions · status 200 · 7.084 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]: [-0.6147, 1.5391, 0.5697, 0.1589, -0.4915, -0.3908, 0.9993, -0.0208, 0.8024, 0.6075, -0.4515, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3405 left_y=-0.1339 left_z=0.0443 left_yaw=-0.0055 left_pitch=-0.1233 left_roll=0.0672 left_gripper=0.9993 right_x=0.2856 right_y=0.0011 right_z=0.1648 right_yaw=0.0029 right_pitch=-0.0621 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.1333, 5.9419, 1.873, -0.1832, 0.105, -0.0904, -0.1026, -1.1009, 6.9812, 1.8877, -0.0171, -0.0317, -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\": 0.38, \"left_y\": -0.135, \"left_z\": 0.0, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm didn't move on the last command (z stuck at 0.045 with flat effort), so the IK seems to be holding. Commanding a larger step down and forward with pitch explicitly level to get the jaws around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QceonqsMuEhVppHswErEZS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01QceonqsMuEhVppHswErEZS"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6144, 1.5391, 0.5694, 0.1791, -0.4904, -0.3901, 0.9993, -0.0212, 0.8062, 0.6075, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3431 left_y=-0.1358 left_z=0.0473 left_yaw=-0.0078 left_pitch=-0.1075 left_roll=0.0558 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0961 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.4205, 5.8598, 1.6825, -0.1636, 0.1392, -0.0855, -0.212, -1.388, 6.9675, 1.917, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2af7f686cba64acc9996e0835407ddde0d801220b76f19c7d1440a713c884c7b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac44748d6cebdaa068fd6a56c00da0d5fff622b407507731db7de357139bb88c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4887a5d94eaf860edf82962b573e5ca091a519a4ae165104f8a98eafb0eedd6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2af7f686cba6
wire blob ac44748d6ceb
wire blob f4887a5d94ea
call 5 attempt 0 · /chat/completions · status 200 · 8.758 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]: [-0.6144, 1.5391, 0.5697, 0.1658, -0.4908, -0.3904, 0.9993, -0.0212, 0.8024, 0.6075, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3414 left_y=-0.1346 left_z=0.0454 left_yaw=-0.0064 left_pitch=-0.118 left_roll=0.0631 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.164 right_yaw=0.0028 right_pitch=-0.0663 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.4479, 5.8462, 1.8632, -0.1783, 0.1294, -0.0904, -0.1709, -1.2103, 6.9812, 1.7118, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.135, \"left_z\": 0.12, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm is not tracking downward targets at all (joints frozen, effort flat) \\u2014 likely an IK/joint-limit stall in this posture. Lifting back up to a reachable height above the block to reset and re-approach from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JSLfFVm971UbRqb1GBFuKK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JSLfFVm971UbRqb1GBFuKK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5617, 1.4452, 0.6563, 0.0761, -0.4755, -0.3691, 0.9993, -0.0212, 0.8097, 0.6075, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1278 left_z=0.094 left_yaw=0.0185 left_pitch=-0.0491 left_roll=0.0204 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1182 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -6.3658, 7.6239, 1.4823, -0.0855, 0.1978, -0.0855, -0.0889, -1.5385, 6.9265, 1.7949, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32198065462f0de8c00cc2b8cbcaa0f441587d09ae46f4d95e1c0dc14dee0dc2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c1cc0b777e97c5c8e2690b7a70086ae8a1c6229f78a1db647bdd3ff095359b7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48394cab0331f1e6baf2e63e56050af3965c13d984c55b1881c6935818382cbf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 32198065462f
wire blob 5c1cc0b777e9
wire blob 48394cab0331
