adhoc - adhoc_1eaf9989.json

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
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: 350.6 s
total steps: 96

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

I can see the red block ahead of the left arm and the bowl to its right. I'll start by moving the left arm toward the block area to localize it.

agent noteThe red block appears ahead and slightly right of the left arm in left_cam; moving the left gripper forward, right, and lower to hover near the block for a better view.

move_to

left_x0.3600left_y-0.0800left_z0.1200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3851, -0.0193, -0.0334, 0.999, -0.0212, 0.7952, 0.6071, -0.3962, -0.0196, -0.0296, 0.9996] state[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4427, 10.1949, 1.8926, -0.0659, 0.1587, -0.1197, -0.3897, -1.6068, 9.7162, 1.9072, -0.0317, 0.1294, -0.0562] 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 can see the red block ahead of the left arm and the bowl to its right. I'll start by moving the left arm toward the block area to localize it.

move_to({"targets": {"left_x": 0.36, "left_y": -0.08, "left_z": 0.12, "left_gripper": 1}, "note": "The red block appears ahead and slightly right of the left arm in left_cam; moving the left gripper forward, right, and lower to hover near the block for a better view."})

tool

executing move_to over 8 steps (0.8s)

step 8

assistant

agent noteLeft wrist camera shows the red block just ahead and slightly right of the gripper fingers. Moving forward, a bit right, and lowering toward grasp height.

move_to

left_x0.4000left_y-0.0900left_z0.0500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3676, 1.2465, 0.5591, -0.0193, -0.2806, -0.2203, 0.999, -0.0212, 0.8005, 0.6121, -0.4328, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3416 left_y=-0.0753 left_z=0.0976 left_yaw=-0.0269 left_pitch=-0.101 left_roll=0.0254 left_gripper=0.999 right_x=0.2889 right_y=0.001 right_z=0.1711 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [-0.2803, -4.6838, 8.8, 1.8388, -0.2808, 0.0073, -0.1197, -0.1709, -1.6479, 6.5846, 2.0342, -0.0171, -0.0855, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.09, "left_z": 0.05, "left_pitch": 0, "left_gripper": 1}, "note": "Left wrist camera shows the red block just ahead and slightly right of the gripper fingers. Moving forward, a bit right, and lowering toward grasp height."})

tool

executing move_to over 5 steps (0.5s)

step 13

assistant

agent noteThe block appears at the right edge of the left wrist camera, so it is still to the robot's right of the gripper. Shifting right and lowering close to table height before grasping.

move_to

left_x0.3950left_y-0.1050left_z0.0150left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3584, 1.6302, 0.5488, 0.3466, -0.2966, -0.2066, 0.999, -0.0212, 0.8043, 0.6094, -0.4545, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3764 left_y=-0.082 left_z=0.0274 left_yaw=-0.011 left_pitch=-0.1244 left_roll=0.0557 left_gripper=0.999 right_x=0.2856 right_y=0.0011 right_z=0.1646 right_yaw=-0.0017 right_pitch=-0.0652 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.212, -7.1453, 6.9128, 1.9756, -0.0806, 0.1392, -0.1197, -0.0889, -1.5111, 7.3641, 1.8681, -0.0855, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.105, "left_z": 0.015, "left_gripper": 1}, "note": "The block appears at the right edge of the left wrist camera, so it is still to the robot's right of the gripper. Shifting right and lowering close to table height before grasping."})

tool

executing move_to over 3 steps (0.3s)

step 16

assistant

agent noteThe block is still at the far right edge of the left wrist camera, meaning it lies further to the arm's right. Shifting the gripper about 3 cm right at grasp height.

move_to

left_x0.3950left_y-0.1150left_z0.0200left_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]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8043, 0.6094, -0.4614, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2845 right_y=0.0011 right_z=0.1632 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [0.3624, -7.3094, 6.3521, 1.8779, -0.0952, 0.0464, -0.1197, -0.0752, -1.2376, 7.1453, 1.7656, -0.0611, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.115, "left_z": 0.02, "left_gripper": 1}, "note": "The block is still at the far right edge of the left wrist camera, meaning it lies further to the arm's right. Shifting the gripper about 3 cm right at grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 19

assistant

agent noteThe arm barely moved last step; the block still sits at the lower-right edge of the left wrist view. Raising slightly and commanding a larger shift to the right to get the gripper over the block.

move_to

left_x0.4000left_y-0.1300left_z0.0450left_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]: [-0.3584, 1.6653, 0.5499, 0.4648, -0.297, -0.1959, 0.999, -0.0212, 0.8062, 0.6094, -0.4816, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.391 left_y=-0.0874 left_z=0.0366 left_yaw=-0.0189 left_pitch=-0.0452 left_roll=0.0359 left_gripper=0.999 right_x=0.2815 right_y=0.0012 right_z=0.1588 right_yaw=-0.0019 right_pitch=-0.0942 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [0.335, -7.3094, 6.5026, 1.8828, -0.0708, 0.0855, -0.1197, -0.0479, -1.347, 6.9675, 1.8828, -0.0855, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.13, "left_z": 0.045, "left_gripper": 1}, "note": "The arm barely moved last step; the block still sits at the lower-right edge of the left wrist view. Raising slightly and commanding a larger shift to the right to get the gripper over the block."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe left arm hasn't moved for two commands—joints identical—so the last targets may have been rejected. Trying a small single-axis shift right (y −0.087 → −0.11) at slightly lower height to inch toward the block.

move_to

left_y-0.1100left_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]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8074, 0.6094, -0.5007, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2786 right_y=0.0012 right_z=0.1549 right_yaw=-0.002 right_pitch=-0.1144 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [0.1983, -7.2547, 6.3248, 1.873, -0.105, 0.105, -0.1197, -0.0342, -1.3333, 7.1316, 1.8095, -0.0513, -0.0317, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.11, "left_z": 0.03}, "note": "The left arm hasn't moved for two commands\u2014joints identical\u2014so the last targets may have been rejected. Trying a small single-axis shift right (y \u22120.087 \u2192 \u22120.11) at slightly lower height to inch toward the block."})

tool

executing move_to over 3 steps (0.3s)

step 26

assistant

agent noteThe block now sits just forward and right of the fingers in the wrist view. Moving slightly forward, right, and down to table height to straddle the block.

move_to

left_x0.4000left_y-0.1200left_z0.0100

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, 1.7061, 0.5526, 0.4637, -0.3321, -0.2279, 0.9988, -0.0212, 0.8074, 0.6094, -0.5121, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3828 left_y=-0.1068 left_z=0.0232 left_yaw=-0.0402 left_pitch=-0.0734 left_roll=0.0444 left_gripper=0.9988 right_x=0.2767 right_y=0.0012 right_z=0.1527 right_yaw=-0.002 right_pitch=-0.1259 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [0.2256, -6.3795, 7.5419, 1.6972, -0.359, -0.1197, -0.022, -0.1299, -1.0872, 7.159, 1.7802, -0.0171, -0.0415, -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": 0.4, "left_y": -0.12, "left_z": 0.01}, "note": "The block now sits just forward and right of the fingers in the wrist view. Moving slightly forward, right, and down to table height to straddle the block."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteThe block is at the lower-right edge of the wrist camera, so the gripper needs to shift further right by a couple centimeters. Moving right to y=-0.135 at table height.

