adhoc - adhoc_3a9b0ddb.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: 522.4 s
total steps: 97

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

partial

Grader notes

trial 02

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

agent noteI see the red block near the center of the table (left of the bowl in the top camera). I'll move the left arm forward and slightly right to hover near the block and then refine its position from the cameras.

move_to

left_x0.3300left_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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0299, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5538, -1.4017, 10.2769, 1.9463, -0.0659, 0.1294, -0.0904, -0.4034, -1.6342, 9.7436, 1.8974, -0.0269, 0.1245, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.08, "left_z": 0.12, "left_gripper": 1}, "note": "I see the red block near the center of the table (left of the bowl in the top camera). I'll move the left arm forward and slightly right to hover near the block and then refine its position from the cameras."})

tool

executing move_to over 8 steps (0.8s)

step 8

assistant

agent noteThe left gripper is near the block; in the left wrist camera the block sits ahead and slightly right of the fingers. Moving forward and down to line up for the grasp.

move_to

left_x0.3800left_y-0.0900left_z0.0600left_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]: [-0.421, 1.1194, 0.5148, -0.0879, -0.3172, -0.2451, 0.9993, -0.0212, 0.8005, 0.6113, -0.4191, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3194 left_y=-0.0787 left_z=0.1079 left_yaw=-0.0354 left_pitch=-0.0771 left_roll=0.0201 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1735 right_yaw=0.0005 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.1846, -4.0821, 6.2154, 1.9463, -0.3492, -0.0171, -0.0904, -0.0342, -1.7436, 6.6667, 1.9365, -0.0659, -0.0757, -0.0073] 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": 0.38, "left_y": -0.09, "left_z": 0.06, "left_gripper": 1}, "note": "The left gripper is near the block; in the left wrist camera the block sits ahead and slightly right of the fingers. Moving forward and down to line up for the grasp."})

tool

executing move_to over 5 steps (0.5s)

step 13

assistant

agent noteFrom the top camera the block sits ahead and slightly to the left (+y) of the left gripper; the wrist camera also shows the block off to the side. Adjusting forward and left to center the block between the fingers.

move_to

left_x0.4100left_y-0.0500left_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]: [-0.3702, 1.5059, 0.5381, 0.1608, -0.2916, -0.2325, 0.9993, -0.0212, 0.8043, 0.6075, -0.4404, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3523 left_y=-0.0784 left_z=0.035 left_yaw=-0.0069 left_pitch=-0.1903 left_roll=0.0556 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.4444, -6.5846, 8.3214, 2.0098, 0.0122, 0.2271, -0.0855, -0.1709, -1.5795, 7.4325, 1.8632, -0.0415, -0.0513, -0.0122] 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": 0.41, "left_y": -0.05, "left_z": 0.045, "left_gripper": 1}, "note": "From the top camera the block sits ahead and slightly to the left (+y) of the left gripper; the wrist camera also shows the block off to the side. Adjusting forward and left to center the block between the fingers."})

tool

executing move_to over 5 steps (0.5s)

step 18

assistant

agent noteComparing frames, when I moved +y the block shifted further right in the wrist camera, so camera-right corresponds to -y. The block is forward and to the arm's right; moving forward and to -y to center it between the fingers.

move_to

left_x0.4100left_y-0.1100left_z0.0400left_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]: [-0.3405, 1.5372, 0.524, 0.2466, -0.2852, -0.2108, 0.9993, -0.0212, 0.8043, 0.6075, -0.4553, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3612 left_y=-0.0714 left_z=0.0337 left_yaw=0.0031 left_pitch=-0.1547 left_roll=0.0532 left_gripper=0.9993 right_x=0.2852 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0683 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.1709, -5.8872, 5.2855, 1.6972, -0.1538, 0.0659, -0.0855, -0.1299, -1.1556, 6.9812, 1.7851, -0.0562, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.11, "left_z": 0.04, "left_gripper": 1}, "note": "Comparing frames, when I moved +y the block shifted further right in the wrist camera, so camera-right corresponds to -y. The block is forward and to the arm's right; moving forward and to -y to center it between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 22

assistant

agent noteThe left arm didn't move on the last command—it may be jammed near the table or in an awkward IK pose. I'll lift slightly to z=0.07 while moving forward and right toward the block, then descend.

move_to

left_x0.4000left_y-0.1000left_z0.0700left_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]: [-0.3405, 1.5372, 0.5236, 0.247, -0.2852, -0.2104, 0.9993, -0.0208, 0.8082, 0.6075, -0.4709, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3611 left_y=-0.0714 left_z=0.0336 left_yaw=0.0029 left_pitch=-0.1547 left_roll=0.0535 left_gripper=0.9993 right_x=0.283 right_y=0.0012 right_z=0.1595 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.9145, 5.3265, 1.6874, -0.1441, 0.0806, -0.0904, -0.0752, -1.5658, 6.9812, 1.9414, -0.0073, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.07, "left_gripper": 1}, "note": "The left arm didn't move on the last command\u2014it may be jammed near the table or in an awkward IK pose. I'll lift slightly to z=0.07 while moving forward and right toward the block, then descend."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe left arm hasn't moved for two commands—likely an awkward IK pose with pitch drift. I'll command a small nearby target with pitch reset to 0 to free it up.

move_to

left_x0.3700left_y-0.0800left_z0.0800left_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]: [-0.3408, 1.5372, 0.5236, 0.2474, -0.2852, -0.21, 0.9993, -0.0212, 0.8082, 0.6075, -0.4915, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3612 left_y=-0.0716 left_z=0.0337 left_yaw=0.0023 left_pitch=-0.1543 left_roll=0.0537 left_gripper=0.9993 right_x=0.2798 right_y=0.0011 right_z=0.1555 right_yaw=0.0003 right_pitch=-0.1083 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [-0.0752, -5.7231, 5.3265, 1.7265, -0.1392, 0.105, -0.0855, -0.1026, -1.2103, 7.1726, 1.9512, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.08, "left_z": 0.08, "left_pitch": 0, "left_gripper": 1}, "note": "The left arm hasn't moved for two commands\u2014likely an awkward IK pose with pitch drift. I'll command a small nearby target with pitch reset to 0 to free it up."})

tool

executing move_to over 6 steps (0.6s)

step 31

assistant

agent noteThe arm freed up and moved. In the left wrist camera the block is at the far right edge, so it's several centimeters toward -y and slightly forward. Moving to x=0.39, y=-0.12 and lowering to z=0.05.