call 6 attempt 0 · /chat/completions · status 200 · 8.381 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]: [-0.6144, 1.5391, 0.5694, 0.1791, -0.4904, -0.3901, 0.9993, -0.0212, 0.8062, 0.6075, -0.4816, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3431 left_y=-0.1358 left_z=0.0473 left_yaw=-0.0078 left_pitch=-0.1075 left_roll=0.0558 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0961 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -6.4205, 5.8598, 1.6825, -0.1636, 0.1392, -0.0855, -0.212, -1.388, 6.9675, 1.917, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.365, \"left_y\": -0.13, \"left_z\": 0.05, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Wrist cam now shows the block between the jaws, slightly right of center and close to the fingertips. Descending straight down toward the block top to position for a grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WsPGyYT4hDWHCAFvMfpmva",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01WsPGyYT4hDWHCAFvMfpmva"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5636, 1.5898, 0.5549, 0.2821, -0.4755, -0.3603, 0.9993, -0.0212, 0.8127, 0.6064, -0.5121, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3558 left_y=-0.125 left_z=0.0408 left_yaw=0.0133 left_pitch=-0.0829 left_roll=0.0494 left_gripper=0.9993 right_x=0.2765 right_y=0.0012 right_z=0.15 right_yaw=0.0027 right_pitch=-0.1342 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.6769, 6.2291, 2.3077, -0.2515, -0.0708, -0.0855, -0.0752, -0.8957, 7.0085, 1.7949, -0.0611, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3c35a1af7faf92567121e960a26891fa176324191f3339dfcd6aa1585b9c40ec"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:358b0550b22e1d67302be7c4845c445ffbec0a934e6e5f2643969ea4507c19b0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7153ca2df51d7d9a7cda400725f586701a1e3f36ded7d4ab4c145f7339105df"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3c35a1af7faf
wire blob 358b0550b22e
wire blob e7153ca2df51
call 7 attempt 0 · /chat/completions · status 200 · 10.21 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]: [-0.5617, 1.4452, 0.6563, 0.0761, -0.4755, -0.3691, 0.9993, -0.0212, 0.8097, 0.6075, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3616 left_y=-0.1278 left_z=0.094 left_yaw=0.0185 left_pitch=-0.0491 left_roll=0.0204 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1182 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -6.3658, 7.6239, 1.4823, -0.0855, 0.1978, -0.0855, -0.0889, -1.5385, 6.9265, 1.7949, -0.022, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.125, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Block is centered between the jaw tips in the wrist view, just slightly ahead. Descending a bit further with a small forward nudge so the fingers surround the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_015wECjgfmuR8hVhB6QwnUg3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015wECjgfmuR8hVhB6QwnUg3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5602, 1.6318, 0.5152, 0.3813, -0.4751, -0.3672, 0.9993, -0.0212, 0.8127, 0.606, -0.5278, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.355 left_y=-0.123 left_z=0.0294 left_yaw=0.0195 left_pitch=-0.0681 left_roll=0.0341 left_gripper=0.9993 right_x=0.2739 right_y=0.0013 right_z=0.1469 right_yaw=0.0027 right_pitch=-0.1502 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -5.4632, 6.2701, 1.5849, -0.1587, 0.0659, -0.0855, -0.1162, -0.9641, 6.9538, 1.746, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52ebd0b3399c749cd4aa8d921ca750fe42fe9d1cfefc465e60d1376ea87a91c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba0558cbe5ba054a3a5616517cfa27d709aa814d3a34f90e500983467fa18c89"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab8e9bd1c5fe64bc9d8d59e9aae558c8ff2bda4a893cab08b0bd858d399cf1b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 52ebd0b3399c
wire blob ba0558cbe5ba
wire blob ab8e9bd1c5fe
