adhoc

completed
2026-09-03T00:03:56.642134+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
298.9 s
total steps
132
operator
1
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=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y

Grader notes

trial 04
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 shifting the left arm toward the red block (which appears to the right/−y of the left gripper) to calibrate the camera-to-workspace mapping.
agent noteThe top camera shows the red block about 16 cm to the right of the left gripper, and the left wrist cam sees the block at its bottom-right. Moving the left arm sideways toward the block at a safe height to check the mapping.
move_to
left_x0.3200left_y-0.1200left_z0.1800
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, -0.3836, -0.0193, -0.0334, 0.9992, -0.0212, 0.7937, 0.6064, -0.3958, -0.0177, -0.0265, 0.9996] state[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0005 right_z=0.1779 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5812, -1.4427, 10.1675, 1.8291, -0.1001, 0.1587, -0.0952, -0.5812, -1.5795, 9.6889, 1.9121, -0.0708, 0.0952, -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 shifting the left arm toward the red block (which appears to the right/−y of the left gripper) to calibrate the camera-to-workspace mapping.
move_to({"targets": {"left_x": 0.32, "left_y": -0.12, "left_z": 0.18}, "note": "The top camera shows the red block about 16 cm to the right of the left gripper, and the left wrist cam sees the block at its bottom-right. Moving the left arm sideways toward the block at a safe height to check the mapping."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left wrist cam now shows the block centered between the fingers and slightly ahead; the top cam confirms the block is just forward of the jaws. Descending to 8 cm while nudging forward 2.5 cm to align above the block.
move_to
left_x0.3350left_y-0.1180left_z0.0800
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, 1.1072, 0.7185, -0.3443, -0.4725, -0.3733, 0.9991, -0.0212, 0.8005, 0.6094, -0.4324, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3103 left_y=-0.1161 left_z=0.1588 left_yaw=-0.0354 left_pitch=-0.0675 left_roll=0.0292 left_gripper=0.9991 right_x=0.2886 right_y=0.0009 right_z=0.17 right_yaw=0.0018 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.2256, -3.5214, 9.4154, 1.7363, -0.4029, 0.0269, -0.0171, -0.1573, -1.7983, 6.9675, 2.0098, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.118, "left_z": 0.08}, "note": "The left wrist cam now shows the block centered between the fingers and slightly ahead; the top cam confirms the block is just forward of the jaws. Descending to 8 cm while nudging forward 2.5 cm to align above the block."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteWrist cam shows the block slightly ahead and a bit right of the jaw center, and the pitch has sagged to -0.13. Moving 2 cm forward, 1 cm right, and down to 3.5 cm so the jaws straddle the block.
move_to
left_x0.3450left_y-0.1200left_z0.0350left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5636, 1.3289, 0.5411, -0.0059, -0.4416, -0.3466, 0.9991, -0.0212, 0.8024, 0.6075, -0.4549, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.324 left_y=-0.1112 left_z=0.0733 left_yaw=-0.0201 left_pitch=-0.131 left_roll=0.0645 left_gripper=0.9991 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0022 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [0.1983, -4.7385, 5.8051, 1.6777, -0.2222, 0.0659, -0.0122, -0.1162, -1.3607, 7.1179, 1.8535, -0.0757, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.12, "left_z": 0.035, "left_pitch": 0.0}, "note": "Wrist cam shows the block slightly ahead and a bit right of the jaw center, and the pitch has sagged to -0.13. Moving 2 cm forward, 1 cm right, and down to 3.5 cm so the jaws straddle the block."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gripper is at table height but the wrist cam still shows the block ahead of the jaws; x only reached 0.331 of the 0.345 target. Pushing forward another ~4 cm at the same height so the block sits between the fingers.
move_to
left_x0.3700left_y-0.1150left_z0.0200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.572, 1.578, 0.4313, 0.3687, -0.4767, -0.3187, 0.9991, -0.0212, 0.8043, 0.6075, -0.4793, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.0182 left_yaw=-0.0172 left_pitch=-0.106 left_roll=0.0992 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.1589 right_yaw=0.0017 right_pitch=-0.093 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.5812, -6.3385, 4.5197, 1.8877, -0.4176, 0.0562, -0.0122, -0.1846, -1.347, 6.9402, 1.8584, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.115, "left_z": 0.02, "left_pitch": 0.0}, "note": "The gripper is at table height but the wrist cam still shows the block ahead of the jaws; x only reached 0.331 of the 0.345 target. Pushing forward another ~4 cm at the same height so the block sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm only advanced 1 cm (x=0.34) and the wrist cam still shows the block just ahead of the fingertips, slightly to the right. Commanding another forward step to x=0.39 to bring the block between the jaws.
move_to
left_x0.3900left_y-0.1200left_z0.0250
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5755, 1.6005, 0.4206, 0.4816, -0.4915, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5011, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3407 left_y=-0.1174 left_z=0.0272 left_yaw=-0.0161 left_pitch=-0.0334 left_roll=0.0716 left_gripper=0.9991 right_x=0.2783 right_y=0.0012 right_z=0.1532 right_yaw=0.0021 right_pitch=-0.1205 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.3077, -6.065, 4.8205, 1.8681, -0.315, 0.0317, -0.0122, -0.212, -1.6068, 6.9402, 1.8388, -0.0806, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.12, "left_z": 0.025}, "note": "The arm only advanced 1 cm (x=0.34) and the wrist cam still shows the block just ahead of the fingertips, slightly to the right. Commanding another forward step to x=0.39 to bring the block between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe arm is not advancing in x at this low height (stuck at 0.342 with flat effort, so it's an IK/reach posture issue, not contact). Lifting to 7 cm while pushing forward to x=0.40 to get past the block, then I'll descend.
move_to
left_x0.4000left_y-0.1200left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5755, 1.6005, 0.4194, 0.4934, -0.4919, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5194, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3418 left_y=-0.118 left_z=0.0289 left_yaw=-0.016 left_pitch=-0.0242 left_roll=0.0662 left_gripper=0.9991 right_x=0.2754 right_y=0.0012 right_z=0.1498 right_yaw=0.0018 right_pitch=-0.1388 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.8735, 4.8752, 1.7558, -0.315, 0.0415, -0.0122, -0.212, -1.2103, 7.0906, 1.8486, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.07}, "note": "The arm is not advancing in x at this low height (stuck at 0.342 with flat effort, so it's an IK/reach posture issue, not contact). Lifting to 7 cm while pushing forward to x=0.40 to get past the block, then I'll descend."})
tool
executing move_to over 5 steps (0.5s)
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 noteNow at x=0.39 the wrist cam shows the block near the right jaw, slightly ahead and to the right of center. Shifting 3 cm to the right (-y) and descending to 2.5 cm so the jaws straddle the block.
move_to
left_x0.3950left_y-0.1450left_z0.0250
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4744, 1.6291, 0.6338, 0.3378, -0.4416, -0.2718, 0.9991, -0.0212, 0.8139, 0.6075, -0.5472, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3929 left_y=-0.1129 left_z=0.0624 left_yaw=0.0237 left_pitch=-0.0155 left_roll=0.0565 left_gripper=0.9991 right_x=0.2709 right_y=0.0013 right_z=0.1438 right_yaw=0.0019 right_pitch=-0.1705 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.8137, -6.147, 5.4769, 1.4139, 0.0073, 0.1148, -0.0122, -0.0889, -0.9915, 6.8855, 1.8632, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.395, "left_y": -0.145, "left_z": 0.025}, "note": "Now at x=0.39 the wrist cam shows the block near the right jaw, slightly ahead and to the right of center. Shifting 3 cm to the right (-y) and descending to 2.5 cm 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
The block now sits between the jaws in the wrist camera. Closing the gripper.