move_to

left_x0.3900left_y-0.1200left_z0.0500left_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]: [-0.3805, 1.4597, 0.522, 0.2535, -0.3367, -0.2123, 0.9993, -0.0212, 0.8101, 0.6075, -0.5007, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3644 left_y=-0.0791 left_z=0.0628 left_yaw=0.0028 left_pitch=-0.0655 left_roll=0.0547 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1533 right_yaw=0.0007 right_pitch=-0.1194 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.5128, -6.9675, 5.6547, 1.9902, -0.2711, 0.149, -0.0904, -0.1709, -1.3607, 7.1316, 1.7314, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.12, "left_z": 0.05, "left_gripper": 1}, "note": "The arm freed up and moved. In the left wrist camera the block is at the far right edge, so it's several centimeters toward -y and slightly forward. Moving to x=0.39, y=-0.12 and lowering to z=0.05."})

tool

executing move_to over 4 steps (0.4s)

step 35

assistant

agent noteThe block is now closer but still at the right side of the wrist camera, meaning it's a bit further in -y and slightly forward. Adjusting to y=-0.15, x=0.39 and lowering to grasp height.

move_to

left_x0.3900left_y-0.1500left_z0.0300left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.474, 1.6432, 0.6075, 0.2611, -0.3874, -0.2684, 0.9993, -0.0212, 0.8116, 0.6075, -0.5182, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3726 left_y=-0.1121 left_z=0.0319 left_yaw=-0.0155 left_pitch=-0.132 left_roll=0.0788 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1384 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.4444, -6.7214, 8.2256, 1.79, -0.3053, -0.0415, -0.0904, -0.1709, -1.388, 7.0632, 1.8974, -0.0757, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.15, "left_z": 0.03, "left_gripper": 1}, "note": "The block is now closer but still at the right side of the wrist camera, meaning it's a bit further in -y and slightly forward. Adjusting to y=-0.15, x=0.39 and lowering to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 39

assistant

agent noteThe block is now nearly centered in the wrist camera, just slightly forward and right of the fingertips. Moving forward a bit more and down to table height so the block sits between the jaws.

move_to

left_x0.4100left_y-0.1550left_z0.0050left_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]: [-0.5518, 1.7546, 0.7067, 0.2092, -0.432, -0.326, 0.9993, -0.0212, 0.8158, 0.6075, -0.5453, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3785 left_y=-0.1419 left_z=0.018 left_yaw=-0.0219 left_pitch=-0.1702 left_roll=0.0946 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1436 right_yaw=0.0005 right_pitch=-0.1697 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.4308, -7.5282, 7.4188, 1.7167, -0.3101, -0.0513, -0.0855, -0.1162, -1.5658, 6.8855, 1.9121, -0.0464, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.155, "left_z": 0.005, "left_gripper": 1}, "note": "The block is now nearly centered in the wrist camera, just slightly forward and right of the fingertips. Moving forward a bit more and down to table height so the block sits between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 42

assistant

agent noteThe arm barely moved last step; the block sits just forward-right of the fingertips in the wrist view. Taking a smaller step forward-right and down to table height to get the block between the jaws.

move_to

left_x0.4000left_y-0.1600left_z0.0050left_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]: [-0.5587, 1.7607, 0.7231, 0.2016, -0.4358, -0.3382, 0.9993, -0.0212, 0.8158, 0.6075, -0.5682, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.381 left_y=-0.146 left_z=0.0201 left_yaw=-0.0193 left_pitch=-0.1659 left_roll=0.0866 left_gripper=0.9993 right_x=0.2673 right_y=0.0014 right_z=0.1396 right_yaw=0.0006 right_pitch=-0.1926 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [-0.212, -7.5145, 7.1863, 1.5604, -0.3834, 0.0122, -0.0855, -0.0205, -1.1966, 6.9675, 1.8144, -0.0317, -0.0415, -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": 0.4, "left_y": -0.16, "left_z": 0.005, "left_gripper": 1}, "note": "The arm barely moved last step; the block sits just forward-right of the fingertips in the wrist view. Taking a smaller step forward-right and down to table height to get the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 44

assistant

agent noteThe arm is stuck again at z=0.02—its fingertips may be dragging on the table. Lifting to z=0.05 with pitch reset while moving forward-right over the block, then I'll descend straight down.

move_to

left_x0.4200left_y-0.1700left_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]: [-0.5587, 1.7615, 0.7231, 0.2008, -0.44, -0.3386, 0.9993, -0.0212, 0.8185, 0.606, -0.59, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.381 left_y=-0.1452 left_z=0.0199 left_yaw=-0.0157 left_pitch=-0.1655 left_roll=0.0898 left_gripper=0.9993 right_x=0.2633 right_y=0.0015 right_z=0.1345 right_yaw=0.0007 right_pitch=-0.2185 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.2803, -7.5282, 7.1316, 1.58, -0.2955, -0.0024, -0.0904, -0.1573, -1.388, 6.9675, 1.7705, -0.0269, -0.0659, -0.0122] 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_x": 0.42, "left_y": -0.17, "left_z": 0.05, "left_pitch": 0, "left_gripper": 1}, "note": "The arm is stuck again at z=0.02\u2014its fingertips may be dragging on the table. Lifting to z=0.05 with pitch reset while moving forward-right over the block, then I'll descend straight down."})

tool

executing move_to over 6 steps (0.6s)

step 50

assistant

agent noteThe left arm hasn't moved for three commands—likely an IK deadlock from accumulated pitch/roll drift near the table. Commanding a pure lift to z=0.08 with pitch and roll zeroed to break out, keeping x/y fixed.

move_to

left_z0.0800left_roll0.0000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5587, 1.7615, 0.7231, 0.2005, -0.4397, -0.3389, 0.9993, -0.0212, 0.8192, 0.606, -0.6125, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3809 left_y=-0.1452 left_z=0.0198 left_yaw=-0.0158 left_pitch=-0.166 left_roll=0.0895 left_gripper=0.9993 right_x=0.2593 right_y=0.0016 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.1436, -7.5556, 7.2, 1.5702, -0.3004, 0.0024, -0.0855, -0.1162, -0.9778, 6.8855, 1.7216, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08, "left_roll": 0, "left_pitch": 0, "left_gripper": 1}, "note": "The left arm hasn't moved for three commands\u2014likely an IK deadlock from accumulated pitch/roll drift near the table. Commanding a pure lift to z=0.08 with pitch and roll zeroed to break out, keeping x/y fixed."})

tool

executing move_to over 6 steps (0.6s)

step 56

assistant

agent noteThe arm lifted successfully and the block is visible just right of the gripper centerline in the wrist camera, slightly ahead of the fingertips. Descending to table height at x=0.40, y=-0.165 to place the block between the jaws.

move_to

left_x0.4000left_y-0.1650left_z0.0050left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5617, 1.6062, 0.6655, 0.226, -0.4435, -0.3458, 0.9993, -0.0212, 0.8215, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3772 left_y=-0.1436 left_z=0.0629 left_yaw=-0.0193 left_pitch=-0.0588 left_roll=0.0224 left_gripper=0.9993 right_x=0.2556 right_y=0.0016 right_z=0.1264 right_yaw=0.001 right_pitch=-0.2647 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.5402, -8.212, 5.2855, 1.9951, -0.3541, 0.0171, -0.0855, 0.0342, -0.841, 6.8308, 1.6484, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.165, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_gripper": 1}, "note": "The arm lifted successfully and the block is visible just right of the gripper centerline in the wrist camera, slightly ahead of the fingertips. Descending to table height at x=0.40, y=-0.165 to place the block between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 60

assistant

agent noteThe block is now centered between the jaws in the wrist camera, just a bit ahead of the fingertips. Advancing ~3 cm forward at table height so the block sits inside the jaws.