call 8 attempt 0 · /chat/completions · status 200 · 16.31 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]: [-0.5636, 1.5898, 0.5549, 0.2821, -0.4755, -0.3603, 0.9993, -0.0212, 0.8127, 0.6064, -0.5121, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3558 left_y=-0.125 left_z=0.0408 left_yaw=0.0133 left_pitch=-0.0829 left_roll=0.0494 left_gripper=0.9993 right_x=0.2765 right_y=0.0012 right_z=0.15 right_yaw=0.0027 right_pitch=-0.1342 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.6769, 6.2291, 2.3077, -0.2515, -0.0708, -0.0855, -0.0752, -0.8957, 7.0085, 1.7949, -0.0611, -0.0562, -0.0073]\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\": 0.39, \"left_y\": -0.122, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Wrist cam shows the block clearly, centered but still a few cm ahead of the fingertips, and the arm is lagging its targets. Pushing further forward and down so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WJbr8HHDjaynHdZghZB4fi",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01WJbr8HHDjaynHdZghZB4fi"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5602, 1.6329, 0.5152, 0.3813, -0.4755, -0.3676, 0.9993, -0.0212, 0.8127, 0.606, -0.5503, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.1229 left_z=0.0291 left_yaw=0.02 left_pitch=-0.0689 left_roll=0.0346 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1429 right_yaw=0.0028 right_pitch=-0.1727 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -5.7504, 6.4205, 1.5897, -0.1294, 0.0952, -0.0904, -0.1026, -1.2103, 7.1043, 1.8193, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e422105a5c0c66249d02ee0c25c3a99b2dc37ac0f4747547d9e32622a3481ff7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a226af76112c2b47adcb2f0ccda0520224da7714e899ac1702fa7f7e436d888e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6a5f2aa13acc51a686b0455c12aa10654b0287750de02d0cdf57d2938e03759"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e422105a5c0c
wire blob a226af76112c
wire blob e6a5f2aa13ac
call 9 attempt 0 · /chat/completions · status 200 · 6.31 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]: [-0.5602, 1.6318, 0.5152, 0.3813, -0.4751, -0.3672, 0.9993, -0.0212, 0.8127, 0.606, -0.5278, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.355 left_y=-0.123 left_z=0.0294 left_yaw=0.0195 left_pitch=-0.0681 left_roll=0.0341 left_gripper=0.9993 right_x=0.2739 right_y=0.0013 right_z=0.1469 right_yaw=0.0027 right_pitch=-0.1502 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -5.4632, 6.2701, 1.5849, -0.1587, 0.0659, -0.0855, -0.1162, -0.9641, 6.9538, 1.746, -0.0415, -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\": 0.37, \"left_y\": -0.122, \"left_z\": 0.02, \"left_pitch\": 0.15, \"left_gripper\": 1.0}, \"note\": \"The arm is frozen again \\u2014 the IK refuses forward/down targets with level pitch in this posture. Trying a small forward pitch to tip the fingertips ahead toward the block, which sits a few cm in front of the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CkYc58Jpw9ZW4SWDUh3cKA",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01CkYc58Jpw9ZW4SWDUh3cKA"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5701, 1.8297, 0.4381, 0.7174, -0.5377, -0.3233, 0.9987, -0.0212, 0.8158, 0.6056, -0.5785, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1171 left_z=-0.0015 left_yaw=0.0335 left_pitch=0.0037 left_roll=0.0699 left_gripper=0.9987 right_x=0.2652 right_y=0.0014 right_z=0.137 right_yaw=0.0029 right_pitch=-0.2044 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -4.3829, 1.9761, 0.4469, -0.1001, 0.1832, -0.149, -0.0752, -1.0872, 6.8718, 1.8681, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95b5b19ddf5a805199f52d047479e91ccc94485b07101cf42e3be5bfc7cf70ec"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:241f239f52a2f7fb24ebe2e3c17a33c3c6def5d01c4626c5bfd9c5abe127cb8b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bcbf122a26b5531e2a5ab490cd0724933ec1f5227a763eb091dde296c2ed244c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 95b5b19ddf5a
wire blob 241f239f52a2