agent noteThe left wrist cam shows the red block centered between the two fingers at table height. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5579, 1.7996, 0.6678, 0.4053, -0.477, -0.3058, 0.9991, -0.0212, 0.8173, 0.6075, -0.5697, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3911 left_y=-0.1442 left_z=0.0222 left_yaw=-0.0121 left_pitch=-0.0627 left_roll=0.0828 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1389 right_yaw=0.002 right_pitch=-0.1964 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.6496, -9.2923, 4.6701, 1.9609, -0.5495, -0.1734, -0.0122, -0.2393, -1.4564, 6.9128, 1.8046, -0.0464, -0.0415, -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
The block now sits between the jaws in the wrist camera. Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The left wrist cam shows the red block centered between the two fingers at table height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe gripper closed fully on nothing; the wrist cam shows the block sitting just ahead of the closed fingertips. Reopening and moving ~4.5 cm forward at 6 cm height to get the jaws over the block.
move_to
left_gripper1.0000left_x0.4300left_y-0.1400left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5613, 1.8233, 0.6537, 0.4023, -0.4835, -0.3145, 0.0096, -0.0212, 0.8173, 0.6075, -0.6102, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3842 left_y=-0.1403 left_z=0.0084 left_yaw=-0.0041 left_pitch=-0.0947 left_roll=0.101 left_gripper=0.0096 right_x=0.26 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2368 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.2393, -9.5932, 6.0786, 1.5018, -0.1001, 0.0513, 0.7888, -0.0752, -1.0188, 6.8308, 1.8974, -0.0269, -0.0708, -0.0073] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": -0.14, "left_z": 0.06}, "note": "The gripper closed fully on nothing; the wrist cam shows the block sitting just ahead of the closed fingertips. Reopening and moving ~4.5 cm forward at 6 cm height to get the jaws over the block."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe wrist cam now shows the block between the fingers but toward the bottom-right of the frame, meaning I overshot slightly forward and it's a bit to the right. Backing up ~1.5 cm, shifting 1 cm right, and dropping to 2 cm so the jaws are around the block.
move_to
left_x0.4050left_y-0.1450left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.49, 1.8175, 0.8467, 0.165, -0.4408, -0.2775, 0.9949, -0.0212, 0.8173, 0.6075, -0.6342, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4179 left_y=-0.1334 left_z=0.034 left_yaw=0.0163 left_pitch=-0.1456 left_roll=0.1231 left_gripper=0.9949 right_x=0.2556 right_y=0.0017 right_z=0.128 right_yaw=0.0027 right_pitch=-0.2608 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.2667, -11.0838, 8.1573, 1.6093, -0.105, 0.1294, -0.0806, -0.1162, -0.8821, 7.1179, 1.6874, -0.0659, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.145, "left_z": 0.02}, "note": "The wrist cam now shows the block between the fingers but toward the bottom-right of the frame, meaning I overshot slightly forward and it's a bit to the right. Backing up ~1.5 cm, shifting 1 cm right, and dropping to 2 cm so the jaws are around the block."})
tool
executing move_to over 2 steps (0.2s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe wrist cam shows the red block sitting between the two fingertips now. Closing the gripper while holding low to grasp the block.
move_to
left_gripper0.0000left_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5163, 1.8183, 0.8333, 0.1783, -0.4576, -0.2935, 0.9963, -0.0212, 0.8185, 0.6075, -0.638, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4128 left_y=-0.1405 left_z=0.0321 left_yaw=0.0118 left_pitch=-0.1391 left_roll=0.1219 left_gripper=0.9963 right_x=0.2549 right_y=0.0017 right_z=0.1271 right_yaw=0.0024 right_pitch=-0.2658 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [-0.6906, -6.612, 4.7521, 1.5556, -0.2271, -0.0122, 0.1245, -0.0479, -1.2239, 6.8171, 1.536, -0.0366, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.015}, "note": "The wrist cam shows the red block sitting between the two fingertips now. Closing the gripper while holding low to grasp the block."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteMissed again — the fingers closed just behind the block, which the wrist cam shows directly ahead of the fingertips; the arm also sagged back to x=0.40 while descending. Reopening and driving 4 cm further forward so the block is well inside the jaws.
move_to
left_gripper1.0000left_x0.4450left_y-0.1350left_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5163, 1.8366, 0.8074, 0.1745, -0.4641, -0.2996, 0.0092, -0.0212, 0.8185, 0.6075, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4033 left_y=-0.1339 left_z=0.0158 left_yaw=0.0241 left_pitch=-0.1776 left_roll=0.1462 left_gripper=0.0092 right_x=0.2512 right_y=0.0017 right_z=0.1239 right_yaw=0.0026 right_pitch=-0.2852 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.0479, -9.2239, 7.0906, 1.5018, -0.0952, 0.0464, 0.7497, -0.212, -1.0872, 6.7624, 1.6044, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.445, "left_y": -0.135, "left_z": 0.03}, "note": "Missed again \u2014 the fingers closed just behind the block, which the wrist cam shows directly ahead of the fingertips; the arm also sagged back to x=0.40 while descending. Reopening and driving 4 cm further forward so the block is well inside the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe wrist cam now shows the block between the open jaws, centered laterally but still a touch ahead of the fingertips. Nudging 2 cm forward and down to 2 cm so the block is fully inside the jaws before closing.
move_to
left_x0.4550left_y-0.1300left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4652, 1.9018, 0.952, 0.0822, -0.437, -0.2729, 0.9951, -0.0212, 0.8185, 0.6075, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4337 left_y=-0.1301 left_z=0.0219 left_yaw=0.0408 left_pitch=-0.2013 left_roll=0.1544 left_gripper=0.9951 right_x=0.2477 right_y=0.0019 right_z=0.121 right_yaw=0.003 right_pitch=-0.3039 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [0.4444, -7.9248, 8.1436, 1.5165, -0.1245, 0.1441, -0.0611, -0.1709, -0.9778, 6.9265, 1.5897, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.13, "left_z": 0.02}, "note": "The wrist cam now shows the block between the open jaws, centered laterally but still a touch ahead of the fingertips. Nudging 2 cm forward and down to 2 cm so the block is fully inside the jaws before closing."})
tool
executing move_to over 2 steps (0.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe wrist cam shows the red block now sitting between the two fingertips at the bottom of the frame. 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]: [-0.4553, 1.9324, 0.9901, 0.0586, -0.4309, -0.2661, 0.9963, -0.0212, 0.82, 0.6075, -0.6792, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4402 left_y=-0.1294 left_z=0.0179 left_yaw=0.0439 left_pitch=-0.2182 left_roll=0.1631 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1202 right_yaw=0.0027 right_pitch=-0.3085 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [0.9915, -8.3214, 7.5966, 1.4823, -0.1392, 0.1441, 0.1148, -0.1846, -1.2376, 6.8718, 1.4237, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist cam shows the red block now sitting between the two fingertips at the bottom of the frame. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the fingers. Lifting to 15 cm and carrying it toward the bowl, which in the top camera sits about 20 cm further along +x and a little to -y.
move_to
left_x0.5600left_y-0.1700left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4568, 1.956, 0.9932, 0.0444, -0.4309, -0.2703, 0.4436, -0.0212, 0.823, 0.6075, -0.688, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4365 left_y=-0.1284 left_z=0.0067 left_yaw=0.0486 left_pitch=-0.2483 left_roll=0.1773 left_gripper=0.4436 right_x=0.2454 right_y=0.0019 right_z=0.1181 right_yaw=0.0028 right_pitch=-0.3203 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.0889, -11.2889, 5.2718, 1.4774, -0.2222, 0.0317, 1.033, -0.1436, -1.1829, 6.7214, 1.4774, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.56, "left_y": -0.17, "left_z": 0.15}, "note": "The gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the fingers. Lifting to 15 cm and carrying it toward the bowl, which in the top camera sits about 20 cm further along +x and a little to -y."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBlock is securely held. In the top camera the arm moved up-left while the bowl sits center-right, so the bowl is actually at lower x and further -y than I thought (roughly x≈0.37, y≈-0.32). Carrying the block over toward that position at 15 cm height.