move_to

left_x0.4200left_y-0.1600left_z0.0000left_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]: [-0.5823, 1.8938, 0.6594, 0.5087, -0.4686, -0.3656, 0.9993, -0.0212, 0.8257, 0.6056, -0.6537, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3897 left_y=-0.1568 left_z=-0.0001 left_yaw=-0.009 left_pitch=-0.0591 left_roll=0.0264 left_gripper=0.9993 right_x=0.2517 right_y=0.0017 right_z=0.1221 right_yaw=0.0011 right_pitch=-0.2899 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.5538, -6.8034, 5.1487, 1.0867, -0.2222, 0.1783, -0.0904, -0.1983, -1.3744, 6.9402, 1.79, -0.0269, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.16, "left_z": 0.0, "left_gripper": 1}, "note": "The block is now centered between the jaws in the wrist camera, just a bit ahead of the fingertips. Advancing ~3 cm forward at table height so the block sits inside the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 63

assistant

agent noteThe block is still ahead of the fingertips and shifted to camera-right (which is -y for this arm). Advancing ~3.5 cm forward and 2 cm to -y at table height to bring the block between the jaws.

move_to

left_x0.4350left_y-0.1750left_z0.0000left_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]: [-0.5686, 1.9186, 0.6785, 0.5304, -0.4683, -0.3698, 0.9993, -0.0212, 0.8276, 0.6056, -0.6689, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.398 left_y=-0.1555 left_z=-0.0003 left_yaw=0.0063 left_pitch=-0.0457 left_roll=0.0141 left_gripper=0.9993 right_x=0.2488 right_y=0.0018 right_z=0.1193 right_yaw=0.0013 right_pitch=-0.307 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.3214, 6.2701, 1.3162, -0.0757, 0.0855, -0.0855, -0.0479, -0.8957, 6.9402, 1.6142, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.175, "left_z": 0.0, "left_gripper": 1}, "note": "The block is still ahead of the fingertips and shifted to camera-right (which is -y for this arm). Advancing ~3.5 cm forward and 2 cm to -y at table height to bring the block between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 66

assistant

agent noteThe arm stalled again at z=0—dragging on the table blocks lateral motion on this rig. Lifting to z=0.02 while moving forward-right over the block, which is just ahead and to camera-right of the fingers.

move_to

left_x0.4400left_y-0.1800left_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]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3721, 0.9993, -0.0212, 0.8288, 0.6056, -0.6765, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0083 left_pitch=-0.0488 left_roll=0.0145 left_gripper=0.9993 right_x=0.2473 right_y=0.0018 right_z=0.1178 right_yaw=0.0013 right_pitch=-0.3158 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [0.0342, -8.3624, 5.6547, 1.3016, -0.105, 0.1587, -0.0904, -0.0889, -0.9641, 6.7761, 1.4579, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.18, "left_z": 0.02, "left_gripper": 1}, "note": "The arm stalled again at z=0\u2014dragging on the table blocks lateral motion on this rig. Lifting to z=0.02 while moving forward-right over the block, which is just ahead and to camera-right of the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 70

assistant

agent noteThe arm stalled again at table height; the block sits just ahead and slightly camera-right of the fingers. Lifting to 5 cm with level wrist while shifting over the block so I can descend onto it cleanly.

move_to

left_x0.4400left_y-0.1700left_z0.0500left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3725, 0.9993, -0.0212, 0.8288, 0.6056, -0.6796, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0085 left_pitch=-0.0488 left_roll=0.0142 left_gripper=0.9993 right_x=0.2467 right_y=0.0018 right_z=0.1174 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.0615, -8.3761, 5.6547, 1.326, -0.1343, 0.1245, -0.0904, -0.0889, -1.1692, 6.8034, 1.3944, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_gripper": 1}, "note": "The arm stalled again at table height; the block sits just ahead and slightly camera-right of the fingers. Lifting to 5 cm with level wrist while shifting over the block so I can descend onto it cleanly."})

tool

executing move_to over 4 steps (0.4s)

step 74

assistant

agent noteThe block is now centered between the open jaws in the wrist camera, just ahead of the fingertips. Descending to table height while advancing ~2 cm so the block sits fully inside the jaws for the grasp.

move_to

left_x0.4550left_y-0.1700left_z0.0050left_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]: [-0.548, 1.9175, 0.8371, 0.4026, -0.4652, -0.3672, 0.9993, -0.0212, 0.8337, 0.6056, -0.7017, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4322 left_y=-0.1667 left_z=0.0297 left_yaw=0.0224 left_pitch=-0.0199 left_roll=-0.0027 left_gripper=0.9993 right_x=0.2424 right_y=0.0019 right_z=0.1129 right_yaw=0.0016 right_pitch=-0.3459 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.4718, -11.7675, 5.9692, 1.326, -0.0904, 0.232, -0.0855, -0.1026, -1.5385, 6.6803, 1.5311, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": -0.17, "left_z": 0.005, "left_gripper": 1}, "note": "The block is now centered between the open jaws in the wrist camera, just ahead of the fingertips. Descending to table height while advancing ~2 cm so the block sits fully inside the jaws for the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 76

assistant

agent noteThe red block is sitting between the open jaws in the wrist camera, just slightly ahead. Advancing ~2 cm while closing the gripper to grasp the block.

move_to

left_x0.4650left_y-0.1700left_z0.0150left_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]: [-0.5346, 1.9858, 0.8944, 0.4065, -0.4637, -0.3557, 0.9993, -0.0212, 0.8341, 0.6018, -0.7071, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.446 left_y=-0.1681 left_z=0.0198 left_yaw=0.0285 left_pitch=-0.0266 left_roll=0.0098 left_gripper=0.9993 right_x=0.2406 right_y=0.002 right_z=0.1105 right_yaw=0.002 right_pitch=-0.3554 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [0.8, -8.6906, 5.2034, 1.3748, -0.0562, 0.0122, -0.0855, -0.0615, -1.1556, 6.9949, 1.4481, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.465, "left_y": -0.17, "left_z": 0.015, "left_gripper": 0}, "note": "The red block is sitting between the open jaws in the wrist camera, just slightly ahead. Advancing ~2 cm while closing the gripper to grasp the block."})

tool

executing move_to over 10 steps (1.0s)

step 86

assistant

agent noteThe gripper closed to 0.44 with rising effort, suggesting the block is grasped. Lifting to 15 cm and moving toward the bowl to verify the grasp.