move_to

left_x0.3950left_y-0.1350left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4385, 1.7832, 0.5926, 0.474, -0.3523, -0.2485, 0.9989, -0.0212, 0.807, 0.6094, -0.5262, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3898 left_y=-0.1115 left_z=0.01 left_yaw=-0.0236 left_pitch=-0.0923 left_roll=0.0506 left_gripper=0.9989 right_x=0.2744 right_y=0.0013 right_z=0.1502 right_yaw=-0.0018 right_pitch=-0.1396 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.759, -7.4188, 5.9145, 1.9072, -0.0806, 0.0611, -0.0122, -0.0479, -1.0735, 7.0359, 1.7509, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.135, "left_z": 0.005}, "note": "The block is at the lower-right edge of the wrist camera, so the gripper needs to shift further right by a couple centimeters. Moving right to y=-0.135 at table height."})

tool

executing move_to over 3 steps (0.3s)

step 31

assistant

agent noteThe block remains at the right edge of the wrist camera; the gripper is still a few cm left of it. Continuing to shift right toward y=-0.15 with a slight forward move.

move_to

left_x0.4000left_y-0.1500left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4919, 1.8313, 0.6258, 0.4641, -0.3851, -0.284, 0.9982, -0.0212, 0.8116, 0.6094, -0.5465, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3892 left_y=-0.1292 left_z=0.002 left_yaw=-0.0302 left_pitch=-0.1044 left_roll=0.0531 left_gripper=0.9982 right_x=0.2712 right_y=0.0013 right_z=0.1453 right_yaw=-0.0021 right_pitch=-0.1644 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.1983, -6.3932, 6.5026, 1.536, -0.3053, 0.0513, -0.0757, -0.1846, -1.4564, 6.8991, 1.7558, -0.0464, -0.0562, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.005}, "note": "The block remains at the right edge of the wrist camera; the gripper is still a few cm left of it. Continuing to shift right toward y=-0.15 with a slight forward move."})

tool

executing move_to over 2 steps (0.2s)

step 33

assistant

agent noteBlock is now larger in the wrist view but still up and to the right of the fingers; top camera confirms the gripper is just left of the block. Moving ~1.5 cm forward and right to center it between the jaws.

move_to

left_x0.4120left_y-0.1580left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5194, 1.8526, 0.6735, 0.4206, -0.4034, -0.3107, 0.9982, -0.0212, 0.8116, 0.6094, -0.5678, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3932 left_y=-0.1408 left_z=0.0022 left_yaw=-0.0277 left_pitch=-0.1131 left_roll=0.0513 left_gripper=0.9982 right_x=0.2676 right_y=0.0014 right_z=0.1415 right_yaw=-0.0018 right_pitch=-0.1858 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [-0.841, -6.9128, 6.4205, 1.5702, -0.3248, -0.0269, -0.0171, -0.0889, -1.1556, 6.8718, 1.7705, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.412, "left_y": -0.158, "left_z": 0.002}, "note": "Block is now larger in the wrist view but still up and to the right of the fingers; top camera confirms the gripper is just left of the block. Moving ~1.5 cm forward and right to center it between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 35

assistant

agent noteThe block is close but still to the right of the finger gap in the wrist view. Shifting another ~2 cm right and 1 cm forward to bring it between the jaws.

move_to

left_x0.4150left_y-0.1750left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5362, 1.8946, 0.7368, 0.3958, -0.4137, -0.3283, 0.9982, -0.0212, 0.8124, 0.6094, -0.577, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4035 left_y=-0.153 left_z=0.0021 left_yaw=-0.0266 left_pitch=-0.1121 left_roll=0.0456 left_gripper=0.9982 right_x=0.266 right_y=0.0015 right_z=0.1397 right_yaw=-0.0016 right_pitch=-0.1957 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.4171, -7.5282, 6.1607, 1.3748, -0.2466, -0.0122, -0.0122, 0.0615, -1.1692, 6.9812, 1.7607, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.415, "left_y": -0.175, "left_z": 0.002}, "note": "The block is close but still to the right of the finger gap in the wrist view. Shifting another ~2 cm right and 1 cm forward to bring it between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 37

assistant

agent noteBlock is still just right of the finger gap; motions are being clamped to ~1 cm per step. Commanding a larger rightward target (y=-0.19) to finally center the block between the jaws.

move_to

left_x0.4180left_y-0.1900left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5533, 1.9289, 0.7959, 0.3611, -0.4316, -0.35, 0.9982, -0.0212, 0.8146, 0.6094, -0.6041, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4117 left_y=-0.1632 left_z=0.0021 left_yaw=-0.0172 left_pitch=-0.1139 left_roll=0.0445 left_gripper=0.9982 right_x=0.2613 right_y=0.0016 right_z=0.1344 right_yaw=-0.0015 right_pitch=-0.225 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.8137, -7.5282, 6.5299, 1.4286, -0.2369, 0.0708, -0.0122, -0.0752, -1.3333, 6.8308, 1.8632, -0.0806, -0.0757, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.418, "left_y": -0.19, "left_z": 0.002}, "note": "Block is still just right of the finger gap; motions are being clamped to ~1 cm per step. Commanding a larger rightward target (y=-0.19) to finally center the block between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 40

assistant

agent noteThe block now sits centered between the fingertips in the wrist view but a bit forward. Advancing about 2 cm forward so the jaws straddle it.

move_to

left_x0.4350left_y-0.1880left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5968, 1.9652, 0.857, 0.3256, -0.4572, -0.3897, 0.9982, -0.0212, 0.8154, 0.6094, -0.6178, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4153 left_y=-0.1835 left_z=0.0022 left_yaw=-0.0185 left_pitch=-0.1125 left_roll=0.0346 left_gripper=0.9982 right_x=0.2589 right_y=0.0016 right_z=0.1319 right_yaw=-0.0015 right_pitch=-0.2395 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.6769, -8.1573, 6.5299, 1.326, -0.2515, 0.0073, -0.0122, -0.1436, -1.2103, 6.9812, 1.6532, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.188, "left_z": 0.002}, "note": "The block now sits centered between the fingertips in the wrist view but a bit forward. Advancing about 2 cm forward so the jaws straddle it."})

tool

executing move_to over 2 steps (0.2s)

step 42

assistant

agent noteThe block is nearly between the jaws, slightly forward still. Advancing another 2 cm so the fingers fully straddle it before closing.