move_to
left_x0.3800left_y-0.3100left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4267, 2.2257, 1.98, -0.6491, -0.4137, -0.2642, 0.4473, -0.0212, 0.8246, 0.6075, -0.7033, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5572 left_y=-0.1713 left_z=0.1393 left_yaw=0.0591 left_pitch=-0.2345 left_roll=0.1578 left_gripper=0.4473 right_x=0.2425 right_y=0.002 right_z=0.1155 right_yaw=0.0033 right_pitch=-0.3371 right_roll=0.0094 right_gripper=0.9996 state[joint_eff]: [0.5265, -12.7795, 8.4034, 1.0525, -0.1587, 0.2125, 1.033, -0.1026, -1.1556, 6.7077, 1.4969, -0.0415, -0.0269, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.31, "left_z": 0.15}, "note": "Block is securely held. In the top camera the arm moved up-left while the bowl sits center-right, so the bowl is actually at lower x and further -y than I thought (roughly x\u22480.37, y\u2248-0.32). Carrying the block over toward that position at 15 cm height."})
tool
executing move_to over 14 steps (1.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe wrist cam shows the bowl's rim at the bottom-right of the frame, so the bowl center is a bit further forward and to the right of the gripper. Shifting 3 cm forward, 4 cm right and lowering to 9 cm to center the block over the bowl.
move_to
left_x0.4150left_y-0.3500left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9028, 2.0861, 1.7538, -0.8482, -0.6338, -0.6991, 0.4486, -0.0212, 0.828, 0.6075, -0.7242, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3835 left_y=-0.3114 left_z=0.1222 left_yaw=0.0273 left_pitch=-0.2855 left_roll=0.196 left_gripper=0.4486 right_x=0.2383 right_y=0.0021 right_z=0.1117 right_yaw=0.0035 right_pitch=-0.3615 right_roll=0.01 right_gripper=0.9996 state[joint_eff]: [-0.2256, -14.7487, 9.0188, 0.9109, -0.5836, -0.1441, 1.0281, -0.1709, -0.9094, 6.735, 1.536, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.35, "left_z": 0.09}, "note": "The wrist cam shows the bowl's rim at the bottom-right of the frame, so the bowl center is a bit further forward and to the right of the gripper. Shifting 3 cm forward, 4 cm right and lowering to 9 cm to center the block over the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe wrist cam still shows the bowl rim only at the right edge, so the bowl center is further to the right (-y) of the gripper. Sliding 5.5 cm right and down to 6 cm so the block hangs over the bowl interior before releasing.
move_to
left_x0.4100left_y-0.3950left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9012, 2.2971, 1.9457, -0.8726, -0.6319, -0.7189, 0.4486, -0.0212, 0.8307, 0.6075, -0.7364, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4062 left_y=-0.3393 left_z=0.0816 left_yaw=0.0495 left_pitch=-0.3103 left_roll=0.2182 left_gripper=0.4486 right_x=0.2358 right_y=0.0021 right_z=0.1093 right_yaw=0.0033 right_pitch=-0.3764 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [0.0205, -13.8598, 9.3333, 0.7009, -0.4029, 0.1245, 1.0281, -0.0752, -1.1966, 6.6393, 1.409, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.395, "left_z": 0.06}, "note": "The wrist cam still shows the bowl rim only at the right edge, so the bowl center is further to the right (-y) of the gripper. Sliding 5.5 cm right and down to 6 cm so the block hangs over the bowl interior before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
The block is now directly over the bowl interior. Releasing it.
agent noteThe wrist cam shows the held block centered over the bowl's white interior at about 5 cm height. Opening the gripper to drop the block into the bowl.
move_to
left_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]: [-0.9558, 2.5538, 2.31, -1.0245, -0.627, -0.7872, 0.4486, -0.0212, 0.8333, 0.6075, -0.7467, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.408 left_y=-0.3917 left_z=0.0542 left_yaw=0.0427 left_pitch=-0.3311 left_roll=0.2085 left_gripper=0.4486 right_x=0.2337 right_y=0.0021 right_z=0.1073 right_yaw=0.0034 right_pitch=-0.3894 right_roll=0.0104 right_gripper=0.9996 state[joint_eff]: [-0.4444, -14.3385, 8.1983, 0.4908, -0.6032, 0.0806, 1.0281, -0.1299, -1.2923, 6.7487, 1.3944, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
The block is now directly over the bowl interior. Releasing it.
move_to({"targets": {"left_gripper": 1.0}, "note": "The wrist cam shows the held block centered over the bowl's white interior at about 5 cm height. Opening the gripper to drop the block into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
The block has been released and is lying inside the bowl (visible on the white interior in the wrist camera).
agent noteGrasped the red block with the left arm after several forward corrections, carried it to the bowl at roughly (x=0.41, y=-0.39) in the left base frame, and released it; the wrist camera shows the block resting inside the bowl.
done
hindsightLeft arm: the red block was at about x≈0.44, y≈-0.13, z≈0.02 (grasp height ~0.01-0.02) and the bowl center at about x≈0.41, y≈-0.39 — the bowl is far to the arm's right, near the y bound. The top camera is misleading for x/y direction: increasing left_x moved the arm up-left in the top image. Trust the left wrist cam: when the block appears at the bottom edge between the fingertips it is actually still ~3-4 cm ahead of the grasp point; move forward until it sits at the very bottom of the frame between the jaws. The IK sags 1-2 cm short in x and pitch drifts negative near the table; low-height forward moves track poorly, so raise to ~6 cm, move in x, then descend. Gripper closing to ~0.44 with rising effort in slot 6 indicates a firm grasp of the block.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9607, 2.5786, 2.3157, -1.0355, -0.625, -0.7944, 0.9955, -0.0212, 0.8341, 0.6075, -0.7479, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4043 left_y=-0.3918 left_z=0.0419 left_yaw=0.0499 left_pitch=-0.3479 left_roll=0.2297 left_gripper=0.9955 right_x=0.2335 right_y=0.0021 right_z=0.107 right_yaw=0.0035 right_pitch=-0.3913 right_roll=0.0104 right_gripper=0.9996 state[joint_eff]: [0.2803, -16.6906, 5.8735, 0.9402, -0.398, 0.0366, -0.1441, -0.0752, -1.1966, 6.6393, 1.2772, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
The block has been released and is lying inside the bowl (visible on the white interior in the wrist camera).
done({"summary": "Grasped the red block with the left arm after several forward corrections, carried it to the bowl at roughly (x=0.41, y=-0.39) in the left base frame, and released it; the wrist camera shows the block resting inside the bowl.", "hindsight": "Left arm: the red block was at about x\u22480.44, y\u2248-0.13, z\u22480.02 (grasp height ~0.01-0.02) and the bowl center at about x\u22480.41, y\u2248-0.39 \u2014 the bowl is far to the arm's right, near the y bound. The top camera is misleading for x/y direction: increasing left_x moved the arm up-left in the top image. Trust the left wrist cam: when the block appears at the bottom edge between the fingertips it is actually still ~3-4 cm ahead of the grasp point; move forward until it sits at the very bottom of the frame between the jaws. The IK sags 1-2 cm short in x and pitch drifts negative near the table; low-height forward moves track poorly, so raise to ~6 cm, move in x, then descend. Gripper closing to ~0.44 with rising effort in slot 6 indicates a firm grasp of the block."})
tool
done: Grasped the red block with the left arm after several forward corrections, carried it to the bowl at roughly (x=0.41, y=-0.39) in the left base frame, and released it; the wrist camera shows the block resting inside the bowl.