move_to

left_x0.4400left_y-0.1000left_z0.1500left_gripper0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5159, 2.0426, 0.9382, 0.3805, -0.4576, -0.3534, 0.4396, -0.0212, 0.836, 0.6018, -0.7246, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4535 left_y=-0.1634 left_z=0.0041 left_yaw=0.042 left_pitch=-0.0616 left_roll=0.029 left_gripper=0.4396 right_x=0.2371 right_y=0.002 right_z=0.1076 right_yaw=0.0018 right_pitch=-0.3749 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [0.4855, -9.1009, 7.8701, 1.7314, -0.1392, 0.1245, 1.033, -0.1026, -1.2786, 6.7214, 1.4823, -0.0562, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.1, "left_z": 0.15, "left_gripper": 0.4}, "note": "The gripper closed to 0.44 with rising effort, suggesting the block is grasped. Lifting to 15 cm and moving toward the bowl to verify the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 96

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3698, 1.6253, 0.9863, -0.0986, -0.3595, -0.276, 0.4388, -0.0212, 0.8379, 0.6014, -0.7364, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4351 left_y=-0.0982 left_z=0.1195 left_yaw=0.0685 left_pitch=-0.1067 left_roll=0.0394 left_gripper=0.4388 right_x=0.2346 right_y=0.0021 right_z=0.1054 right_yaw=0.0019 right_pitch=-0.389 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [0.4444, -9.9077, 9.5521, 1.7998, -0.0708, 0.2125, 1.0281, -0.1162, -1.1419, 6.653, 1.4042, -0.0415, -0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [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 · 30.77 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0299, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4017, 10.2769, 1.9463, -0.0659, 0.1294, -0.0904, -0.4034, -1.6342, 9.7436, 1.8974, -0.0269, 0.1245, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5be5f159c0a2c086beefc7befe7d1d4907c9f61cc6c064ee3cf068299cf0ccf5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be524099244e17d26ea48b6282c32cfabfc3840d3b8919893a3828d0f02f5310"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:133ed8666d0171b4585a51d49b1ca10cab01570c28cad20c7a36ec483f1b01e0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 18.29 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.33, \"left_y\": -0.08, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"I see the red block near the center of the table (left of the bowl in the top camera). I'll move the left arm forward and slightly right to hover near the block and then refine its position from the cameras.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WrfLrZC53QjV7kymBfjmEF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01WrfLrZC53QjV7kymBfjmEF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.421, 1.1194, 0.5148, -0.0879, -0.3172, -0.2451, 0.9993, -0.0212, 0.8005, 0.6113, -0.4191, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3194 left_y=-0.0787 left_z=0.1079 left_yaw=-0.0354 left_pitch=-0.0771 left_roll=0.0201 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1735 right_yaw=0.0005 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.0821, 6.2154, 1.9463, -0.3492, -0.0171, -0.0904, -0.0342, -1.7436, 6.6667, 1.9365, -0.0659, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42db232b2bffe64c3d51de3b4dacdd3c36876ae50816eeeba3c035b4ab3fe943"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e5eb0bd8d5b459c648b212b5561358ec386be84586731d3684e10a6e2434473"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e3fbad22145709a649fe85c40d33df04a77b4ab93a16a00b6c672da9a8b14768"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 21.9 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, 0.7921, 0.6037, -0.3874, -0.0193, -0.0299, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4017, 10.2769, 1.9463, -0.0659, 0.1294, -0.0904, -0.4034, -1.6342, 9.7436, 1.8974, -0.0269, 0.1245, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.09, \"left_z\": 0.06, \"left_gripper\": 1}, \"note\": \"The left gripper is near the block; in the left wrist camera the block sits ahead and slightly right of the fingers. Moving forward and down to line up for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_018gysV9GFCKc25Htkst2NXx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_018gysV9GFCKc25Htkst2NXx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3702, 1.5059, 0.5381, 0.1608, -0.2916, -0.2325, 0.9993, -0.0212, 0.8043, 0.6075, -0.4404, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3523 left_y=-0.0784 left_z=0.035 left_yaw=-0.0069 left_pitch=-0.1903 left_roll=0.0556 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -6.5846, 8.3214, 2.0098, 0.0122, 0.2271, -0.0855, -0.1709, -1.5795, 7.4325, 1.8632, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:701767b6a596ecf8c6336345389aa1c69797df007490a99403881266f79398b3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:738945ed1886eac5ba597ff7274f9ca693a546c9394cb0ed1b8eddb720b3c6be"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:605b3a59ff8c81ff9c3eaaeb2e866af0fa42a23411e8b0fe64c1161a0b410d20"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 23.27 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]: [-0.421, 1.1194, 0.5148, -0.0879, -0.3172, -0.2451, 0.9993, -0.0212, 0.8005, 0.6113, -0.4191, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3194 left_y=-0.0787 left_z=0.1079 left_yaw=-0.0354 left_pitch=-0.0771 left_roll=0.0201 left_gripper=0.9993 right_x=0.2907 right_y=0.001 right_z=0.1735 right_yaw=0.0005 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.0821, 6.2154, 1.9463, -0.3492, -0.0171, -0.0904, -0.0342, -1.7436, 6.6667, 1.9365, -0.0659, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.05, \"left_z\": 0.045, \"left_gripper\": 1}, \"note\": \"From the top camera the block sits ahead and slightly to the left (+y) of the left gripper; the wrist camera also shows the block off to the side. Adjusting forward and left to center the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MG5RzAxTwBQUSdnRiuV1wZ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01MG5RzAxTwBQUSdnRiuV1wZ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3405, 1.5372, 0.524, 0.2466, -0.2852, -0.2108, 0.9993, -0.0212, 0.8043, 0.6075, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3612 left_y=-0.0714 left_z=0.0337 left_yaw=0.0031 left_pitch=-0.1547 left_roll=0.0532 left_gripper=0.9993 right_x=0.2852 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0683 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.8872, 5.2855, 1.6972, -0.1538, 0.0659, -0.0855, -0.1299, -1.1556, 6.9812, 1.7851, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cecf06d37778a8e5547ebfe40e79ad7a4dfffb81379523ac5fbbf7758c5b29e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a3f22fb2aa8c6fd3b1600dc425e4a24f3e5a69d44d339db61eb542ecb5c0240"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fd111b976aab9ca37b7c8fb702a4c6a71e463aeb490cd38f79d109684e47d12d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 23.05 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]: [-0.3702, 1.5059, 0.5381, 0.1608, -0.2916, -0.2325, 0.9993, -0.0212, 0.8043, 0.6075, -0.4404, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3523 left_y=-0.0784 left_z=0.035 left_yaw=-0.0069 left_pitch=-0.1903 left_roll=0.0556 left_gripper=0.9993 right_x=0.2874 right_y=0.001 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0534 