wire blob bcbf122a26b5
call 10 attempt 0 · /chat/completions · status 200 · 15.23 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]: [-0.5602, 1.6329, 0.5152, 0.3813, -0.4755, -0.3676, 0.9993, -0.0212, 0.8127, 0.606, -0.5503, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.1229 left_z=0.0291 left_yaw=0.02 left_pitch=-0.0689 left_roll=0.0346 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1429 right_yaw=0.0028 right_pitch=-0.1727 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -5.7504, 6.4205, 1.5897, -0.1294, 0.0952, -0.0904, -0.1026, -1.2103, 7.1043, 1.8193, -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_gripper\": 0.0}, \"note\": \"The gripper is now at table height and the wrist cam shows the red block large and centered between the two jaws. Closing the gripper to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_014Hq4nCnhQXixyrgSCcTwng",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014Hq4nCnhQXixyrgSCcTwng"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5743, 1.8435, 0.4274, 0.7452, -0.5468, -0.3294, 0.0108, -0.0212, 0.8173, 0.6056, -0.6121, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3552 left_y=-0.1162 left_z=-0.0038 left_yaw=0.0397 left_pitch=0.0101 left_roll=0.0674 left_gripper=0.0108 right_x=0.2593 right_y=0.0016 right_z=0.1308 right_yaw=0.0031 right_pitch=-0.2395 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.8701, 4.5197, 1.2967, -0.0904, 0.0415, 0.906, -0.0479, -1.2513, 6.8171, 1.8339, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0c8f5b0c709f4f36e624676f01b27e32487b3c5d77da9280c8243332b65b72c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c5d19b3864fce9154b99e63b50108c1e9ce687ea656e055b6a3d31c07709db5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:06e16c2f6479fdd023b447038eacdbdba5e020cebb056cad575ac5fbe6176067"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c0c8f5b0c709
wire blob 9c5d19b3864f
wire blob 06e16c2f6479
call 11 attempt 0 · /chat/completions · status 200 · 8.592 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]: [-0.5701, 1.8297, 0.4381, 0.7174, -0.5377, -0.3233, 0.9987, -0.0212, 0.8158, 0.6056, -0.5785, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1171 left_z=-0.0015 left_yaw=0.0335 left_pitch=0.0037 left_roll=0.0699 left_gripper=0.9987 right_x=0.2652 right_y=0.0014 right_z=0.137 right_yaw=0.0029 right_pitch=-0.2044 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -4.3829, 1.9761, 0.4469, -0.1001, 0.1832, -0.149, -0.0752, -1.0872, 6.8718, 1.8681, -0.0415, -0.0317, -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\": 0.405, \"left_y\": -0.115, \"left_z\": 0.03, \"left_pitch\": 0.15, \"left_gripper\": 1.0}, \"note\": \"The gripper closed on nothing \\u2014 the wrist cam shows the block still about 5 cm ahead of the closed fingertips. Reopening, lifting slightly, and shifting forward 5 cm to re-center over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_013x6GGWp5EdNxdbPEnsarku",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_013x6GGWp5EdNxdbPEnsarku"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.503, 1.8862, 0.5095, 0.8207, -0.5362, -0.2314, 0.995, -0.0212, 0.8185, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.109 left_z=0.0172 left_yaw=0.053 left_pitch=0.0981 left_roll=0.0841 left_gripper=0.995 right_x=0.2551 right_y=0.0017 right_z=0.1268 right_yaw=0.0033 right_pitch=-0.2635 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.1744, 5.9419, 2.0879, -0.0562, 0.1538, -0.0171, -0.0889, -1.0735, 6.8444, 1.663, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0f2e69bffc3f419affece495cc6bee96e5bac019e82464024f75ce6aacae72e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b71393e94c80293c657800974b6a6f9294348ce5499e2caf046a202b8464036"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d32b65dd30f9f9230df74d52fe4c1465d20f5b1c624b3989b540a1f2ca2973e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c0f2e69bffc3
wire blob 2b71393e94c8
wire blob 7d32b65dd30f