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 · 37.66 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, -0.3836, -0.0193, -0.0334, 0.9992, -0.0212, 0.7937, 0.6064, -0.3958, -0.0177, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0005 right_z=0.1779 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4427, 10.1675, 1.8291, -0.1001, 0.1587, -0.0952, -0.5812, -1.5795, 9.6889, 1.9121, -0.0708, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f80c5f5b0681df45fb349deb1470b4dde2b70879fe47250d19cd8cc6c4484a08"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0c27902dc67fc6e399365623d927cd5f49ce73abe4a1bbddd9bbb6eb34cd959"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2cfcbc70bfdfcb73cddd6a62f34c255cc08d3d2018ba6d5d4075e6bb86697469"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f80c5f5b0681
wire blob e0c27902dc67
wire blob 2cfcbc70bfdf
call 1 attempt 0 · /chat/completions · status 200 · 10.27 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by shifting the left arm toward the red block (which appears to the right/−y of the left gripper) to calibrate the camera-to-workspace mapping.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.32, \"left_y\": -0.12, \"left_z\": 0.18}, \"note\": \"The top camera shows the red block about 16 cm to the right of the left gripper, and the left wrist cam sees the block at its bottom-right. Moving the left arm sideways toward the block at a safe height to check the mapping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EUgvihcmAQLE5hgSW2sr1Z",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01EUgvihcmAQLE5hgSW2sr1Z"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6144, 1.1072, 0.7185, -0.3443, -0.4725, -0.3733, 0.9991, -0.0212, 0.8005, 0.6094, -0.4324, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3103 left_y=-0.1161 left_z=0.1588 left_yaw=-0.0354 left_pitch=-0.0675 left_roll=0.0292 left_gripper=0.9991 right_x=0.2886 right_y=0.0009 right_z=0.17 right_yaw=0.0018 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.5214, 9.4154, 1.7363, -0.4029, 0.0269, -0.0171, -0.1573, -1.7983, 6.9675, 2.0098, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26df38a7d53e5c26704f5fbe07c0f42c8431f3f6c1723042e4e935af122ef56d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:629e1e06300d279504ba13c3228e729c3bb6f603cb1c8cb5833d67ae38cadb01"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3909890a7721b5593dde0f992a471a320642e38d2645d2d417dd47638c5a1db"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 26df38a7d53e
wire blob 629e1e06300d
wire blob c3909890a772
call 2 attempt 0 · /chat/completions · status 200 · 11.83 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, -0.3836, -0.0193, -0.0334, 0.9992, -0.0212, 0.7937, 0.6064, -0.3958, -0.0177, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0005 right_z=0.1779 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4427, 10.1675, 1.8291, -0.1001, 0.1587, -0.0952, -0.5812, -1.5795, 9.6889, 1.9121, -0.0708, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.335, \"left_y\": -0.118, \"left_z\": 0.08}, \"note\": \"The left wrist cam now shows the block centered between the fingers and slightly ahead; the top cam confirms the block is just forward of the jaws. Descending to 8 cm while nudging forward 2.5 cm to align above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DmrzvErZGNd5TGqSq5uiNU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01DmrzvErZGNd5TGqSq5uiNU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5636, 1.3289, 0.5411, -0.0059, -0.4416, -0.3466, 0.9991, -0.0212, 0.8024, 0.6075, -0.4549, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.324 left_y=-0.1112 left_z=0.0733 left_yaw=-0.0201 left_pitch=-0.131 left_roll=0.0645 left_gripper=0.9991 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0022 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.7385, 5.8051, 1.6777, -0.2222, 0.0659, -0.0122, -0.1162, -1.3607, 7.1179, 1.8535, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a76026f2506e79429008ddfed55c58785fd4d4220910ce8c5cedbdd66a4e8359"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:124721ed4384ec05047be4378951dc44b392c82b9d17035167baa22a93a28b3d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fddaa3e828848e9c60c1e9f7c902db2ba1c1b4e59ec9916c17f667819e23d32"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a76026f2506e
wire blob 124721ed4384
wire blob 6fddaa3e8288
call 3 attempt 0 · /chat/completions · status 200 · 6.355 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]: [-0.6144, 1.1072, 0.7185, -0.3443, -0.4725, -0.3733, 0.9991, -0.0212, 0.8005, 0.6094, -0.4324, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3103 left_y=-0.1161 left_z=0.1588 left_yaw=-0.0354 left_pitch=-0.0675 left_roll=0.0292 left_gripper=0.9991 right_x=0.2886 right_y=0.0009 right_z=0.17 right_yaw=0.0018 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.5214, 9.4154, 1.7363, -0.4029, 0.0269, -0.0171, -0.1573, -1.7983, 6.9675, 2.0098, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.345, \"left_y\": -0.12, \"left_z\": 0.035, \"left_pitch\": 0.0}, \"note\": \"Wrist cam shows the block slightly ahead and a bit right of the jaw center, and the pitch has sagged to -0.13. Moving 2 cm forward, 1 cm right, and down to 3.5 cm so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SHoedW8MwUS1u3K1aR17ta",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01SHoedW8MwUS1u3K1aR17ta"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.572, 1.578, 0.4313, 0.3687, -0.4767, -0.3187, 0.9991, -0.0212, 0.8043, 0.6075, -0.4793, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.0182 left_yaw=-0.0172 left_pitch=-0.106 left_roll=0.0992 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.1589 right_yaw=0.0017 right_pitch=-0.093 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.3385, 4.5197, 1.8877, -0.4176, 0.0562, -0.0122, -0.1846, -1.347, 6.9402, 1.8584, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6402887e0ef974cbf8d5101da19766cf16189b37da6073c8266c475832addf2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f5348556c12a3487adcff1873993db157bc5b3b2717b2344fc1b6dd0d026f18"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb7a336b2ee812ce1b3581a0078dedd961e17ca03004c597da6ea7434df736a8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6402887e0ef9
wire blob 0f5348556c12
wire blob eb7a336b2ee8
call 4 attempt 0 · /chat/completions · status 200 · 8.833 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]: [-0.5636, 1.3289, 0.5411, -0.0059, -0.4416, -0.3466, 0.9991, -0.0212, 0.8024, 0.6075, -0.4549, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.324 left_y=-0.1112 left_z=0.0733 left_yaw=-0.0201 left_pitch=-0.131 left_roll=0.0645 left_gripper=0.9991 right_x=0.2851 right_y=0.0011 right_z=0.1641 right_yaw=0.0022 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.7385, 5.8051, 1.6777, -0.2222, 0.0659, -0.0122, -0.1162, -1.3607, 7.1179, 1.8535, -0.0757, -0.0513, -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\": 0.37, \"left_y\": -0.115, \"left_z\": 0.02, \"left_pitch\": 0.0}, \"note\": \"The gripper is at table height but the wrist cam still shows the block ahead of the jaws; x only reached 0.331 of the 0.345 target. Pushing forward another ~4 cm at the same height so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MnwcDkvs72zsLys1tkLuCQ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01MnwcDkvs72zsLys1tkLuCQ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5755, 1.6005, 0.4206, 0.4816, -0.4915, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5011, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3407 left_y=-0.1174 left_z=0.0272 left_yaw=-0.0161 left_pitch=-0.0334 left_roll=0.0716 left_gripper=0.9991 right_x=0.2783 right_y=0.0012 right_z=0.1532 right_yaw=0.0021 right_pitch=-0.1205 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.065, 4.8205, 1.8681, -0.315, 0.0317, -0.0122, -0.212, -1.6068, 6.9402, 1.8388, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:280c133bf4d23bc9fb01f57a8bb3d7c8ec310fbdfa89ff5bd6df8c5ca8859ea6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ae47ead2fbfc0a342d1a31d9503d6f9a1e1563deae9d282723e9e6219505817"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6e1333facb35e06bd171aaa93c008be9b8b02be128a381ddc3c2ab720cee8dc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 280c133bf4d2