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -6.5846, 8.3214, 2.0098, 0.0122, 0.2271, -0.0855, -0.1709, -1.5795, 7.4325, 1.8632, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.11, \"left_z\": 0.04, \"left_gripper\": 1}, \"note\": \"Comparing frames, when I moved +y the block shifted further right in the wrist camera, so camera-right corresponds to -y. The block is forward and to the arm's right; moving forward and to -y to center it between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y1uxZ11QTGVMqVJqF1cdXT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y1uxZ11QTGVMqVJqF1cdXT"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3405, 1.5372, 0.5236, 0.247, -0.2852, -0.2104, 0.9993, -0.0208, 0.8082, 0.6075, -0.4709, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.0714 left_z=0.0336 left_yaw=0.0029 left_pitch=-0.1547 left_roll=0.0535 left_gripper=0.9993 right_x=0.283 right_y=0.0012 right_z=0.1595 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9145, 5.3265, 1.6874, -0.1441, 0.0806, -0.0904, -0.0752, -1.5658, 6.9812, 1.9414, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e3ba5b2a3ccef0e14cfa58137221b83bbbabbe186bba72aed2ceb57bf8dc1bfd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:86a82e01450779660df84a2f1613b0b4bc9164fe8ff122d59d3b044b851490a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a45ec122e9202f15a5dad17129a94c23ce4f15390260512b7ecec496cf71f6e2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 15.16 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]: [-0.3405, 1.5372, 0.524, 0.2466, -0.2852, -0.2108, 0.9993, -0.0212, 0.8043, 0.6075, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3612 left_y=-0.0714 left_z=0.0337 left_yaw=0.0031 left_pitch=-0.1547 left_roll=0.0532 left_gripper=0.9993 right_x=0.2852 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0683 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -5.8872, 5.2855, 1.6972, -0.1538, 0.0659, -0.0855, -0.1299, -1.1556, 6.9812, 1.7851, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.1, \"left_z\": 0.07, \"left_gripper\": 1}, \"note\": \"The left arm didn't move on the last command\\u2014it may be jammed near the table or in an awkward IK pose. I'll lift slightly to z=0.07 while moving forward and right toward the block, then descend.\"}",
        "name": "move_to"
      },
      "id": "toolu_0154e5WVCSkJ5HYKzcNiDoMo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0154e5WVCSkJ5HYKzcNiDoMo"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3408, 1.5372, 0.5236, 0.2474, -0.2852, -0.21, 0.9993, -0.0212, 0.8082, 0.6075, -0.4915, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3612 left_y=-0.0716 left_z=0.0337 left_yaw=0.0023 left_pitch=-0.1543 left_roll=0.0537 left_gripper=0.9993 right_x=0.2798 right_y=0.0011 right_z=0.1555 right_yaw=0.0003 right_pitch=-0.1083 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -5.7231, 5.3265, 1.7265, -0.1392, 0.105, -0.0855, -0.1026, -1.2103, 7.1726, 1.9512, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0408e5440b02acf9c0a315761b724521967a4182da20f90500ec4da959eccbbf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac19c4430e1da9b248f3582737cd6f37026f992f028f031c1ec232b7099a2bda"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2952565d371ae71033035e6f858ea073ac6d2a0f8bafef10fe7f6b33ffb84417"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 9.917 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]: [-0.3405, 1.5372, 0.5236, 0.247, -0.2852, -0.2104, 0.9993, -0.0208, 0.8082, 0.6075, -0.4709, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.0714 left_z=0.0336 left_yaw=0.0029 left_pitch=-0.1547 left_roll=0.0535 left_gripper=0.9993 right_x=0.283 right_y=0.0012 right_z=0.1595 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9145, 5.3265, 1.6874, -0.1441, 0.0806, -0.0904, -0.0752, -1.5658, 6.9812, 1.9414, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.08, \"left_z\": 0.08, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The left arm hasn't moved for two commands\\u2014likely an awkward IK pose with pitch drift. I'll command a small nearby target with pitch reset to 0 to free it up.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Bxfcj7htQQFohncQVEDE2Z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Bxfcj7htQQFohncQVEDE2Z"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3805, 1.4597, 0.522, 0.2535, -0.3367, -0.2123, 0.9993, -0.0212, 0.8101, 0.6075, -0.5007, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3644 left_y=-0.0791 left_z=0.0628 left_yaw=0.0028 left_pitch=-0.0655 left_roll=0.0547 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1533 right_yaw=0.0007 right_pitch=-0.1194 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.9675, 5.6547, 1.9902, -0.2711, 0.149, -0.0904, -0.1709, -1.3607, 7.1316, 1.7314, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a6355b340e46c9386e766c64fe0e4dfe63007b8029a1c842045e75b6eb0df03"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcfb5d79610e89d88fa5f96fb52122997d3c15af42c7ff8eb6f64cb4b9c035a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bbbcb383ac4dac364053c803511bff083fc0b88dc2bd414d9ef73eb5866a8965"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 9.212 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]: [-0.3408, 1.5372, 0.5236, 0.2474, -0.2852, -0.21, 0.9993, -0.0212, 0.8082, 0.6075, -0.4915, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3612 left_y=-0.0716 left_z=0.0337 left_yaw=0.0023 left_pitch=-0.1543 left_roll=0.0537 left_gripper=0.9993 right_x=0.2798 right_y=0.0011 right_z=0.1555 right_yaw=0.0003 right_pitch=-0.1083 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -5.7231, 5.3265, 1.7265, -0.1392, 0.105, -0.0855, -0.1026, -1.2103, 7.1726, 1.9512, -0.0513, -0.0611, -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\": 0.39, \"left_y\": -0.12, \"left_z\": 0.05, \"left_gripper\": 1}, \"note\": \"The arm freed up and moved. In the left wrist camera the block is at the far right edge, so it's several centimeters toward -y and slightly forward. Moving to x=0.39, y=-0.12 and lowering to z=0.05.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LxzdwnZXXgEP7uBwg4TbqR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01LxzdwnZXXgEP7uBwg4TbqR"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.474, 1.6432, 0.6075, 0.2611, -0.3874, -0.2684, 0.9993, -0.0212, 0.8116, 0.6075, -0.5182, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1121 left_z=0.0319 left_yaw=-0.0155 left_pitch=-0.132 left_roll=0.0788 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1384 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -6.7214, 8.2256, 1.79, -0.3053, -0.0415, -0.0904, -0.1709, -1.388, 7.0632, 1.8974, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e8b78a7fc9b3f387bd36d4ec6879eb4842d244746e60094ff8deb26d25eb9ba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20fb8b519e06f57e7ef876c59a805a746e6c756c4d451833cc91435fcdea31fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:37ad114277c222e19f40fd32c019b430035d95eafe555e464f516b8aaf210bd9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 7.845 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]: [-0.3805, 1.4597, 0.522, 0.2535, -0.3367, -0.2123, 0.9993, -0.0212, 0.8101, 0.6075, -0.5007, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3644 left_y=-0.0791 left_z=0.0628 left_yaw=0.0028 left_pitch=-0.0655 