move_to

left_x0.4450left_y-0.1880left_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5941, 1.9911, 0.9005, 0.3061, -0.461, -0.395, 0.9982, -0.0212, 0.8154, 0.6094, -0.6243, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4236 left_y=-0.187 left_z=0.0023 left_yaw=-0.0098 left_pitch=-0.1125 left_roll=0.0337 left_gripper=0.9982 right_x=0.2577 right_y=0.0016 right_z=0.1309 right_yaw=-0.0015 right_pitch=-0.246 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.8, -8.0342, 6.8991, 1.4383, -0.0562, 0.1538, -0.0122, -0.212, -1.1419, 6.9128, 1.5946, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.445, "left_y": -0.188, "left_z": 0.002}, "note": "The block is nearly between the jaws, slightly forward still. Advancing another 2 cm so the fingers fully straddle it before closing."})

tool

executing move_to over 2 steps (0.2s)

step 44

assistant

agent noteThe block now sits between the fingertips in the wrist camera. Closing the left gripper to grasp it.

move_to

left_gripper0.0000left_x0.4370left_y-0.1870

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, 2.0079, 0.923, 0.3061, -0.458, -0.3954, 0.9982, -0.0212, 0.8173, 0.6094, -0.6361, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.432 left_y=-0.1829 left_z=0.0022 left_yaw=0.0064 left_pitch=-0.1089 left_roll=0.0285 left_gripper=0.9982 right_x=0.2555 right_y=0.0016 right_z=0.1285 right_yaw=-0.0017 right_pitch=-0.2598 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.5812, -8.9915, 6.8444, 1.4139, -0.1734, 0.0562, -0.0122, -0.1026, -1.306, 6.8308, 1.5604, -0.0269, -0.0366, -0.0073] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0, "left_x": 0.437, "left_y": -0.187}, "note": "The block now sits between the fingertips in the wrist camera. Closing the left gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 54

assistant

agent noteThe gripper closed almost fully (0.01), meaning it missed the block, which is still just ahead of the fingertips in the wrist view. Reopening and advancing ~2 cm forward to straddle the block.

move_to

left_gripper1.0000left_x0.4500left_y-0.1850left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5755, 2.0079, 0.923, 0.2928, -0.4576, -0.3943, 0.0106, -0.0212, 0.8173, 0.6094, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4302 left_y=-0.1818 left_z=-0.0 left_yaw=0.0063 left_pitch=-0.1203 left_roll=0.0365 left_gripper=0.0106 right_x=0.2516 right_y=0.0017 right_z=0.125 right_yaw=-0.0015 right_pitch=-0.2811 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [-0.2667, -8.9778, 6.4752, 1.5165, -0.1001, 0.1538, 0.862, 0.0068, -1.1419, 6.7897, 1.6142, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.45, "left_y": -0.185, "left_z": 0.0}, "note": "The gripper closed almost fully (0.01), meaning it missed the block, which is still just ahead of the fingertips in the wrist view. Reopening and advancing ~2 cm forward to straddle the block."})

tool

executing move_to over 10 steps (1.0s)

step 64

assistant

agent noteGripper reopened; the block sits centered but still ahead of the fingertips in the wrist view. Advancing ~3 cm forward so the jaws surround it before closing.

move_to

left_x0.4750left_y-0.1830left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5602, 2.0426, 0.9852, 0.2771, -0.4606, -0.3981, 0.995, -0.0212, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.446 left_y=-0.1828 left_z=0.0027 left_yaw=0.0253 left_pitch=-0.1091 left_roll=0.0288 left_gripper=0.995 right_x=0.248 right_y=0.0019 right_z=0.122 right_yaw=-0.0011 right_pitch=-0.2998 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [0.294, -8.5128, 7.0496, 1.3895, -0.022, 0.1929, -0.0415, -0.0752, -0.9504, 6.7487, 1.5946, -0.0366, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.475, "left_y": -0.183, "left_z": 0.0}, "note": "Gripper reopened; the block sits centered but still ahead of the fingertips in the wrist view. Advancing ~3 cm forward so the jaws surround it before closing."})

tool

executing move_to over 3 steps (0.3s)

step 67

assistant

agent noteThe block now fills the wrist view between the jaws. Advancing a final ~1.5 cm and closing the gripper to grasp it.

move_to

left_x0.4850left_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]: [-0.5312, 2.0953, 1.0683, 0.2615, -0.4568, -0.395, 0.9961, -0.0212, 0.8192, 0.6094, -0.68, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4683 left_y=-0.1806 left_z=0.0037 left_yaw=0.0488 left_pitch=-0.0982 left_roll=0.0207 left_gripper=0.9961 right_x=0.2473 right_y=0.0018 right_z=0.121 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [0.3897, -9.1282, 6.7077, 1.4383, 0.0464, 0.2076, 0.1001, -0.0068, -1.1556, 6.9812, 1.4237, -0.0366, -0.0269, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.485, "left_gripper": 0.0}, "note": "The block now fills the wrist view between the jaws. Advancing a final ~1.5 cm and closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteGripper closed to 0.57 with rising effort, suggesting it is holding the block. Lifting up 15 cm to confirm the grasp.

move_to

left_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]: [-0.5179, 2.1174, 1.1084, 0.2409, -0.45, -0.3985, 0.5707, -0.0212, 0.823, 0.6094, -0.7017, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4772 left_y=-0.1793 left_z=0.0031 left_yaw=0.0588 left_pitch=-0.103 left_roll=0.0155 left_gripper=0.5707 right_x=0.2431 right_y=0.0019 right_z=0.1168 right_yaw=-0.0012 right_pitch=-0.3311 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.759, -8.9778, 8.0889, 1.4823, -0.105, 0.1685, 1.0281, -0.1983, -1.4154, 6.7214, 1.5653, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15}, "note": "Gripper closed to 0.57 with rising effort, suggesting it is holding the block. Lifting up 15 cm to confirm the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteThe lift shows the block still on the table below the fingers—the grasp missed. Reopening the gripper and descending directly onto the block, which appears centered slightly forward in the wrist view.

move_to

left_gripper1.0000left_x0.5000left_y-0.1770left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5163, 1.9007, 1.3334, -0.2543, -0.45, -0.4068, 0.5706, -0.0212, 0.823, 0.6094, -0.7242, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.475 left_y=-0.1772 left_z=0.1131 left_yaw=0.0686 left_pitch=-0.1475 left_roll=0.0385 left_gripper=0.5706 right_x=0.2387 right_y=0.0021 right_z=0.1135 right_yaw=-0.0005 right_pitch=-0.3536 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [-0.212, -13.641, 9.6205, 1.5311, -0.2222, 0.0659, -0.0269, -0.1846, -0.7316, 6.7214, 1.5653, -0.0659, -0.0415, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.5, "left_y": -0.177, "left_z": 0.0}, "note": "The lift shows the block still on the table below the fingers\u2014the grasp missed. Reopening the gripper and descending directly onto the block, which appears centered slightly forward in the wrist view."})

tool

executing move_to over 8 steps (0.8s)

step 95

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4911, 2.1571, 1.2537, 0.0586, -0.4393, -0.4038, 0.9973, -0.0212, 0.8238, 0.6094, -0.7383, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4935 left_y=-0.1747 left_z=0.0048 left_yaw=0.0859 left_pitch=-0.1714 left_roll=0.0471 left_gripper=0.9973 right_x=0.2358 right_y=0.0021 right_z=0.1113 right_yaw=-0.0007 right_pitch=-0.3685 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [0.4855, -10.1949, 5.5043, 0.9158, -0.0757, 0.1929, -0.1538, -0.1846, -1.1419, 6.735, 1.4481, -0.0464, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