call 12 attempt 0 · /chat/completions · status 200 · 11.82 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]: [-0.5743, 1.8435, 0.4274, 0.7452, -0.5468, -0.3294, 0.0108, -0.0212, 0.8173, 0.6056, -0.6121, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3552 left_y=-0.1162 left_z=-0.0038 left_yaw=0.0397 left_pitch=0.0101 left_roll=0.0674 left_gripper=0.0108 right_x=0.2593 right_y=0.0016 right_z=0.1308 right_yaw=0.0031 right_pitch=-0.2395 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.8701, 4.5197, 1.2967, -0.0904, 0.0415, 0.906, -0.0479, -1.2513, 6.8171, 1.8339, -0.0415, -0.022, -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\": 0.395, \"left_y\": -0.13, \"left_z\": -0.005, \"left_pitch\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Wrist cam now shows the block at the fingertip depth but shifted to the image right, near the right jaw; image-right corresponds to more negative y. Shifting 2 cm right and descending to table height so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HMs6iZrU3zcp95XbmWbtWe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01HMs6iZrU3zcp95XbmWbtWe"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5381, 1.9774, 0.5381, 0.8936, -0.5686, -0.2375, 0.9985, -0.0212, 0.8173, 0.6056, -0.6395, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3969 left_y=-0.1219 left_z=0.006 left_yaw=0.0479 left_pitch=0.1163 left_roll=0.0874 left_gripper=0.9985 right_x=0.2542 right_y=0.0017 right_z=0.1263 right_yaw=0.0033 right_pitch=-0.2669 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.9658, 3.4667, 1.7411, -0.3101, -0.105, -0.1685, -0.0205, -1.0051, 7.0085, 1.536, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3ce8ab8ea838042eb31cd01ebee9f643a168652a285304b08a95397b97103ad5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:14e9a528ea955868c2894bd4af5a01276ec8173ae0cd9d319f539eadc2f3d1c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:736209b9a17ce2334de9258cedc9168d3b5a9acb0af6881e1a7fb5c57aa57a67"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3ce8ab8ea838
wire blob 14e9a528ea95
wire blob 736209b9a17c
call 13 attempt 0 · /chat/completions · status 200 · 8.4 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]: [-0.503, 1.8862, 0.5095, 0.8207, -0.5362, -0.2314, 0.995, -0.0212, 0.8185, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.109 left_z=0.0172 left_yaw=0.053 left_pitch=0.0981 left_roll=0.0841 left_gripper=0.995 right_x=0.2551 right_y=0.0017 right_z=0.1268 right_yaw=0.0033 right_pitch=-0.2635 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.1744, 5.9419, 2.0879, -0.0562, 0.1538, -0.0171, -0.0889, -1.0735, 6.8444, 1.663, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.147, \"left_z\": -0.012, \"left_pitch\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Top cam shows the block just to the right (more negative y) of the gripper, and the wrist cam agrees: block near the right jaw, slightly ahead. Shifting another 2.5 cm in -y and down to table level to bracket the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PXVMGnGRYZrAweFW3PPRvw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PXVMGnGRYZrAweFW3PPRvw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5678, 2.0254, 0.5507, 0.9398, -0.5926, -0.2665, 0.9985, -0.0212, 0.8223, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.132 left_z=0.0008 left_yaw=0.054 left_pitch=0.1334 left_roll=0.0652 left_gripper=0.9985 right_x=0.2509 right_y=0.0017 right_z=0.1223 right_yaw=0.0035 right_pitch=-0.2898 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.841, 4.0684, 1.2967, -0.1832, 0.0757, -0.1685, -0.0889, -1.3333, 6.9812, 1.6044, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2350974cda71e7300572d02b2cc81413eb82ea9e2b5c3d2236768b9435d8f2ff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7336bcda450c9be14561ab9de86a3842ef46e54905aef2d5f47d29fcc65438d6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34ec75ab173044903e24770bc2483dc9ad667dd5456c9d4986e496f78822b446"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2350974cda71