left_roll=0.0547 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1533 right_yaw=0.0007 right_pitch=-0.1194 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.9675, 5.6547, 1.9902, -0.2711, 0.149, -0.0904, -0.1709, -1.3607, 7.1316, 1.7314, -0.0269, -0.0366, -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\": 0.39, \"left_y\": -0.15, \"left_z\": 0.03, \"left_gripper\": 1}, \"note\": \"The block is now closer but still at the right side of the wrist camera, meaning it's a bit further in -y and slightly forward. Adjusting to y=-0.15, x=0.39 and lowering to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NGio8VUBX2FheKBFeCkyq5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01NGio8VUBX2FheKBFeCkyq5"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5518, 1.7546, 0.7067, 0.2092, -0.432, -0.326, 0.9993, -0.0212, 0.8158, 0.6075, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.1419 left_z=0.018 left_yaw=-0.0219 left_pitch=-0.1702 left_roll=0.0946 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1436 right_yaw=0.0005 right_pitch=-0.1697 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.5282, 7.4188, 1.7167, -0.3101, -0.0513, -0.0855, -0.1162, -1.5658, 6.8855, 1.9121, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25749c503303689b94c967e8a71d86212d67389062d1cffed9d65907f3c34b21"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17a1b01b2a67c27d7b7070482d0fa877d1e588f531525503afff700176f6ce5c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:275da8633f69af9c41e34dc986f53cd430efdcfda76267884070fc5fc0806f45"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 13.96 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]: [-0.474, 1.6432, 0.6075, 0.2611, -0.3874, -0.2684, 0.9993, -0.0212, 0.8116, 0.6075, -0.5182, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.1121 left_z=0.0319 left_yaw=-0.0155 left_pitch=-0.132 left_roll=0.0788 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1384 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -6.7214, 8.2256, 1.79, -0.3053, -0.0415, -0.0904, -0.1709, -1.388, 7.0632, 1.8974, -0.0757, -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\": 0.41, \"left_y\": -0.155, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is now nearly centered in the wrist camera, just slightly forward and right of the fingertips. Moving forward a bit more and down to table height so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_013cGQhQx14NpFmFd8hgKipd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_013cGQhQx14NpFmFd8hgKipd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5587, 1.7607, 0.7231, 0.2016, -0.4358, -0.3382, 0.9993, -0.0212, 0.8158, 0.6075, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.146 left_z=0.0201 left_yaw=-0.0193 left_pitch=-0.1659 left_roll=0.0866 left_gripper=0.9993 right_x=0.2673 right_y=0.0014 right_z=0.1396 right_yaw=0.0006 right_pitch=-0.1926 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -7.5145, 7.1863, 1.5604, -0.3834, 0.0122, -0.0855, -0.0205, -1.1966, 6.9675, 1.8144, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:798e34eee82adde3cae91e3f53e4e7a0fb44c9023624b6e62387cffdcb386d49"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:142cbbdd5180162dbee949ad543606c15edb5d23c178c021b584337ee71917b1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01667003a422f88ab8d632aedfd048b1213064e522a830bb0031cab78ddc141e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 14.49 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]: [-0.5518, 1.7546, 0.7067, 0.2092, -0.432, -0.326, 0.9993, -0.0212, 0.8158, 0.6075, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.1419 left_z=0.018 left_yaw=-0.0219 left_pitch=-0.1702 left_roll=0.0946 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1436 right_yaw=0.0005 right_pitch=-0.1697 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.5282, 7.4188, 1.7167, -0.3101, -0.0513, -0.0855, -0.1162, -1.5658, 6.8855, 1.9121, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.16, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The arm barely moved last step; the block sits just forward-right of the fingertips in the wrist view. Taking a smaller step forward-right and down to table height to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EgLJaZTMHCjkaiCLHdad1t",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01EgLJaZTMHCjkaiCLHdad1t"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5587, 1.7615, 0.7231, 0.2008, -0.44, -0.3386, 0.9993, -0.0212, 0.8185, 0.606, -0.59, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.1452 left_z=0.0199 left_yaw=-0.0157 left_pitch=-0.1655 left_roll=0.0898 left_gripper=0.9993 right_x=0.2633 right_y=0.0015 right_z=0.1345 right_yaw=0.0007 right_pitch=-0.2185 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5282, 7.1316, 1.58, -0.2955, -0.0024, -0.0904, -0.1573, -1.388, 6.9675, 1.7705, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4d1eaaabe54cedf7be94cbe5a9a5b2964bafd6d75ab3a5e14c04176113dfc32"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dbf4b60bdd1681103c7294be7e4c47682a8eeeefa404018b081011064717c24b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ab019506790219d0a2791804fc11140df1f85a105a2a4d04f6e7fbe366d3a04"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 13.62 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]: [-0.5587, 1.7607, 0.7231, 0.2016, -0.4358, -0.3382, 0.9993, -0.0212, 0.8158, 0.6075, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.146 left_z=0.0201 left_yaw=-0.0193 left_pitch=-0.1659 left_roll=0.0866 left_gripper=0.9993 right_x=0.2673 right_y=0.0014 right_z=0.1396 right_yaw=0.0006 right_pitch=-0.1926 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -7.5145, 7.1863, 1.5604, -0.3834, 0.0122, -0.0855, -0.0205, -1.1966, 6.9675, 1.8144, -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\": 0.42, \"left_y\": -0.17, \"left_z\": 0.05, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The arm is stuck again at z=0.02\\u2014its fingertips may be dragging on the table. Lifting to z=0.05 with pitch reset while moving forward-right over the block, then I'll descend straight down.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QiGWpuZ6Qio2RB3avUjanE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01QiGWpuZ6Qio2RB3avUjanE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5587, 1.7615, 0.7231, 0.2005, -0.4397, -0.3389, 0.9993, -0.0212, 0.8192, 0.606, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3809 left_y=-0.1452 left_z=0.0198 left_yaw=-0.0158 left_pitch=-0.166 left_roll=0.0895 left_gripper=0.9993 right_x=0.2593 right_y=0.0016 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.5556, 7.2, 1.5702, -0.3004, 0.0024, -0.0855, -0.1162, -0.9778, 6.8855, 1.7216, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7505a172ba6f396a824e4a9161adefe420c149e25dedf98873761fd33cf16f25"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c91b6ebe7fdc86ba802ded234d03b11bd83582e5ce3daf471d7055ac5003aaa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6468e0d66748d150b65d4f4ec2f6bfcf0f9b0fb2cd8194a7d9764bda9a43c009"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 10.43 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]: [-0.5587, 1.7615, 0.7231, 0.2008, -0.44, -0.3386, 0.9993, -0.0212, 0.8185, 0.606, -0.59, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.1452 left_z=0.0199 left_yaw=-0.0157 left_pitch=-0.1655 left_roll=0.0898 left_gripper=0.9993 right_x=0.2633 right_y=0.0015 right_z=0.1345 right_yaw=0.0007 right_pitch=-0.2185 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5282, 7.1316, 1.58, -0.2955, -0.0024, -0.0904, -0.1573, -1.388, 6.9675, 1.7705, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.08, \"left_roll\": 0, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The left arm hasn't moved for three commands\\u2014likely an IK deadlock from accumulated pitch/roll drift near the table. Commanding a pure lift to z=0.08 with pitch and roll zeroed to break out, keeping x/y fixed.\"}",