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 · 11.23 s

model: claude-fable-5
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, 0.7933, 0.6048, -0.3851, -0.0193, -0.0334, 0.999, -0.0212, 0.7952, 0.6071, -0.3962, -0.0196, -0.0296, 0.9996]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1949, 1.8926, -0.0659, 0.1587, -0.1197, -0.3897, -1.6068, 9.7162, 1.9072, -0.0317, 0.1294, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:81c425e1e8383597dd75a28767091df7cb335e38b475c6a035d5f29cc4e6957d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:145f60b8ce2baac5ae6b426aad6ed7c6df43204cfe4db73d6fc009928abc2528"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4baa7a205f2fb8b93d5980c2d578d4c43ea48df8c6f2df68bf233ef53e8dbb9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 7.305 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "I can see the red block ahead of the left arm and the bowl to its right. I'll start by moving the left arm toward the block area to localize it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.08, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The red block appears ahead and slightly right of the left arm in left_cam; moving the left gripper forward, right, and lower to hover near the block for a better view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TqsuwmwdrM6jR2GzY7pKiv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01TqsuwmwdrM6jR2GzY7pKiv"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3676, 1.2465, 0.5591, -0.0193, -0.2806, -0.2203, 0.999, -0.0212, 0.8005, 0.6121, -0.4328, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3416 left_y=-0.0753 left_z=0.0976 left_yaw=-0.0269 left_pitch=-0.101 left_roll=0.0254 left_gripper=0.999 right_x=0.2889 right_y=0.001 right_z=0.1711 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.6838, 8.8, 1.8388, -0.2808, 0.0073, -0.1197, -0.1709, -1.6479, 6.5846, 2.0342, -0.0171, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:239f0cb78ee70926eb16080d21c9af3d3fa88c62124a3cfdd498d1b44b18a823"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e186a1fea75041fbc96084196cd59d5191dfb2b9d48c9fc17bc3e883554ffbcb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ad85c1712b988f932643a12cc9700cd94da140201acae914234487a0c287f0e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 23.76 s

model: claude-fable-5
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, 0.7933, 0.6048, -0.3851, -0.0193, -0.0334, 0.999, -0.0212, 0.7952, 0.6071, -0.3962, -0.0196, -0.0296, 0.9996]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1949, 1.8926, -0.0659, 0.1587, -0.1197, -0.3897, -1.6068, 9.7162, 1.9072, -0.0317, 0.1294, -0.0562]",
      "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\": -0.09, \"left_z\": 0.05, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Left wrist camera shows the red block just ahead and slightly right of the gripper fingers. Moving forward, a bit right, and lowering toward grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HuDQj76aLVmdL57MpoHwEy",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01HuDQj76aLVmdL57MpoHwEy"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3584, 1.6302, 0.5488, 0.3466, -0.2966, -0.2066, 0.999, -0.0212, 0.8043, 0.6094, -0.4545, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.082 left_z=0.0274 left_yaw=-0.011 left_pitch=-0.1244 left_roll=0.0557 left_gripper=0.999 right_x=0.2856 right_y=0.0011 right_z=0.1646 right_yaw=-0.0017 right_pitch=-0.0652 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.1453, 6.9128, 1.9756, -0.0806, 0.1392, -0.1197, -0.0889, -1.5111, 7.3641, 1.8681, -0.0855, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d452fe812e86b7cfebaa0687fac5df16fdef5f3160100905bda286c27be8b190"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:08621c28f2f529f02a037293746724471cc150167f5e2fdfdee31f93ea0e8702"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6e8e2241e094b9d955a47cb660bff991669c4732dda9ef818bf173a70ff84c9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 6.899 s

model: claude-fable-5
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]: [-0.3676, 1.2465, 0.5591, -0.0193, -0.2806, -0.2203, 0.999, -0.0212, 0.8005, 0.6121, -0.4328, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3416 left_y=-0.0753 left_z=0.0976 left_yaw=-0.0269 left_pitch=-0.101 left_roll=0.0254 left_gripper=0.999 right_x=0.2889 right_y=0.001 right_z=0.1711 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.6838, 8.8, 1.8388, -0.2808, 0.0073, -0.1197, -0.1709, -1.6479, 6.5846, 2.0342, -0.0171, -0.0855, -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\": -0.105, \"left_z\": 0.015, \"left_gripper\": 1}, \"note\": \"The block appears at the right edge of the left wrist camera, so it is still to the robot's right of the gripper. Shifting right and lowering close to table height before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FSseRqggNMR7ExcscsYnm7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01FSseRqggNMR7ExcscsYnm7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8043, 0.6094, -0.4614, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2845 right_y=0.0011 right_z=0.1632 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -7.3094, 6.3521, 1.8779, -0.0952, 0.0464, -0.1197, -0.0752, -1.2376, 7.1453, 1.7656, -0.0611, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28d932963398982df8748927efab3a62236a6ee334a81fa7a2178d8aa2b9e05f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a1ed6181b6c2882fa21c7722e952a0aaf7711d8f5ad39309db200566875bda7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:855a2f809bcc99b405ee0ade2aaeb5dfeef78324ecf1323afea42dfb49902bf7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 9.1 s

model: claude-fable-5
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]: [-0.3584, 1.6302, 0.5488, 0.3466, -0.2966, -0.2066, 0.999, -0.0212, 0.8043, 0.6094, -0.4545, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.082 left_z=0.0274 left_yaw=-0.011 left_pitch=-0.1244 left_roll=0.0557 left_gripper=0.999 right_x=0.2856 right_y=0.0011 right_z=0.1646 right_yaw=-0.0017 right_pitch=-0.0652 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.1453, 6.9128, 1.9756, -0.0806, 0.1392, -0.1197, -0.0889, -1.5111, 7.3641, 1.8681, -0.0855, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.115, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block is still at the far right edge of the left wrist camera, meaning it lies further to the arm's right. Shifting the gripper about 3 cm right at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01G6WqFuuEcsUHaQRUNeKq16",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01G6WqFuuEcsUHaQRUNeKq16"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3584, 1.6653, 0.5499, 0.4648, -0.297, -0.1959, 0.999, -0.0212, 0.8062, 0.6094, -0.4816, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0874 left_z=0.0366 left_yaw=-0.0189 left_pitch=-0.0452 left_roll=0.0359 left_gripper=0.999 right_x=0.2815 right_y=0.0012 right_z=0.1588 right_yaw=-0.0019 right_pitch=-0.0942 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.3094, 6.5026, 1.8828, -0.0708, 0.0855, -0.1197, -0.0479, -1.347, 6.9675, 1.8828, -0.0855, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b8c0efad145aa90acc42e965a1fd86536b1eda255b8f8c05b984b302b0b0f0bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e65befbe2cd4817a22f4fc37c8677e9be1df2bc659a3d2b757060016d0049ffc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1fb2e10b3505bd106b28b3aed19309248fadd15f596109a5085b017289a1521f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 14.93 s