wire blob 7336bcda450c
wire blob 34ec75ab1730
call 14 attempt 0 · /chat/completions · status 200 · 17.48 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]: [-0.5381, 1.9774, 0.5381, 0.8936, -0.5686, -0.2375, 0.9985, -0.0212, 0.8173, 0.6056, -0.6395, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3969 left_y=-0.1219 left_z=0.006 left_yaw=0.0479 left_pitch=0.1163 left_roll=0.0874 left_gripper=0.9985 right_x=0.2542 right_y=0.0017 right_z=0.1263 right_yaw=0.0033 right_pitch=-0.2669 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.9658, 3.4667, 1.7411, -0.3101, -0.105, -0.1685, -0.0205, -1.0051, 7.0085, 1.536, -0.0611, -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\": 0.0}, \"note\": \"Top cam shows the gripper now directly over the block and the wrist cam shows it centered between the jaws at table height. Closing the gripper to grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TKbR4TE52cCWFiUgnmDwxs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01TKbR4TE52cCWFiUgnmDwxs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5682, 2.0254, 0.5507, 0.9237, -0.5926, -0.2661, 0.0102, -0.0212, 0.823, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3954 left_y=-0.1311 left_z=-0.0022 left_yaw=0.0523 left_pitch=0.1203 left_roll=0.0749 left_gripper=0.0102 right_x=0.2474 right_y=0.0018 right_z=0.1192 right_yaw=0.0036 right_pitch=-0.3093 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -8.0615, 3.3436, 1.7753, -0.2027, -0.0366, 0.8523, -0.0479, -1.0598, 6.7624, 1.5507, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:292ca819700815c5a29ca9fc426e93e8705a6c2689c42e593e2f613e0e36bc19"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f608e9ad071ecf74026fbb535b3b37a54f3e3f5c623e9af1123cc33b2deb758"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b03f714007316a6081f2e6feebd66d2ad5789a1fe6deec959ad4a39b98fba767"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 292ca8197008
wire blob 7f608e9ad071
wire blob b03f71400731
call 15 attempt 0 · /chat/completions · status 200 · 8.803 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]: [-0.5678, 2.0254, 0.5507, 0.9398, -0.5926, -0.2665, 0.9985, -0.0212, 0.8223, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.132 left_z=0.0008 left_yaw=0.054 left_pitch=0.1334 left_roll=0.0652 left_gripper=0.9985 right_x=0.2509 right_y=0.0017 right_z=0.1223 right_yaw=0.0035 right_pitch=-0.2898 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.841, 4.0684, 1.2967, -0.1832, 0.0757, -0.1685, -0.0889, -1.3333, 6.9812, 1.6044, -0.0171, -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\": 0.445, \"left_y\": -0.133, \"left_z\": 0.0, \"left_pitch\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Gripper closed fully on empty air again \\u2014 the wrist cam is set back from the fingertips, so the block is actually ~5 cm ahead of the jaws. Reopening and moving 5 cm further forward to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XqvrGmVmxEdnrEd5G6ynCM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XqvrGmVmxEdnrEd5G6ynCM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4953, 2.0861, 0.7132, 0.8505, -0.5507, -0.2398, 0.9949, -0.0212, 0.823, 0.6056, -0.688, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1287 left_z=0.0034 left_yaw=0.079 left_pitch=0.1308 left_roll=0.0648 left_gripper=0.9949 right_x=0.2451 right_y=0.0019 right_z=0.1174 right_yaw=0.0037 right_pitch=-0.3211 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.7333, 5.4085, 1.5604, 0.0611, 0.1832, -0.0708, -0.0889, -1.1419, 6.8718, 1.4823, -0.0366, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d4f14dbd923b04d50fb7377d1a326b5e1de0189633c1b9df1cd4c6bdfb8037d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e11b59b47d2ecd163e8da5f630415abe9d97da94817dac794425025008e526d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2f4a4bd382b9009c8168cd24283fd0e21ab8e94494824ed0476c7afe7af33fd0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6d4f14dbd923