        "name": "move_to"
      },
      "id": "toolu_0135o3mTMi1AbsqfE9stsEpV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_0135o3mTMi1AbsqfE9stsEpV"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5617, 1.6062, 0.6655, 0.226, -0.4435, -0.3458, 0.9993, -0.0212, 0.8215, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3772 left_y=-0.1436 left_z=0.0629 left_yaw=-0.0193 left_pitch=-0.0588 left_roll=0.0224 left_gripper=0.9993 right_x=0.2556 right_y=0.0016 right_z=0.1264 right_yaw=0.001 right_pitch=-0.2647 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.212, 5.2855, 1.9951, -0.3541, 0.0171, -0.0855, 0.0342, -0.841, 6.8308, 1.6484, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:561aca97b3809179a16d400b39d17ab5ec02a45b4d899f1854d13863c6ba28ff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c793c172c846de9a07aa65485227010c40a1342add4ef9ffa1341c8d9f46174"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b192c78603e10782defe6c7dbb313a15394640c9a624a0dbfd154127644ffdeb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 4.71 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]: [-0.5587, 1.7615, 0.7231, 0.2005, -0.4397, -0.3389, 0.9993, -0.0212, 0.8192, 0.606, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3809 left_y=-0.1452 left_z=0.0198 left_yaw=-0.0158 left_pitch=-0.166 left_roll=0.0895 left_gripper=0.9993 right_x=0.2593 right_y=0.0016 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.5556, 7.2, 1.5702, -0.3004, 0.0024, -0.0855, -0.1162, -0.9778, 6.8855, 1.7216, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.165, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_gripper\": 1}, \"note\": \"The arm lifted successfully and the block is visible just right of the gripper centerline in the wrist camera, slightly ahead of the fingertips. Descending to table height at x=0.40, y=-0.165 to place the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01592WNjbwfyU8ojy1dpSks6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01592WNjbwfyU8ojy1dpSks6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5823, 1.8938, 0.6594, 0.5087, -0.4686, -0.3656, 0.9993, -0.0212, 0.8257, 0.6056, -0.6537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3897 left_y=-0.1568 left_z=-0.0001 left_yaw=-0.009 left_pitch=-0.0591 left_roll=0.0264 left_gripper=0.9993 right_x=0.2517 right_y=0.0017 right_z=0.1221 right_yaw=0.0011 right_pitch=-0.2899 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8034, 5.1487, 1.0867, -0.2222, 0.1783, -0.0904, -0.1983, -1.3744, 6.9402, 1.79, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:403366c789d249e3e248a8c48378f321956592ae0e13232b8937aa72a9f6af04"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d459366293109b207bf41ff01ead884c627b905bbe4a194fe57cd3925385859"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:63e745e5548ce88a235349e63c288d94f5f4c4d0539ec1b160758d71686a645a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 6.317 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]: [-0.5617, 1.6062, 0.6655, 0.226, -0.4435, -0.3458, 0.9993, -0.0212, 0.8215, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3772 left_y=-0.1436 left_z=0.0629 left_yaw=-0.0193 left_pitch=-0.0588 left_roll=0.0224 left_gripper=0.9993 right_x=0.2556 right_y=0.0016 right_z=0.1264 right_yaw=0.001 right_pitch=-0.2647 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.212, 5.2855, 1.9951, -0.3541, 0.0171, -0.0855, 0.0342, -0.841, 6.8308, 1.6484, -0.0366, -0.0366, -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\": 0.42, \"left_y\": -0.16, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block is now centered between the jaws in the wrist camera, just a bit ahead of the fingertips. Advancing ~3 cm forward at table height so the block sits inside the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TfTwL1pRBK5W6Lb46LaVPE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TfTwL1pRBK5W6Lb46LaVPE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5686, 1.9186, 0.6785, 0.5304, -0.4683, -0.3698, 0.9993, -0.0212, 0.8276, 0.6056, -0.6689, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.398 left_y=-0.1555 left_z=-0.0003 left_yaw=0.0063 left_pitch=-0.0457 left_roll=0.0141 left_gripper=0.9993 right_x=0.2488 right_y=0.0018 right_z=0.1193 right_yaw=0.0013 right_pitch=-0.307 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.3214, 6.2701, 1.3162, -0.0757, 0.0855, -0.0855, -0.0479, -0.8957, 6.9402, 1.6142, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:57ce25919d04a65f02d6f781a64b845d970f7aa0eeeaf3a49ec8382e8e22f10d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6695b6883ab17f7e2e152d8fc6d8830bf0707d3246eb20db4c9773b4c791fd42"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bba2ac0ffee5f39fb8248a1c2d92d32bf9772ceee641f131d2702453292d7e6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 6.11 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]: [-0.5823, 1.8938, 0.6594, 0.5087, -0.4686, -0.3656, 0.9993, -0.0212, 0.8257, 0.6056, -0.6537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3897 left_y=-0.1568 left_z=-0.0001 left_yaw=-0.009 left_pitch=-0.0591 left_roll=0.0264 left_gripper=0.9993 right_x=0.2517 right_y=0.0017 right_z=0.1221 right_yaw=0.0011 right_pitch=-0.2899 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8034, 5.1487, 1.0867, -0.2222, 0.1783, -0.0904, -0.1983, -1.3744, 6.9402, 1.79, -0.0269, -0.022, -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\": 0.435, \"left_y\": -0.175, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block is still ahead of the fingertips and shifted to camera-right (which is -y for this arm). Advancing ~3.5 cm forward and 2 cm to -y at table height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W7LDNf23BgkPzXAYMRX3s2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01W7LDNf23BgkPzXAYMRX3s2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3721, 0.9993, -0.0212, 0.8288, 0.6056, -0.6765, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0083 left_pitch=-0.0488 left_roll=0.0145 left_gripper=0.9993 right_x=0.2473 right_y=0.0018 right_z=0.1178 right_yaw=0.0013 right_pitch=-0.3158 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.3624, 5.6547, 1.3016, -0.105, 0.1587, -0.0904, -0.0889, -0.9641, 6.7761, 1.4579, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85cd3ee52101ff2dbed40948713541272afc00f794d05535b8742ffa18671aef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1df9ad9160f6c8a0a12383cb6f3be0bbac51e167eedf9c49f253bf6e50bcc46d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b355cf32b26d1cdb8da596de4230a24686dae6ad770faf45ab168b4783c24fc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 72.3 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]: [-0.5686, 1.9186, 0.6785, 0.5304, -0.4683, -0.3698, 0.9993, -0.0212, 0.8276, 0.6056, -0.6689, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.398 left_y=-0.1555 left_z=-0.0003 left_yaw=0.0063 left_pitch=-0.0457 left_roll=0.0141 left_gripper=0.9993 right_x=0.2488 right_y=0.0018 right_z=0.1193 right_yaw=0.0013 right_pitch=-0.307 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.3214, 6.2701, 1.3162, -0.0757, 0.0855, -0.0855, -0.0479, -0.8957, 6.9402, 1.6142, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.18, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The arm stalled again at z=0\\u2014dragging on the table blocks lateral motion on this rig. Lifting to z=0.02 while moving forward-right over the block, which is just ahead and to camera-right of the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_018oTMQNVM2WfRCAjEs1Nd52",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018oTMQNVM2WfRCAjEs1Nd52"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3725, 0.9993, -0.0212, 0.8288, 0.6056, -0.6796, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0085 left_pitch=-0.0488 left_roll=0.0142 left_gripper=0.9993 right_x=0.2467 right_y=0.0018 right_z=0.1174 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.3761, 5.6547, 1.326, -0.1343, 0.1245, -0.0904, -0.0889, -1.1692, 6.8034, 1.3944, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb0946b5dbf254945aae0fd9f1efc10264f6ef41c6a22d4fd3710f286c5190c3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9dda4de581c70aae83db24a81ede49a576d5516ecc6f70d0e6dc9f55e46b147"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36d7c67cd50c75702586806a5c5dc64529790107a9c67628f13d3834ddbb08d6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 47.9 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]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3721, 0.9993, -0.0212, 0.8288, 0.6056, -0.6765, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0083 left_pitch=-0.0488 left_roll=0.0145 left_gripper=0.9993 right_x=0.2473 right_y=0.0018 right_z=0.1178 right_yaw=0.0013 right_pitch=-0.3158 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.3624, 5.6547, 1.3016, -0.105, 0.1587, -0.0904, -0.0889, -0.9641, 6.7761, 1.4579, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.17, \"left_z\": 0.05, \"left_pitch\": 0, \"left_roll\": 0, \"left_gripper\": 1}, \"note\": \"The arm stalled again at table height; the block sits just ahead and slightly camera-right of the fingers. Lifting to 5 cm with level wrist while shifting over the block so I can descend onto it cleanly.\"}",
        "name": "move_to"
      },
      "id": "toolu_015Zj7SoMDerUcs3DZCg1Kca",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_015Zj7SoMDerUcs3DZCg1Kca"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.548, 1.9175, 0.8371, 0.4026, -0.4652, -0.3672, 0.9993, -0.0212, 0.8337, 0.6056, -0.7017, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4322 left_y=-0.1667 left_z=0.0297 left_yaw=0.0224 left_pitch=-0.0199 left_roll=-0.0027 left_gripper=0.9993 right_x=0.2424 right_y=0.0019 right_z=0.1129 right_yaw=0.0016 right_pitch=-0.3459 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -11.7675, 5.9692, 1.326, -0.0904, 0.232, -0.0855, -0.1026, -1.5385, 6.6803, 1.5311, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db82b217c50d7787a413223c44be22a28f0b61a067a968b5b694c69764a54e20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a0c860e6316e82471fb19b8defead43d7cb2f5d0192430efb2dd079fb6bc6c5e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:453bde6f6fe05336657df7efe362e878498d4f46958866b0e75d09359ac9a9cc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 54.09 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]: [-0.5682, 1.9186, 0.6819, 0.5232, -0.4686, -0.3725, 0.9993, -0.0212, 0.8288, 0.6056, -0.6796, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.1553 left_z=-0.0005 left_yaw=0.0085 left_pitch=-0.0488 left_roll=0.0142 left_gripper=0.9993 right_x=0.2467 right_y=0.0018 right_z=0.1174 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.3761, 5.6547, 1.326, -0.1343, 0.1245, -0.0904, -0.0889, -1.1692, 6.8034, 1.3944, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.17, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is now centered between the open jaws in the wrist camera, just ahead of the fingertips. Descending to table height while advancing ~2 cm so the block sits fully inside the jaws for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BpetbnSptDHi24G2pDhhjB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BpetbnSptDHi24G2pDhhjB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5346, 1.9858, 0.8944, 0.4065, -0.4637, -0.3557, 0.9993, -0.0212, 0.8341, 0.6018, -0.7071, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.446 left_y=-0.1681 left_z=0.0198 left_yaw=0.0285 left_pitch=-0.0266 left_roll=0.0098 left_gripper=0.9993 right_x=0.2406 right_y=0.002 right_z=0.1105 right_yaw=0.002 right_pitch=-0.3554 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [0.8, -8.6906, 5.2034, 1.3748, -0.0562, 0.0122, -0.0855, -0.0615, -1.1556, 6.9949, 1.4481, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:068df402c0b852211d98a2d43188291f41bb21ebc67b1e86994263f327c4b1af"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad62aba5b6fd7cd87b06226c35c25d413a1ef8e55342d122606687a64d47ddea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62c7c449b28431d44e57eb1cccbb1ccddea46252022edd61080d63fdfd0302c1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 80.19 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]: [-0.548, 1.9175, 0.8371, 0.4026, -0.4652, -0.3672, 0.9993, -0.0212, 0.8337, 0.6056, -0.7017, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4322 left_y=-0.1667 left_z=0.0297 left_yaw=0.0224 left_pitch=-0.0199 left_roll=-0.0027 left_gripper=0.9993 right_x=0.2424 right_y=0.0019 right_z=0.1129 right_yaw=0.0016 right_pitch=-0.3459 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -11.7675, 5.9692, 1.326, -0.0904, 0.232, -0.0855, -0.1026, -1.5385, 6.6803, 1.5311, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.465, \"left_y\": -0.17, \"left_z\": 0.015, \"left_gripper\": 0}, \"note\": \"The red block is sitting between the open jaws in the wrist camera, just slightly ahead. Advancing ~2 cm while closing the gripper to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FEtB7dvn8GNLkNz19tvdcx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01FEtB7dvn8GNLkNz19tvdcx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5159, 2.0426, 0.9382, 0.3805, -0.4576, -0.3534, 0.4396, -0.0212, 0.836, 0.6018, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4535 left_y=-0.1634 left_z=0.0041 left_yaw=0.042 left_pitch=-0.0616 left_roll=0.029 left_gripper=0.4396 right_x=0.2371 right_y=0.002 right_z=0.1076 right_yaw=0.0018 right_pitch=-0.3749 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -9.1009, 7.8701, 1.7314, -0.1392, 0.1245, 1.033, -0.1026, -1.2786, 6.7214, 1.4823, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b1536fc337857d0a0096b2495128a0620869a388953b84ffaa968ed5afaef16f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:951e9ffabd023e4a4fc62a12d882004a27cbe7e2714ec8868988c6e1ef528847"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7ce7b4cac379f6f9608ed75bbcd166298dc083b151f54ed6f361868bef9b3aa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}