model: claude-fable-5
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]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8043, 0.6094, -0.4614, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2845 right_y=0.0011 right_z=0.1632 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -7.3094, 6.3521, 1.8779, -0.0952, 0.0464, -0.1197, -0.0752, -1.2376, 7.1453, 1.7656, -0.0611, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.13, \"left_z\": 0.045, \"left_gripper\": 1}, \"note\": \"The arm barely moved last step; the block still sits at the lower-right edge of the left wrist view. Raising slightly and commanding a larger shift to the right to get the gripper over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ESdnfQJ7Fxbrv8FfWLMLk6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01ESdnfQJ7Fxbrv8FfWLMLk6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8074, 0.6094, -0.5007, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2786 right_y=0.0012 right_z=0.1549 right_yaw=-0.002 right_pitch=-0.1144 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.2547, 6.3248, 1.873, -0.105, 0.105, -0.1197, -0.0342, -1.3333, 7.1316, 1.8095, -0.0513, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5802575685b98f68246a8173073a4bf304c023b9e5f84e46c9ba0f42c19dfc73"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b738890b28610f9b49aad3103fd81c40f3d3060acb15a97497e89cad2b66353f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5046d5dca2e34d26606b45bf52487731561169e28d64235e8fd7f1d8b6a00249"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 6.532 s

model: claude-fable-5
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]: [-0.3584, 1.6653, 0.5499, 0.4648, -0.297, -0.1959, 0.999, -0.0212, 0.8062, 0.6094, -0.4816, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.391 left_y=-0.0874 left_z=0.0366 left_yaw=-0.0189 left_pitch=-0.0452 left_roll=0.0359 left_gripper=0.999 right_x=0.2815 right_y=0.0012 right_z=0.1588 right_yaw=-0.0019 right_pitch=-0.0942 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.3094, 6.5026, 1.8828, -0.0708, 0.0855, -0.1197, -0.0479, -1.347, 6.9675, 1.8828, -0.0855, -0.0611, -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_y\": -0.11, \"left_z\": 0.03}, \"note\": \"The left arm hasn't moved for two commands\\u2014joints identical\\u2014so the last targets may have been rejected. Trying a small single-axis shift right (y \\u22120.087 \\u2192 \\u22120.11) at slightly lower height to inch toward the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JjjcEVp2FAzwi2mCV2451V",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01JjjcEVp2FAzwi2mCV2451V"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4267, 1.7061, 0.5526, 0.4637, -0.3321, -0.2279, 0.9988, -0.0212, 0.8074, 0.6094, -0.5121, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3828 left_y=-0.1068 left_z=0.0232 left_yaw=-0.0402 left_pitch=-0.0734 left_roll=0.0444 left_gripper=0.9988 right_x=0.2767 right_y=0.0012 right_z=0.1527 right_yaw=-0.002 right_pitch=-0.1259 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -6.3795, 7.5419, 1.6972, -0.359, -0.1197, -0.022, -0.1299, -1.0872, 7.159, 1.7802, -0.0171, -0.0415, -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,$blob:0fbf3d5e02e1128a2a6825ec0a08a303e5cceed7658f3aa46525bf7109d3a4e4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b529e3d96f7abf0055aaac8869f15ea4ce9420ae0442b6fc964181f3bea9fa9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6cd8419f88da1af5844afee4161b797810900c2d823d9a15dc8f439fa6e19195"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 10.46 s

model: claude-fable-5
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]: [-0.3584, 1.6653, 0.5495, 0.4644, -0.297, -0.1959, 0.999, -0.0212, 0.8074, 0.6094, -0.5007, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.0874 left_z=0.0364 left_yaw=-0.0189 left_pitch=-0.0459 left_roll=0.0362 left_gripper=0.999 right_x=0.2786 right_y=0.0012 right_z=0.1549 right_yaw=-0.002 right_pitch=-0.1144 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.2547, 6.3248, 1.873, -0.105, 0.105, -0.1197, -0.0342, -1.3333, 7.1316, 1.8095, -0.0513, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.12, \"left_z\": 0.01}, \"note\": \"The block now sits just forward and right of the fingers in the wrist view. Moving slightly forward, right, and down to table height to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0178FEUEviDUvfn9mKR3Wccg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0178FEUEviDUvfn9mKR3Wccg"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4385, 1.7832, 0.5926, 0.474, -0.3523, -0.2485, 0.9989, -0.0212, 0.807, 0.6094, -0.5262, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1115 left_z=0.01 left_yaw=-0.0236 left_pitch=-0.0923 left_roll=0.0506 left_gripper=0.9989 right_x=0.2744 right_y=0.0013 right_z=0.1502 right_yaw=-0.0018 right_pitch=-0.1396 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -7.4188, 5.9145, 1.9072, -0.0806, 0.0611, -0.0122, -0.0479, -1.0735, 7.0359, 1.7509, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:472f84f0554e48550fdf06da76f591aa3569d370442ea51f79ce70ae8a498f55"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69dd622549759e90d6d90e070d84671bf96a70ff2317117836287f0433d040fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:18543ac88bea641eb17f8a4d6b5a47e13ce1371afe6c64cf0c5234b4992ce1b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 6.745 s

model: claude-fable-5
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]: [-0.4267, 1.7061, 0.5526, 0.4637, -0.3321, -0.2279, 0.9988, -0.0212, 0.8074, 0.6094, -0.5121, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3828 left_y=-0.1068 left_z=0.0232 left_yaw=-0.0402 left_pitch=-0.0734 left_roll=0.0444 left_gripper=0.9988 right_x=0.2767 right_y=0.0012 right_z=0.1527 right_yaw=-0.002 right_pitch=-0.1259 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -6.3795, 7.5419, 1.6972, -0.359, -0.1197, -0.022, -0.1299, -1.0872, 7.159, 1.7802, -0.0171, -0.0415, -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\": 0.395, \"left_y\": -0.135, \"left_z\": 0.005}, \"note\": \"The block is at the lower-right edge of the wrist camera, so the gripper needs to shift further right by a couple centimeters. Moving right to y=-0.135 at table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VCMDR2XJEdJcs9pruV8wbP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01VCMDR2XJEdJcs9pruV8wbP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4919, 1.8313, 0.6258, 0.4641, -0.3851, -0.284, 0.9982, -0.0212, 0.8116, 0.6094, -0.5465, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3892 left_y=-0.1292 left_z=0.002 left_yaw=-0.0302 left_pitch=-0.1044 left_roll=0.0531 left_gripper=0.9982 right_x=0.2712 right_y=0.0013 right_z=0.1453 right_yaw=-0.0021 right_pitch=-0.1644 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.3932, 6.5026, 1.536, -0.3053, 0.0513, -0.0757, -0.1846, -1.4564, 6.8991, 1.7558, -0.0464, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00fc3dc177644fd81d87626dbf9d4a29063d72adc0d240e0aa6c3bfbadab9741"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcc821aac1caa56ced595f5f33af4e2b0ddabe5a8f22d477d645a5d861ca69a2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0710c0383b3879b11e38625bfbc4ae0f1dfde2576b0586ad5f44f034e3b740a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 6.251 s