wire blob 6ae47ead2fbf
wire blob e6e1333facb3
call 5 attempt 0 · /chat/completions · status 200 · 6.949 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]: [-0.572, 1.578, 0.4313, 0.3687, -0.4767, -0.3187, 0.9991, -0.0212, 0.8043, 0.6075, -0.4793, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.331 left_y=-0.1125 left_z=0.0182 left_yaw=-0.0172 left_pitch=-0.106 left_roll=0.0992 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.1589 right_yaw=0.0017 right_pitch=-0.093 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.3385, 4.5197, 1.8877, -0.4176, 0.0562, -0.0122, -0.1846, -1.347, 6.9402, 1.8584, -0.0562, -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\": 0.39, \"left_y\": -0.12, \"left_z\": 0.025}, \"note\": \"The arm only advanced 1 cm (x=0.34) and the wrist cam still shows the block just ahead of the fingertips, slightly to the right. Commanding another forward step to x=0.39 to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019YHJCsfD4cm7FqH7uNTb8z",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019YHJCsfD4cm7FqH7uNTb8z"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5755, 1.6005, 0.4194, 0.4934, -0.4919, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5194, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3418 left_y=-0.118 left_z=0.0289 left_yaw=-0.016 left_pitch=-0.0242 left_roll=0.0662 left_gripper=0.9991 right_x=0.2754 right_y=0.0012 right_z=0.1498 right_yaw=0.0018 right_pitch=-0.1388 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.8735, 4.8752, 1.7558, -0.315, 0.0415, -0.0122, -0.212, -1.2103, 7.0906, 1.8486, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8269a2c6cce7674c8b1092ed1e0b16f10799055aa08a797e8d74eedfd981e1fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b642677dea4dec940e8751ed140769db19ddcf94b13012c6d876605eb29f74d7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2a8b78523a4ca38810587e46e7027e31632066eaea66bdea11064232f4901285"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8269a2c6cce7
wire blob b642677dea4d
wire blob 2a8b78523a4c
call 6 attempt 0 · /chat/completions · status 200 · 7.968 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]: [-0.5755, 1.6005, 0.4206, 0.4816, -0.4915, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5011, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3407 left_y=-0.1174 left_z=0.0272 left_yaw=-0.0161 left_pitch=-0.0334 left_roll=0.0716 left_gripper=0.9991 right_x=0.2783 right_y=0.0012 right_z=0.1532 right_yaw=0.0021 right_pitch=-0.1205 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.065, 4.8205, 1.8681, -0.315, 0.0317, -0.0122, -0.212, -1.6068, 6.9402, 1.8388, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.12, \"left_z\": 0.07}, \"note\": \"The arm is not advancing in x at this low height (stuck at 0.342 with flat effort, so it's an IK/reach posture issue, not contact). Lifting to 7 cm while pushing forward to x=0.40 to get past the block, then I'll descend.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HLBiJvzwQxrd5G8UbqNP5f",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01HLBiJvzwQxrd5G8UbqNP5f"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4744, 1.6291, 0.6338, 0.3378, -0.4416, -0.2718, 0.9991, -0.0212, 0.8139, 0.6075, -0.5472, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.1129 left_z=0.0624 left_yaw=0.0237 left_pitch=-0.0155 left_roll=0.0565 left_gripper=0.9991 right_x=0.2709 right_y=0.0013 right_z=0.1438 right_yaw=0.0019 right_pitch=-0.1705 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -6.147, 5.4769, 1.4139, 0.0073, 0.1148, -0.0122, -0.0889, -0.9915, 6.8855, 1.8632, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a29b06dada813a29aa2eea58956eeffe6f19119525adc20ba02d839f5c83934"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a83a97be9ed676fbfb7a98ada0cf5d33637135118ae721fdcab52941ab5fbf6f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd8f232f6daf63d1edb6c5c84e5dda96f8cf7a4f990859f881349ad420e138b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5a29b06dada8
wire blob a83a97be9ed6
wire blob cd8f232f6daf
call 7 attempt 0 · /chat/completions · status 200 · 4.472 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]: [-0.5755, 1.6005, 0.4194, 0.4934, -0.4919, -0.3111, 0.9991, -0.0212, 0.8101, 0.6075, -0.5194, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3418 left_y=-0.118 left_z=0.0289 left_yaw=-0.016 left_pitch=-0.0242 left_roll=0.0662 left_gripper=0.9991 right_x=0.2754 right_y=0.0012 right_z=0.1498 right_yaw=0.0018 right_pitch=-0.1388 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.8735, 4.8752, 1.7558, -0.315, 0.0415, -0.0122, -0.212, -1.2103, 7.0906, 1.8486, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.145, \"left_z\": 0.025}, \"note\": \"Now at x=0.39 the wrist cam shows the block near the right jaw, slightly ahead and to the right of center. Shifting 3 cm to the right (-y) and descending to 2.5 cm so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_017oTpyLjwpcDi8pTAwGmis2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_017oTpyLjwpcDi8pTAwGmis2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5579, 1.7996, 0.6678, 0.4053, -0.477, -0.3058, 0.9991, -0.0212, 0.8173, 0.6075, -0.5697, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3911 left_y=-0.1442 left_z=0.0222 left_yaw=-0.0121 left_pitch=-0.0627 left_roll=0.0828 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1389 right_yaw=0.002 right_pitch=-0.1964 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -9.2923, 4.6701, 1.9609, -0.5495, -0.1734, -0.0122, -0.2393, -1.4564, 6.9128, 1.8046, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42e40beeafbfb6f84d03e93ccfa923bf30cffc00cc8617d6db2dd896ba6e020d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:735d7fb58baebfc2e1cd1127586fbeb94dda6aea4b3ee1b82444e280dd71d978"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f0e640edced332035c0f837deaae01e29b647a7c9fd0cc50ea7031ab6a711622"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 42e40beeafbf
wire blob 735d7fb58bae
wire blob f0e640edced3
call 8 attempt 0 · /chat/completions · status 200 · 8.688 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]: [-0.4744, 1.6291, 0.6338, 0.3378, -0.4416, -0.2718, 0.9991, -0.0212, 0.8139, 0.6075, -0.5472, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3929 left_y=-0.1129 left_z=0.0624 left_yaw=0.0237 left_pitch=-0.0155 left_roll=0.0565 left_gripper=0.9991 right_x=0.2709 right_y=0.0013 right_z=0.1438 right_yaw=0.0019 right_pitch=-0.1705 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -6.147, 5.4769, 1.4139, 0.0073, 0.1148, -0.0122, -0.0889, -0.9915, 6.8855, 1.8632, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block now sits between the jaws in the wrist camera. Closing the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The left wrist cam shows the red block centered between the two fingers at table height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VU14DAmX2NdbiRdz4AVWtP",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01VU14DAmX2NdbiRdz4AVWtP"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5613, 1.8233, 0.6537, 0.4023, -0.4835, -0.3145, 0.0096, -0.0212, 0.8173, 0.6075, -0.6102, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3842 left_y=-0.1403 left_z=0.0084 left_yaw=-0.0041 left_pitch=-0.0947 left_roll=0.101 left_gripper=0.0096 right_x=0.26 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2368 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.5932, 6.0786, 1.5018, -0.1001, 0.0513, 0.7888, -0.0752, -1.0188, 6.8308, 1.8974, -0.0269, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a812e81e6be6f27646a2d3c887f467aafca05c274f61ea5cc0a118205ec8cc9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0d509c57b6b89172025cf15d68b9f799ae9d86871eec7723036fbb24a0196b45"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0926c0f3e8c1b9db6b741be8917c150929b467ec9dcd906e35f0bda45e5e61d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4a812e81e6be
