- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5-1
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 358 s
- total steps
- 110
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the red block from the table and place it inside the bowl.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
give_up
Operator judgements
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 7
Raw transcript
step 12
Raw transcript
step 19
Raw transcript
step 23
Raw transcript
step 27
Raw transcript
step 31
Raw transcript
step 35
Raw transcript
step 38
Raw transcript
step 45
Raw transcript
step 49
Raw transcript
step 57
Raw transcript
step 65
Raw transcript
step 73
Raw transcript
step 80
Raw transcript
step 91
Raw transcript
step 102
Raw transcript
step 109
Raw transcript
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 · 49.54 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the red block from the table and place it inside the bowl.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3843, -0.0193, -0.0334, 0.9993, -0.0212, 0.7933, 0.6052, -0.3958, -0.02, -0.0193, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.7453, -1.4564, 10.2906, 1.873, -0.0952, 0.1929, -0.0904, -0.335, -1.5385, 9.8667, 1.9316, -0.0464, 0.0122, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:85367f8330655d4376ff5f070b2f649904692371c1df0cc12921d290ec337e18"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ad9bb52ecf7a99ff1e28f509378fbdcaad4aa7847af4179b36421d201fcd886"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ee63f96e30e54d7cba6bfcffbf9ea0d1242e0265d80fdd054c2b423a3a52e7c"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 10.76 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.29, \"left_y\": -0.07, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block just below-right of center, near the right fingertip, so it appears slightly to the arm's right and roughly at the current reach. I'm shifting the left gripper right and lowering it to see how the block moves in view.\"}",
"name": "move_to"
},
"id": "toolu_01MbVTSgY18XZbASc7o64bqq",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01MbVTSgY18XZbASc7o64bqq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4595, 0.9295, 0.3603, -0.1246, -0.3363, -0.2565, 0.9993, -0.0212, 0.8005, 0.6075, -0.4179, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2811 left_y=-0.07 left_z=0.0908 left_yaw=-0.054 left_pitch=-0.0756 left_roll=0.0255 left_gripper=0.9993 right_x=0.2904 right_y=0.001 right_z=0.172 right_yaw=0.0 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.3179, 6.3385, 1.9121, -0.3443, -0.0855, -0.0855, -0.1709, -1.812, 7.0906, 1.9463, -0.0366, -0.0611, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6532743ea151b48be803ce934cb9e8e761dfed8063db0591acdc4c8627b5c963"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d3d8fcc0f3dedebfae98e7f81e0635c6c5db13c4107649de6dc975616fc45c42"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e629c64d96778f0288f8bb9a4b5c3ab5c6a07895d380c38dc1b0ef2b37c4d938"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 9.694 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3843, -0.0193, -0.0334, 0.9993, -0.0212, 0.7933, 0.6052, -0.3958, -0.02, -0.0193, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.7453, -1.4564, 10.2906, 1.873, -0.0952, 0.1929, -0.0904, -0.335, -1.5385, 9.8667, 1.9316, -0.0464, 0.0122, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.34, \"left_y\": -0.1, \"left_z\": 0.06, \"left_gripper\": 1.0}, \"note\": \"The block is now more centered in the left wrist camera but still ahead and a bit to the right of the fingers. Moving the left gripper forward, slightly right, and lower to get above the block.\"}",
"name": "move_to"
},
"id": "toolu_01LpkU3fHh1TT1BZ76uAkv9m",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01LpkU3fHh1TT1BZ76uAkv9m"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4633, 1.3712, 0.4213, 0.1303, -0.3473, -0.2729, 0.9993, -0.0212, 0.8032, 0.6056, -0.44, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.315 left_y=-0.0861 left_z=0.0339 left_yaw=-0.0331 left_pitch=-0.1872 left_roll=0.0714 left_gripper=0.9993 right_x=0.2871 right_y=0.001 right_z=0.166 right_yaw=0.0 right_pitch=-0.0538 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.8872, 7.8291, 1.7411, -0.0562, 0.0904, -0.0855, -0.0205, -1.4564, 7.2274, 1.8388, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d0670f1a1fb3084d7b28ad8cc8aa250564700f8a7d8642915371649c8a3f720"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d7f81ed9b289e2bf090c1099aa61ded2e0c97ebcd621f929a49d3577f621317"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:24d526d0f757437915a6f9baa1c830ee741ae99623b642c28b8eb5c342ae825c"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 7.982 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4595, 0.9295, 0.3603, -0.1246, -0.3363, -0.2565, 0.9993, -0.0212, 0.8005, 0.6075, -0.4179, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2811 left_y=-0.07 left_z=0.0908 left_yaw=-0.054 left_pitch=-0.0756 left_roll=0.0255 left_gripper=0.9993 right_x=0.2904 right_y=0.001 right_z=0.172 right_yaw=0.0 right_pitch=-0.0271 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.3179, 6.3385, 1.9121, -0.3443, -0.0855, -0.0855, -0.1709, -1.812, 7.0906, 1.9463, -0.0366, -0.0611, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.115, \"left_z\": 0.05, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is still ahead and to the right in the left wrist view, and the tool has pitched back a bit. Moving further forward and right, leveling the tool, keeping the gripper just above table height.\"}",