model: claude-fable-5
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]: [-0.4385, 1.7832, 0.5926, 0.474, -0.3523, -0.2485, 0.9989, -0.0212, 0.807, 0.6094, -0.5262, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1115 left_z=0.01 left_yaw=-0.0236 left_pitch=-0.0923 left_roll=0.0506 left_gripper=0.9989 right_x=0.2744 right_y=0.0013 right_z=0.1502 right_yaw=-0.0018 right_pitch=-0.1396 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -7.4188, 5.9145, 1.9072, -0.0806, 0.0611, -0.0122, -0.0479, -1.0735, 7.0359, 1.7509, -0.0513, -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\": 0.4, \"left_y\": -0.15, \"left_z\": 0.005}, \"note\": \"The block remains at the right edge of the wrist camera; the gripper is still a few cm left of it. Continuing to shift right toward y=-0.15 with a slight forward move.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V58TG7oKXgKiLNrgJ2FzbB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01V58TG7oKXgKiLNrgJ2FzbB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5194, 1.8526, 0.6735, 0.4206, -0.4034, -0.3107, 0.9982, -0.0212, 0.8116, 0.6094, -0.5678, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.1408 left_z=0.0022 left_yaw=-0.0277 left_pitch=-0.1131 left_roll=0.0513 left_gripper=0.9982 right_x=0.2676 right_y=0.0014 right_z=0.1415 right_yaw=-0.0018 right_pitch=-0.1858 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -6.9128, 6.4205, 1.5702, -0.3248, -0.0269, -0.0171, -0.0889, -1.1556, 6.8718, 1.7705, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d286fc84fa9a153438c3355bc18724aaa1b50ffb0f07d092a8a9dc05b4e451a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c1310ac56b7fb2053e6b98bfe488195de40566f63284a51dc6a9c9a98de9c70"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:193d587be1d6444424ec781f185612c35cfbb2ecf6edd53144e16ee5f71228d3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 6.121 s

model: claude-fable-5
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]: [-0.4919, 1.8313, 0.6258, 0.4641, -0.3851, -0.284, 0.9982, -0.0212, 0.8116, 0.6094, -0.5465, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3892 left_y=-0.1292 left_z=0.002 left_yaw=-0.0302 left_pitch=-0.1044 left_roll=0.0531 left_gripper=0.9982 right_x=0.2712 right_y=0.0013 right_z=0.1453 right_yaw=-0.0021 right_pitch=-0.1644 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.3932, 6.5026, 1.536, -0.3053, 0.0513, -0.0757, -0.1846, -1.4564, 6.8991, 1.7558, -0.0464, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.412, \"left_y\": -0.158, \"left_z\": 0.002}, \"note\": \"Block is now larger in the wrist view but still up and to the right of the fingers; top camera confirms the gripper is just left of the block. Moving ~1.5 cm forward and right to center it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RyaQD4T4fGHHwuGPDUSE1h",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01RyaQD4T4fGHHwuGPDUSE1h"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5362, 1.8946, 0.7368, 0.3958, -0.4137, -0.3283, 0.9982, -0.0212, 0.8124, 0.6094, -0.577, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4035 left_y=-0.153 left_z=0.0021 left_yaw=-0.0266 left_pitch=-0.1121 left_roll=0.0456 left_gripper=0.9982 right_x=0.266 right_y=0.0015 right_z=0.1397 right_yaw=-0.0016 right_pitch=-0.1957 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.5282, 6.1607, 1.3748, -0.2466, -0.0122, -0.0122, 0.0615, -1.1692, 6.9812, 1.7607, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dbe794f609020ced9e1bd52821994ab2904acc75e524c9fba31c84b46dd32002"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb0837f2b79340f9967338e420d18bc5ad62f799c1f77681f3bef8c1598fc7f0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79e69f1ba5dec2d4ff772d4027e052753e8ff381ed2a5e8c63666f70e7f691f2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 7.164 s

model: claude-fable-5
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]: [-0.5194, 1.8526, 0.6735, 0.4206, -0.4034, -0.3107, 0.9982, -0.0212, 0.8116, 0.6094, -0.5678, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3932 left_y=-0.1408 left_z=0.0022 left_yaw=-0.0277 left_pitch=-0.1131 left_roll=0.0513 left_gripper=0.9982 right_x=0.2676 right_y=0.0014 right_z=0.1415 right_yaw=-0.0018 right_pitch=-0.1858 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -6.9128, 6.4205, 1.5702, -0.3248, -0.0269, -0.0171, -0.0889, -1.1556, 6.8718, 1.7705, -0.0317, -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\": 0.415, \"left_y\": -0.175, \"left_z\": 0.002}, \"note\": \"The block is close but still to the right of the finger gap in the wrist view. Shifting another ~2 cm right and 1 cm forward to bring it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VoGxbDjWqFmNnzXvD6tzXt",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01VoGxbDjWqFmNnzXvD6tzXt"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5533, 1.9289, 0.7959, 0.3611, -0.4316, -0.35, 0.9982, -0.0212, 0.8146, 0.6094, -0.6041, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4117 left_y=-0.1632 left_z=0.0021 left_yaw=-0.0172 left_pitch=-0.1139 left_roll=0.0445 left_gripper=0.9982 right_x=0.2613 right_y=0.0016 right_z=0.1344 right_yaw=-0.0015 right_pitch=-0.225 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -7.5282, 6.5299, 1.4286, -0.2369, 0.0708, -0.0122, -0.0752, -1.3333, 6.8308, 1.8632, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6ae5c4ca6a06219d6a0e8279147a5c97fca029ca362b4301fb0a5600c66261b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a516040c1347bfc0c755dcd3d3ac0ebb365803dea2fe186a9e104c9fc8c8d805"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f81bcbb198267d298273fced4ba7eb0acbd7211ec64dc487788b68cc9b655644"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 5.587 s