wire blob e11b59b47d2e
wire blob 2f4a4bd382b9
call 16 attempt 0 · /chat/completions · status 200 · 6.019 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]: [-0.5682, 2.0254, 0.5507, 0.9237, -0.5926, -0.2661, 0.0102, -0.0212, 0.823, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3954 left_y=-0.1311 left_z=-0.0022 left_yaw=0.0523 left_pitch=0.1203 left_roll=0.0749 left_gripper=0.0102 right_x=0.2474 right_y=0.0018 right_z=0.1192 right_yaw=0.0036 right_pitch=-0.3093 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -8.0615, 3.3436, 1.7753, -0.2027, -0.0366, 0.8523, -0.0479, -1.0598, 6.7624, 1.5507, -0.0317, -0.0611, -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\": 0.44, \"left_y\": -0.158, \"left_z\": -0.005, \"left_pitch\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Both cameras now show the block at the correct depth but sitting against the right jaw (the -y side). Shifting the gripper ~3 cm in -y so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0124TX9sbRaYo3zewdhyLBdB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0124TX9sbRaYo3zewdhyLBdB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5571, 2.1159, 0.7616, 0.8246, -0.5987, -0.2821, 0.9985, -0.0212, 0.823, 0.6056, -0.7025, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4405 left_y=-0.1529 left_z=0.0024 left_yaw=0.0786 left_pitch=0.1401 left_roll=0.0502 left_gripper=0.9985 right_x=0.2422 right_y=0.0019 right_z=0.1152 right_yaw=0.0035 right_pitch=-0.3356 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.9658, 5.3949, 1.4237, -0.1734, 0.0708, -0.1734, -0.1162, -1.0872, 6.6803, 1.5067, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed5709ee1b94c93687eceace9fcbcf8c877a5456198aedb81c81ab01d8c36433"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed2a927f4f1adee6c968f21ac7d15cd7df70af24a814efb44d11ef746b5333e2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e6fc3e6ac517b372560baf39e15e9d812383bd68b43e83e2d361621b3e4eb5f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ed5709ee1b94
wire blob ed2a927f4f1a
wire blob 0e6fc3e6ac51
call 17 attempt 0 · /chat/completions · status 200 · 17.09 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]: [-0.4953, 2.0861, 0.7132, 0.8505, -0.5507, -0.2398, 0.9949, -0.0212, 0.823, 0.6056, -0.688, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1287 left_z=0.0034 left_yaw=0.079 left_pitch=0.1308 left_roll=0.0648 left_gripper=0.9949 right_x=0.2451 right_y=0.0019 right_z=0.1174 right_yaw=0.0037 right_pitch=-0.3211 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.7333, 5.4085, 1.5604, 0.0611, 0.1832, -0.0708, -0.0889, -1.1419, 6.8718, 1.4823, -0.0366, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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\": \"Wrist cam shows the block now between the two jaws at fingertip depth, slightly toward the right jaw. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MAvm4EDNfC7voaBr3ZDKyF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01MAvm4EDNfC7voaBr3ZDKyF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5598, 2.1246, 0.7654, 0.8211, -0.6067, -0.292, 0.0107, -0.0212, 0.8249, 0.6056, -0.7238, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.44 left_y=-0.1527 left_z=-0.0005 left_yaw=0.0871 left_pitch=0.1361 left_roll=0.0495 left_gripper=0.0107 right_x=0.238 right_y=0.002 right_z=0.1116 right_yaw=0.004 right_pitch=-0.3588 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -10.0581, 3.6308, 1.6825, -0.0708, 0.0952, 0.8669, -0.0615, -1.1145, 6.694, 1.5409, -0.0708, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25fe0e9b9f7554b10ce122a95e275de764104fd9f676869546441cd5d2dd1d62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bd6feeb05e1e9f026cf2c35dae234c297e7f5e11c34bd54b515f207219184b8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b77225e9bdc28f0f93dcc9b2aea475f094a43b29230e156e96e1f2cd30471695"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 25fe0e9b9f75
wire blob 4bd6feeb05e1
wire blob b77225e9bdc2