wire blob 0d509c57b6b8
wire blob e0926c0f3e8c
call 9 attempt 0 · /chat/completions · status 200 · 12.46 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]: [-0.5579, 1.7996, 0.6678, 0.4053, -0.477, -0.3058, 0.9991, -0.0212, 0.8173, 0.6075, -0.5697, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3911 left_y=-0.1442 left_z=0.0222 left_yaw=-0.0121 left_pitch=-0.0627 left_roll=0.0828 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1389 right_yaw=0.002 right_pitch=-0.1964 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -9.2923, 4.6701, 1.9609, -0.5495, -0.1734, -0.0122, -0.2393, -1.4564, 6.9128, 1.8046, -0.0464, -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_gripper\": 1.0, \"left_x\": 0.43, \"left_y\": -0.14, \"left_z\": 0.06}, \"note\": \"The gripper closed fully on nothing; the wrist cam shows the block sitting just ahead of the closed fingertips. Reopening and moving ~4.5 cm forward at 6 cm height to get the jaws over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0112kALJ6ZMgJXN1UheGQBzN",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0112kALJ6ZMgJXN1UheGQBzN"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.49, 1.8175, 0.8467, 0.165, -0.4408, -0.2775, 0.9949, -0.0212, 0.8173, 0.6075, -0.6342, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4179 left_y=-0.1334 left_z=0.034 left_yaw=0.0163 left_pitch=-0.1456 left_roll=0.1231 left_gripper=0.9949 right_x=0.2556 right_y=0.0017 right_z=0.128 right_yaw=0.0027 right_pitch=-0.2608 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.0838, 8.1573, 1.6093, -0.105, 0.1294, -0.0806, -0.1162, -0.8821, 7.1179, 1.6874, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40b3b22cb0ddf24d6c0d633124806ef8de793c3a70b38ecac0389eaf57ccd77c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0601c17bad9b6d7ea91cc48fd591f382ff5bd024265c64b527d75da06986102d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64b30d8344b09e08043d00a7df9db01f6696301551f04ecacc41e6d2db47b46a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 40b3b22cb0dd
wire blob 0601c17bad9b
wire blob 64b30d8344b0
call 10 attempt 0 · /chat/completions · status 200 · 9.862 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]: [-0.5613, 1.8233, 0.6537, 0.4023, -0.4835, -0.3145, 0.0096, -0.0212, 0.8173, 0.6075, -0.6102, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3842 left_y=-0.1403 left_z=0.0084 left_yaw=-0.0041 left_pitch=-0.0947 left_roll=0.101 left_gripper=0.0096 right_x=0.26 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2368 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.5932, 6.0786, 1.5018, -0.1001, 0.0513, 0.7888, -0.0752, -1.0188, 6.8308, 1.8974, -0.0269, -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\": 0.405, \"left_y\": -0.145, \"left_z\": 0.02}, \"note\": \"The wrist cam now shows the block between the fingers but toward the bottom-right of the frame, meaning I overshot slightly forward and it's a bit to the right. Backing up ~1.5 cm, shifting 1 cm right, and dropping to 2 cm so the jaws are around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W7Zm2YuEhK3ocYW6mT2MBs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01W7Zm2YuEhK3ocYW6mT2MBs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5163, 1.8183, 0.8333, 0.1783, -0.4576, -0.2935, 0.9963, -0.0212, 0.8185, 0.6075, -0.638, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.1405 left_z=0.0321 left_yaw=0.0118 left_pitch=-0.1391 left_roll=0.1219 left_gripper=0.9963 right_x=0.2549 right_y=0.0017 right_z=0.1271 right_yaw=0.0024 right_pitch=-0.2658 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -6.612, 4.7521, 1.5556, -0.2271, -0.0122, 0.1245, -0.0479, -1.2239, 6.8171, 1.536, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:748a1012cb356cbeac9862a7569c76cca09bc6daefa05af953c955b5cb4d459f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:586776199edbc8c175a433cfa526234d20e2e554ab655542a86351e801f5ba5e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53d760d7d3bc71a5e5f76192d256b23353f2fe3a510aafe4b1bcff335952ed06"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 748a1012cb35
wire blob 586776199edb
wire blob 53d760d7d3bc
call 11 attempt 0 · /chat/completions · status 200 · 12.78 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]: [-0.49, 1.8175, 0.8467, 0.165, -0.4408, -0.2775, 0.9949, -0.0212, 0.8173, 0.6075, -0.6342, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4179 left_y=-0.1334 left_z=0.034 left_yaw=0.0163 left_pitch=-0.1456 left_roll=0.1231 left_gripper=0.9949 right_x=0.2556 right_y=0.0017 right_z=0.128 right_yaw=0.0027 right_pitch=-0.2608 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.0838, 8.1573, 1.6093, -0.105, 0.1294, -0.0806, -0.1162, -0.8821, 7.1179, 1.6874, -0.0659, -0.0415, -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_gripper\": 0.0, \"left_z\": 0.015}, \"note\": \"The wrist cam shows the red block sitting between the two fingertips now. Closing the gripper while holding low to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EEUPchZ8VMCH6fPJKHQdXH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01EEUPchZ8VMCH6fPJKHQdXH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5163, 1.8366, 0.8074, 0.1745, -0.4641, -0.2996, 0.0092, -0.0212, 0.8185, 0.6075, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4033 left_y=-0.1339 left_z=0.0158 left_yaw=0.0241 left_pitch=-0.1776 left_roll=0.1462 left_gripper=0.0092 right_x=0.2512 right_y=0.0017 right_z=0.1239 right_yaw=0.0026 right_pitch=-0.2852 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.2239, 7.0906, 1.5018, -0.0952, 0.0464, 0.7497, -0.212, -1.0872, 6.7624, 1.6044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f5e5cd5f3b85869ffdb754827f06bb31b9f8666eee26304d221f87b77f65d17"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a2af75b543e42571900c8ee55656d1664f35eecc9b6fbaf6acf60da78d94baff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ab732c1a29f467866aad4f3b0129dbd0e70fa64b74369f6b1095f262e14bcb6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6f5e5cd5f3b8
wire blob a2af75b543e4
wire blob 7ab732c1a29f