model: claude-fable-5
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]: [-0.5362, 1.8946, 0.7368, 0.3958, -0.4137, -0.3283, 0.9982, -0.0212, 0.8124, 0.6094, -0.577, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4035 left_y=-0.153 left_z=0.0021 left_yaw=-0.0266 left_pitch=-0.1121 left_roll=0.0456 left_gripper=0.9982 right_x=0.266 right_y=0.0015 right_z=0.1397 right_yaw=-0.0016 right_pitch=-0.1957 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.5282, 6.1607, 1.3748, -0.2466, -0.0122, -0.0122, 0.0615, -1.1692, 6.9812, 1.7607, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.418, \"left_y\": -0.19, \"left_z\": 0.002}, \"note\": \"Block is still just right of the finger gap; motions are being clamped to ~1 cm per step. Commanding a larger rightward target (y=-0.19) to finally center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0116ReNDLG1aQuShuNruVTf3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0116ReNDLG1aQuShuNruVTf3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5968, 1.9652, 0.857, 0.3256, -0.4572, -0.3897, 0.9982, -0.0212, 0.8154, 0.6094, -0.6178, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.1835 left_z=0.0022 left_yaw=-0.0185 left_pitch=-0.1125 left_roll=0.0346 left_gripper=0.9982 right_x=0.2589 right_y=0.0016 right_z=0.1319 right_yaw=-0.0015 right_pitch=-0.2395 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -8.1573, 6.5299, 1.326, -0.2515, 0.0073, -0.0122, -0.1436, -1.2103, 6.9812, 1.6532, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d0c062ac88904479cb4ea38f4d7c0c74608cd9285a48e5caf797edc6a21ecd8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:57eb28a210f8aa50ffb9a1867551083effe7b629356f8599f36b54ad1e759024"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42ac3ec86ec5a5800b2170a53b55c7d90efbd025ff18d8b7f5bcc5dc8c48a631"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 4.586 s

model: claude-fable-5
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]: [-0.5533, 1.9289, 0.7959, 0.3611, -0.4316, -0.35, 0.9982, -0.0212, 0.8146, 0.6094, -0.6041, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4117 left_y=-0.1632 left_z=0.0021 left_yaw=-0.0172 left_pitch=-0.1139 left_roll=0.0445 left_gripper=0.9982 right_x=0.2613 right_y=0.0016 right_z=0.1344 right_yaw=-0.0015 right_pitch=-0.225 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -7.5282, 6.5299, 1.4286, -0.2369, 0.0708, -0.0122, -0.0752, -1.3333, 6.8308, 1.8632, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.435, \"left_y\": -0.188, \"left_z\": 0.002}, \"note\": \"The block now sits centered between the fingertips in the wrist view but a bit forward. Advancing about 2 cm forward so the jaws straddle it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BBrVp69ZwWhxQrLxj5ZwvH",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BBrVp69ZwWhxQrLxj5ZwvH"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5941, 1.9911, 0.9005, 0.3061, -0.461, -0.395, 0.9982, -0.0212, 0.8154, 0.6094, -0.6243, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4236 left_y=-0.187 left_z=0.0023 left_yaw=-0.0098 left_pitch=-0.1125 left_roll=0.0337 left_gripper=0.9982 right_x=0.2577 right_y=0.0016 right_z=0.1309 right_yaw=-0.0015 right_pitch=-0.246 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.8, -8.0342, 6.8991, 1.4383, -0.0562, 0.1538, -0.0122, -0.212, -1.1419, 6.9128, 1.5946, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5fe4d3f1a6d5f8173a39ca61c7c70bc9d5a707fa70249c7837e707d6950d6cd3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53b02f9707145e6c4674415a6d7362f09625ddf5972a82c5895fbd5237562d89"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9cf47ffa63c40d47c0496ed69c5e8019a5eb8c9436a09e19cf4a0af49d03f16c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 5.873 s

model: claude-fable-5
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]: [-0.5968, 1.9652, 0.857, 0.3256, -0.4572, -0.3897, 0.9982, -0.0212, 0.8154, 0.6094, -0.6178, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4153 left_y=-0.1835 left_z=0.0022 left_yaw=-0.0185 left_pitch=-0.1125 left_roll=0.0346 left_gripper=0.9982 right_x=0.2589 right_y=0.0016 right_z=0.1319 right_yaw=-0.0015 right_pitch=-0.2395 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -8.1573, 6.5299, 1.326, -0.2515, 0.0073, -0.0122, -0.1436, -1.2103, 6.9812, 1.6532, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.188, \"left_z\": 0.002}, \"note\": \"The block is nearly between the jaws, slightly forward still. Advancing another 2 cm so the fingers fully straddle it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NyPzPpNYdt66BqRSgDpDJS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01NyPzPpNYdt66BqRSgDpDJS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5755, 2.0079, 0.923, 0.3061, -0.458, -0.3954, 0.9982, -0.0212, 0.8173, 0.6094, -0.6361, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.1829 left_z=0.0022 left_yaw=0.0064 left_pitch=-0.1089 left_roll=0.0285 left_gripper=0.9982 right_x=0.2555 right_y=0.0016 right_z=0.1285 right_yaw=-0.0017 right_pitch=-0.2598 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -8.9915, 6.8444, 1.4139, -0.1734, 0.0562, -0.0122, -0.1026, -1.306, 6.8308, 1.5604, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f5f996d8bcbb8178fa5e70e9d4b2ec501e032013fad58b1b633136a8ee3be37"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ab3fffdd903767c77a3f2af74da0a79bdf7289de7cb0c2e46a4125f06aca68a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2bf9c6a544ea388a917ecdf1b631b76fae409e09fb9b1938e9f82fc54a2a98b8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 13.77 s

model: claude-fable-5
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]: [-0.5941, 1.9911, 0.9005, 0.3061, -0.461, -0.395, 0.9982, -0.0212, 0.8154, 0.6094, -0.6243, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4236 left_y=-0.187 left_z=0.0023 left_yaw=-0.0098 left_pitch=-0.1125 left_roll=0.0337 left_gripper=0.9982 right_x=0.2577 right_y=0.0016 right_z=0.1309 right_yaw=-0.0015 right_pitch=-0.246 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.8, -8.0342, 6.8991, 1.4383, -0.0562, 0.1538, -0.0122, -0.212, -1.1419, 6.9128, 1.5946, -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_gripper\": 0.0, \"left_x\": 0.437, \"left_y\": -0.187}, \"note\": \"The block now sits between the fingertips in the wrist camera. Closing the left gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GAsLUzVXhs8x3fP9kVouLa",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01GAsLUzVXhs8x3fP9kVouLa"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5755, 2.0079, 0.923, 0.2928, -0.4576, -0.3943, 0.0106, -0.0212, 0.8173, 0.6094, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.1818 left_z=-0.0 left_yaw=0.0063 left_pitch=-0.1203 left_roll=0.0365 left_gripper=0.0106 right_x=0.2516 right_y=0.0017 right_z=0.125 right_yaw=-0.0015 right_pitch=-0.2811 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.9778, 6.4752, 1.5165, -0.1001, 0.1538, 0.862, 0.0068, -1.1419, 6.7897, 1.6142, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29f0e0b0588c6cf5a1daa6d356b2a424651f73d0858c7b14afd5a96e6c788762"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f46b0a24d17a97a2b008ffa92407670185a36abc0a628436953540943955df6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2fb92fac8f6b4a0c2a246f48fb3c94a7262e8dbc771167587f165ef632fe3c09"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 6.9 s

model: claude-fable-5
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]: [-0.5755, 2.0079, 0.923, 0.3061, -0.458, -0.3954, 0.9982, -0.0212, 0.8173, 0.6094, -0.6361, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.1829 left_z=0.0022 left_yaw=0.0064 left_pitch=-0.1089 left_roll=0.0285 left_gripper=0.9982 right_x=0.2555 right_y=0.0016 right_z=0.1285 right_yaw=-0.0017 right_pitch=-0.2598 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -8.9915, 6.8444, 1.4139, -0.1734, 0.0562, -0.0122, -0.1026, -1.306, 6.8308, 1.5604, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1, \"left_x\": 0.45, \"left_y\": -0.185, \"left_z\": 0.0}, \"note\": \"The gripper closed almost fully (0.01), meaning it missed the block, which is still just ahead of the fingertips in the wrist view. Reopening and advancing ~2 cm forward to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y4UbrtyxnrFTgo9nXZ8PHQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y4UbrtyxnrFTgo9nXZ8PHQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5602, 2.0426, 0.9852, 0.2771, -0.4606, -0.3981, 0.995, -0.0212, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.446 left_y=-0.1828 left_z=0.0027 left_yaw=0.0253 left_pitch=-0.1091 left_roll=0.0288 left_gripper=0.995 right_x=0.248 right_y=0.0019 right_z=0.122 right_yaw=-0.0011 right_pitch=-0.2998 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.5128, 7.0496, 1.3895, -0.022, 0.1929, -0.0415, -0.0752, -0.9504, 6.7487, 1.5946, -0.0366, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:89f0a73da68ce2a985abce4509c8d125b1b7f14255bae37c7ae9b688e3d7d5a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8810613b115054eedc82cd16896a413c28125d9b65c19d20e2f80ae28c89172e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e399b0905f94da4581d7124ffa0e1cd75e70ffc62e48923ca73e8eb54c549c88"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 10.7 s

model: claude-fable-5
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]: [-0.5755, 2.0079, 0.923, 0.2928, -0.4576, -0.3943, 0.0106, -0.0212, 0.8173, 0.6094, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.1818 left_z=-0.0 left_yaw=0.0063 left_pitch=-0.1203 left_roll=0.0365 left_gripper=0.0106 right_x=0.2516 right_y=0.0017 right_z=0.125 right_yaw=-0.0015 right_pitch=-0.2811 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.9778, 6.4752, 1.5165, -0.1001, 0.1538, 0.862, 0.0068, -1.1419, 6.7897, 1.6142, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.475, \"left_y\": -0.183, \"left_z\": 0.0}, \"note\": \"Gripper reopened; the block sits centered but still ahead of the fingertips in the wrist view. Advancing ~3 cm forward so the jaws surround it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01S8dGKiFKLKwo2yNk3swhtg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01S8dGKiFKLKwo2yNk3swhtg"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5312, 2.0953, 1.0683, 0.2615, -0.4568, -0.395, 0.9961, -0.0212, 0.8192, 0.6094, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.1806 left_z=0.0037 left_yaw=0.0488 left_pitch=-0.0982 left_roll=0.0207 left_gripper=0.9961 right_x=0.2473 right_y=0.0018 right_z=0.121 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -9.1282, 6.7077, 1.4383, 0.0464, 0.2076, 0.1001, -0.0068, -1.1556, 6.9812, 1.4237, -0.0366, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88ad2b76aa84c0bb3268cbe997d3f7b391723e3134261065f2ac113bf9297a4f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:453c0eb25f3da7dd6f7fa5db0a2874fe034254cce0b9b6f2aba405e278d9be57"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d40d53aaf6522862e5d13d7d85b3d8d9b9a1c178f8541bc0ea8adaf48653f3cb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 8.084 s

model: claude-fable-5
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]: [-0.5602, 2.0426, 0.9852, 0.2771, -0.4606, -0.3981, 0.995, -0.0212, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.446 left_y=-0.1828 left_z=0.0027 left_yaw=0.0253 left_pitch=-0.1091 left_roll=0.0288 left_gripper=0.995 right_x=0.248 right_y=0.0019 right_z=0.122 right_yaw=-0.0011 right_pitch=-0.2998 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.5128, 7.0496, 1.3895, -0.022, 0.1929, -0.0415, -0.0752, -0.9504, 6.7487, 1.5946, -0.0366, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.485, \"left_gripper\": 0.0}, \"note\": \"The block now fills the wrist view between the jaws. Advancing a final ~1.5 cm and closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PjFT9qGBsoLWKc56HJ2rKU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01PjFT9qGBsoLWKc56HJ2rKU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5179, 2.1174, 1.1084, 0.2409, -0.45, -0.3985, 0.5707, -0.0212, 0.823, 0.6094, -0.7017, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4772 left_y=-0.1793 left_z=0.0031 left_yaw=0.0588 left_pitch=-0.103 left_roll=0.0155 left_gripper=0.5707 right_x=0.2431 right_y=0.0019 right_z=0.1168 right_yaw=-0.0012 right_pitch=-0.3311 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.759, -8.9778, 8.0889, 1.4823, -0.105, 0.1685, 1.0281, -0.1983, -1.4154, 6.7214, 1.5653, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a5c03603425824e201f23b5d265187653f71a8f1ad0271a5eadec21965e39f60"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01bb704c0a02aa0e8280c0b0f050937c2a1ad71b25b4af959203e0d7c5218fb0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2120df8525a39d2e42c1563bd3544820bc1a30d24e40740a392603627f1e593f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 37.36 s

model: claude-fable-5
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]: [-0.5312, 2.0953, 1.0683, 0.2615, -0.4568, -0.395, 0.9961, -0.0212, 0.8192, 0.6094, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4683 left_y=-0.1806 left_z=0.0037 left_yaw=0.0488 left_pitch=-0.0982 left_roll=0.0207 left_gripper=0.9961 right_x=0.2473 right_y=0.0018 right_z=0.121 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -9.1282, 6.7077, 1.4383, 0.0464, 0.2076, 0.1001, -0.0068, -1.1556, 6.9812, 1.4237, -0.0366, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.15}, \"note\": \"Gripper closed to 0.57 with rising effort, suggesting it is holding the block. Lifting up 15 cm to confirm the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NQGZogQuABdL8YPD1PcuM5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NQGZogQuABdL8YPD1PcuM5"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5163, 1.9007, 1.3334, -0.2543, -0.45, -0.4068, 0.5706, -0.0212, 0.823, 0.6094, -0.7242, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.475 left_y=-0.1772 left_z=0.1131 left_yaw=0.0686 left_pitch=-0.1475 left_roll=0.0385 left_gripper=0.5706 right_x=0.2387 right_y=0.0021 right_z=0.1135 right_yaw=-0.0005 right_pitch=-0.3536 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -13.641, 9.6205, 1.5311, -0.2222, 0.0659, -0.0269, -0.1846, -0.7316, 6.7214, 1.5653, -0.0659, -0.0415, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4de3d0d71ab18b6fd9c75f4424cd52c017fb1b08bc8d4facb4672c46f7495e7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bfaee9a91a3105a6c2bf6fd5e3b46be59baeb243c487b87d97f24c2b5d42fd3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8bbff953dabaf518df2d154c1a195403aa17aeae32fb935423db61026287ee4a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}