call 12 attempt 0 · /chat/completions · status 200 · 14.48 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]: [-0.5163, 1.8183, 0.8333, 0.1783, -0.4576, -0.2935, 0.9963, -0.0212, 0.8185, 0.6075, -0.638, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.1405 left_z=0.0321 left_yaw=0.0118 left_pitch=-0.1391 left_roll=0.1219 left_gripper=0.9963 right_x=0.2549 right_y=0.0017 right_z=0.1271 right_yaw=0.0024 right_pitch=-0.2658 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -6.612, 4.7521, 1.5556, -0.2271, -0.0122, 0.1245, -0.0479, -1.2239, 6.8171, 1.536, -0.0366, -0.0317, -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_gripper\": 1.0, \"left_x\": 0.445, \"left_y\": -0.135, \"left_z\": 0.03}, \"note\": \"Missed again \\u2014 the fingers closed just behind the block, which the wrist cam shows directly ahead of the fingertips; the arm also sagged back to x=0.40 while descending. Reopening and driving 4 cm further forward so the block is well inside the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NBk4LM1uyQf8EPHCg9GTv3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NBk4LM1uyQf8EPHCg9GTv3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4652, 1.9018, 0.952, 0.0822, -0.437, -0.2729, 0.9951, -0.0212, 0.8185, 0.6075, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4337 left_y=-0.1301 left_z=0.0219 left_yaw=0.0408 left_pitch=-0.2013 left_roll=0.1544 left_gripper=0.9951 right_x=0.2477 right_y=0.0019 right_z=0.121 right_yaw=0.003 right_pitch=-0.3039 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.9248, 8.1436, 1.5165, -0.1245, 0.1441, -0.0611, -0.1709, -0.9778, 6.9265, 1.5897, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b47ddc3ed93839d60de6a68525d939bad5f5995eb6d2636edf94ff86f1dc5e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30fff2f34ba7ee74d01ba36d5e1fa69310c85f83d67a60b0279618b850afc73e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9388b19380a3b8bb9ed6a656a8855d0419d79bdc0dd9ab36544f98fa4e77253e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6b47ddc3ed93
wire blob 30fff2f34ba7
wire blob 9388b19380a3
call 13 attempt 0 · /chat/completions · status 200 · 9.725 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]: [-0.5163, 1.8366, 0.8074, 0.1745, -0.4641, -0.2996, 0.0092, -0.0212, 0.8185, 0.6075, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4033 left_y=-0.1339 left_z=0.0158 left_yaw=0.0241 left_pitch=-0.1776 left_roll=0.1462 left_gripper=0.0092 right_x=0.2512 right_y=0.0017 right_z=0.1239 right_yaw=0.0026 right_pitch=-0.2852 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.2239, 7.0906, 1.5018, -0.0952, 0.0464, 0.7497, -0.212, -1.0872, 6.7624, 1.6044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.13, \"left_z\": 0.02}, \"note\": \"The wrist cam now shows the block between the open jaws, centered laterally but still a touch ahead of the fingertips. Nudging 2 cm forward and down to 2 cm so the block is fully inside the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HR6T3gTFsyvHnHuiMMkEFZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01HR6T3gTFsyvHnHuiMMkEFZ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4553, 1.9324, 0.9901, 0.0586, -0.4309, -0.2661, 0.9963, -0.0212, 0.82, 0.6075, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1294 left_z=0.0179 left_yaw=0.0439 left_pitch=-0.2182 left_roll=0.1631 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1202 right_yaw=0.0027 right_pitch=-0.3085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -8.3214, 7.5966, 1.4823, -0.1392, 0.1441, 0.1148, -0.1846, -1.2376, 6.8718, 1.4237, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4542d42656e4d68901a7bf3ab84e7b13558395e10118649d3aa2c4800e8119eb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a8b771c7053f5014430100d241e533f6dc513ae9775faefca74a0fac2e7e149d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:761dd511270326417f2b31112b6e163735450d94d65b01716597078f401dd89d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4542d42656e4
wire blob a8b771c7053f
wire blob 761dd5112703
call 14 attempt 0 · /chat/completions · status 200 · 17.85 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]: [-0.4652, 1.9018, 0.952, 0.0822, -0.437, -0.2729, 0.9951, -0.0212, 0.8185, 0.6075, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4337 left_y=-0.1301 left_z=0.0219 left_yaw=0.0408 left_pitch=-0.2013 left_roll=0.1544 left_gripper=0.9951 right_x=0.2477 right_y=0.0019 right_z=0.121 right_yaw=0.003 right_pitch=-0.3039 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.9248, 8.1436, 1.5165, -0.1245, 0.1441, -0.0611, -0.1709, -0.9778, 6.9265, 1.5897, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The wrist cam shows the red block now sitting between the two fingertips at the bottom of the frame. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_0132prqiJuhocH7DGEZJJwRF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0132prqiJuhocH7DGEZJJwRF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4568, 1.956, 0.9932, 0.0444, -0.4309, -0.2703, 0.4436, -0.0212, 0.823, 0.6075, -0.688, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4365 left_y=-0.1284 left_z=0.0067 left_yaw=0.0486 left_pitch=-0.2483 left_roll=0.1773 left_gripper=0.4436 right_x=0.2454 right_y=0.0019 right_z=0.1181 right_yaw=0.0028 right_pitch=-0.3203 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -11.2889, 5.2718, 1.4774, -0.2222, 0.0317, 1.033, -0.1436, -1.1829, 6.7214, 1.4774, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a09cb6d035274b36a6c3e94ecefee57ad87583eb2c72a47c1312a7e14da931e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0df23d3699ee3bcabf9fa61009a117a4c0a8c4d55cf9d728f408cba4b1e171c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23e3b71e0ee1c9abb3bc2a8ec37b683e2d9a45e824b5990ece0ad2a77c02ebc1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a09cb6d03527
wire blob 0df23d3699ee
wire blob 23e3b71e0ee1
call 15 attempt 0 · /chat/completions · status 200 · 17.79 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]: [-0.4553, 1.9324, 0.9901, 0.0586, -0.4309, -0.2661, 0.9963, -0.0212, 0.82, 0.6075, -0.6792, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1294 left_z=0.0179 left_yaw=0.0439 left_pitch=-0.2182 left_roll=0.1631 left_gripper=0.9963 right_x=0.2471 right_y=0.0018 right_z=0.1202 right_yaw=0.0027 right_pitch=-0.3085 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.9915, -8.3214, 7.5966, 1.4823, -0.1392, 0.1441, 0.1148, -0.1846, -1.2376, 6.8718, 1.4237, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.56, \"left_y\": -0.17, \"left_z\": 0.15}, \"note\": \"The gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the fingers. Lifting to 15 cm and carrying it toward the bowl, which in the top camera sits about 20 cm further along +x and a little to -y.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LdPhugxBWBWw4yQVmP2Uk2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01LdPhugxBWBWw4yQVmP2Uk2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4267, 2.2257, 1.98, -0.6491, -0.4137, -0.2642, 0.4473, -0.0212, 0.8246, 0.6075, -0.7033, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5572 left_y=-0.1713 left_z=0.1393 left_yaw=0.0591 left_pitch=-0.2345 left_roll=0.1578 left_gripper=0.4473 right_x=0.2425 right_y=0.002 right_z=0.1155 right_yaw=0.0033 right_pitch=-0.3371 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -12.7795, 8.4034, 1.0525, -0.1587, 0.2125, 1.033, -0.1026, -1.1556, 6.7077, 1.4969, -0.0415, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82244b1215f5dcbd423cfa15fe85c3fca3a707053d35a2eb26556140633715d6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c6f3474f74768989ee91730df97beb2e5a36c696e02f7625e1bacd79bc0625c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0cefbf96dabab40db894f8d5fa985e542719960c3025dc23f4007a349902b381"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 82244b1215f5
wire blob 0c6f3474f747
wire blob 0cefbf96daba
call 16 attempt 0 · /chat/completions · status 200 · 15.82 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]: [-0.4568, 1.956, 0.9932, 0.0444, -0.4309, -0.2703, 0.4436, -0.0212, 0.823, 0.6075, -0.688, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4365 left_y=-0.1284 left_z=0.0067 left_yaw=0.0486 left_pitch=-0.2483 left_roll=0.1773 left_gripper=0.4436 right_x=0.2454 right_y=0.0019 right_z=0.1181 right_yaw=0.0028 right_pitch=-0.3203 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -11.2889, 5.2718, 1.4774, -0.2222, 0.0317, 1.033, -0.1436, -1.1829, 6.7214, 1.4774, -0.0415, -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\": 0.38, \"left_y\": -0.31, \"left_z\": 0.15}, \"note\": \"Block is securely held. In the top camera the arm moved up-left while the bowl sits center-right, so the bowl is actually at lower x and further -y than I thought (roughly x\\u22480.37, y\\u2248-0.32). Carrying the block over toward that position at 15 cm height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01F9e1Fh2gD9qLNutwucPXXk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01F9e1Fh2gD9qLNutwucPXXk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9028, 2.0861, 1.7538, -0.8482, -0.6338, -0.6991, 0.4486, -0.0212, 0.828, 0.6075, -0.7242, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3835 left_y=-0.3114 left_z=0.1222 left_yaw=0.0273 left_pitch=-0.2855 left_roll=0.196 left_gripper=0.4486 right_x=0.2383 right_y=0.0021 right_z=0.1117 right_yaw=0.0035 right_pitch=-0.3615 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -14.7487, 9.0188, 0.9109, -0.5836, -0.1441, 1.0281, -0.1709, -0.9094, 6.735, 1.536, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:438abe91805d29b9bffb5698a8e8679edbbe4300a733ed398500de84216cc5e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db7ce538a820c13b180a6079281d721ccafd6f9e5b8da18be6ab254828ff467f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec70d73e91764da3910ce28c60c492211e8effbe697d65f69da95b19ea4e57d7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 438abe91805d
wire blob db7ce538a820
wire blob ec70d73e9176
call 17 attempt 0 · /chat/completions · status 200 · 20.66 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]: [-0.4267, 2.2257, 1.98, -0.6491, -0.4137, -0.2642, 0.4473, -0.0212, 0.8246, 0.6075, -0.7033, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5572 left_y=-0.1713 left_z=0.1393 left_yaw=0.0591 left_pitch=-0.2345 left_roll=0.1578 left_gripper=0.4473 right_x=0.2425 right_y=0.002 right_z=0.1155 right_yaw=0.0033 right_pitch=-0.3371 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -12.7795, 8.4034, 1.0525, -0.1587, 0.2125, 1.033, -0.1026, -1.1556, 6.7077, 1.4969, -0.0415, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.415, \"left_y\": -0.35, \"left_z\": 0.09}, \"note\": \"The wrist cam shows the bowl's rim at the bottom-right of the frame, so the bowl center is a bit further forward and to the right of the gripper. Shifting 3 cm forward, 4 cm right and lowering to 9 cm to center the block over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GquxAvdAK7QpivoJHdAzKW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01GquxAvdAK7QpivoJHdAzKW"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9012, 2.2971, 1.9457, -0.8726, -0.6319, -0.7189, 0.4486, -0.0212, 0.8307, 0.6075, -0.7364, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4062 left_y=-0.3393 left_z=0.0816 left_yaw=0.0495 left_pitch=-0.3103 left_roll=0.2182 left_gripper=0.4486 right_x=0.2358 right_y=0.0021 right_z=0.1093 right_yaw=0.0033 right_pitch=-0.3764 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -13.8598, 9.3333, 0.7009, -0.4029, 0.1245, 1.0281, -0.0752, -1.1966, 6.6393, 1.409, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2d61202ed9780461fce7c79ed51107d7909995ee495d848143edb096b23f044d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6ee1d74a1fd57dbae20bccb6fc3fa4ea5c147a3d9df00892c5de572b60970ac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4ca6631db158234c8544808a1b53d22d87907012ea325dd2aec1e99e5f9a60c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2d61202ed978
wire blob f6ee1d74a1fd
wire blob e4ca6631db15
call 18 attempt 0 · /chat/completions · status 200 · 9.608 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9028, 2.0861, 1.7538, -0.8482, -0.6338, -0.6991, 0.4486, -0.0212, 0.828, 0.6075, -0.7242, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3835 left_y=-0.3114 left_z=0.1222 left_yaw=0.0273 left_pitch=-0.2855 left_roll=0.196 left_gripper=0.4486 right_x=0.2383 right_y=0.0021 right_z=0.1117 right_yaw=0.0035 right_pitch=-0.3615 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -14.7487, 9.0188, 0.9109, -0.5836, -0.1441, 1.0281, -0.1709, -0.9094, 6.735, 1.536, -0.0366, -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\": 0.41, \"left_y\": -0.395, \"left_z\": 0.06}, \"note\": \"The wrist cam still shows the bowl rim only at the right edge, so the bowl center is further to the right (-y) of the gripper. Sliding 5.5 cm right and down to 6 cm so the block hangs over the bowl interior before releasing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BEi2Tfhqj9Kosg5V94GT68",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01BEi2Tfhqj9Kosg5V94GT68"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9558, 2.5538, 2.31, -1.0245, -0.627, -0.7872, 0.4486, -0.0212, 0.8333, 0.6075, -0.7467, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.408 left_y=-0.3917 left_z=0.0542 left_yaw=0.0427 left_pitch=-0.3311 left_roll=0.2085 left_gripper=0.4486 right_x=0.2337 right_y=0.0021 right_z=0.1073 right_yaw=0.0034 right_pitch=-0.3894 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -14.3385, 8.1983, 0.4908, -0.6032, 0.0806, 1.0281, -0.1299, -1.2923, 6.7487, 1.3944, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d05f72550d863cc7745a705a85be3013b23d1bf33a4a12181bf02fcc119cb527"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7eb5d6a21531686fff0b6f38291a4b66e9b69e9dd96a201732556210894178b0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d7144a5b40c427415731ffc384c7293a5882e95cdbdea839432dee1d92318f6e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d05f72550d86
wire blob 7eb5d6a21531
wire blob d7144a5b40c4
call 19 attempt 0 · /chat/completions · status 200 · 13.58 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 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]: [-0.9012, 2.2971, 1.9457, -0.8726, -0.6319, -0.7189, 0.4486, -0.0212, 0.8307, 0.6075, -0.7364, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4062 left_y=-0.3393 left_z=0.0816 left_yaw=0.0495 left_pitch=-0.3103 left_roll=0.2182 left_gripper=0.4486 right_x=0.2358 right_y=0.0021 right_z=0.1093 right_yaw=0.0033 right_pitch=-0.3764 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -13.8598, 9.3333, 0.7009, -0.4029, 0.1245, 1.0281, -0.0752, -1.1966, 6.6393, 1.409, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now directly over the bowl interior. Releasing it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0}, \"note\": \"The wrist cam shows the held block centered over the bowl's white interior at about 5 cm height. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LHawTqdVfgHzN6gFHuHWpf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01LHawTqdVfgHzN6gFHuHWpf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9607, 2.5786, 2.3157, -1.0355, -0.625, -0.7944, 0.9955, -0.0212, 0.8341, 0.6075, -0.7479, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.3918 left_z=0.0419 left_yaw=0.0499 left_pitch=-0.3479 left_roll=0.2297 left_gripper=0.9955 right_x=0.2335 right_y=0.0021 right_z=0.107 right_yaw=0.0035 right_pitch=-0.3913 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -16.6906, 5.8735, 0.9402, -0.398, 0.0366, -0.1441, -0.0752, -1.1966, 6.6393, 1.2772, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e2144a56421ae61ca28a7630ceb0550d41fab2e67af3ce120dfba04230b8189"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7347beed0c3bc568729be9eee0f2f743703f63f4d804c66b215ec8faf05868be"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b13b3350e2ea27ea2323f8eb1f753f2749bc9d28540f59627a3475a1a6b2a63"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9e2144a56421
wire blob 7347beed0c3b
wire blob 0b13b3350e2e