"name": "move_to"
},
"id": "toolu_0132omC22soqNY98GXPYaSdW",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_0132omC22soqNY98GXPYaSdW"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4725, 1.5734, 0.4629, 0.3767, -0.3641, -0.279, 0.9993, -0.0212, 0.8043, 0.6056, -0.4557, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.349 left_y=-0.1037 left_z=0.0258 left_yaw=-0.0307 left_pitch=-0.1042 left_roll=0.0409 left_gripper=0.9993 right_x=0.2849 right_y=0.0011 right_z=0.1626 right_yaw=0.0001 right_pitch=-0.0706 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -5.4769, 7.3778, 1.9023, -0.2369, -0.0122, -0.0855, -0.1983, -1.347, 6.9812, 1.7949, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b1372f91f932cc3932718051c255b84461795a2cf3e808f9212acfafaf7855fe"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2a5dc8e9670db10e21c0503d9f124c62ccb8270937a18f3c30b91c5ccfa74236"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8549bbe31cde6271883da0c0e165ecb8d65593b049234a57a7b3ec504d8b360a"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 11.5 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4633, 1.3712, 0.4213, 0.1303, -0.3473, -0.2729, 0.9993, -0.0212, 0.8032, 0.6056, -0.44, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.315 left_y=-0.0861 left_z=0.0339 left_yaw=-0.0331 left_pitch=-0.1872 left_roll=0.0714 left_gripper=0.9993 right_x=0.2871 right_y=0.001 right_z=0.166 right_yaw=0.0 right_pitch=-0.0538 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.8872, 7.8291, 1.7411, -0.0562, 0.0904, -0.0855, -0.0205, -1.4564, 7.2274, 1.8388, -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\": 0.39, \"left_y\": -0.11, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now centered between the fingers laterally but still a few centimeters ahead of the fingertips in the left wrist view. Advancing forward about 4 cm at grasp height so the block sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_013vYRYL6jVjhxPXwaSC74Ff",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_013vYRYL6jVjhxPXwaSC74Ff"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 1.7584, 0.4858, 0.5579, -0.3508, -0.2661, 0.9993, -0.0212, 0.807, 0.6056, -0.4751, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3691 left_y=-0.0997 left_z=0.0003 left_yaw=-0.0096 left_pitch=-0.0909 left_roll=0.035 left_gripper=0.9993 right_x=0.282 right_y=0.0011 right_z=0.1581 right_yaw=-0.0002 right_pitch=-0.0927 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.147, 6.5846, 1.9365, 0.0122, 0.1587, -0.0855, -0.0205, -1.4701, 7.1179, 1.9512, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26aeea0531a344f902c4e807da355cb7171d38d6bf0e715dde3c100b91397e16"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e7c6f12c8bb6f10b9ad3e2573c07f2d1a4bdf15b568570510f1284adbe278e26"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a273406f20c8e0d6d3fc2151d249a47f5f350ff3be04e9e66c3ab81afe8fe31f"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 8.466 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4725, 1.5734, 0.4629, 0.3767, -0.3641, -0.279, 0.9993, -0.0212, 0.8043, 0.6056, -0.4557, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.349 left_y=-0.1037 left_z=0.0258 left_yaw=-0.0307 left_pitch=-0.1042 left_roll=0.0409 left_gripper=0.9993 right_x=0.2849 right_y=0.0011 right_z=0.1626 right_yaw=0.0001 right_pitch=-0.0706 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -5.4769, 7.3778, 1.9023, -0.2369, -0.0122, -0.0855, -0.1983, -1.347, 6.9812, 1.7949, -0.0659, -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\": 0.385, \"left_y\": -0.13, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now at fingertip depth but sits to the right of the jaw center in the left wrist view, close to the right finger. Shifting the gripper about 3 cm to the right and slightly forward to center the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01HGYe7SD97r6yzJcXGZhau7",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01HGYe7SD97r6yzJcXGZhau7"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.7702, 0.4973, 0.6136, -0.345, -0.2634, 0.9993, -0.0212, 0.8101, 0.6056, -0.4999, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1046 left_z=0.0095 left_yaw=-0.0149 left_pitch=-0.0419 left_roll=0.0113 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1526 right_yaw=0.0004 right_pitch=-0.1205 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.3385, 6.0103, 1.956, -0.0269, 0.1099, -0.0904, -0.0615, -1.4564, 7.0769, 1.8388, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4a12cc30569d60f0ac492d62c542e4f684262db25153e03d15783532e1801e83"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:560ec54c8f575e70a5b29a475120142d7df2acff9607488851aee7d2b45047e2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e96b0876450bfe59af8f8908c5c08eaa274b2b0777b495bd32a406ae09a9f277"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 10.67 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 1.7584, 0.4858, 0.5579, -0.3508, -0.2661, 0.9993, -0.0212, 0.807, 0.6056, -0.4751, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3691 left_y=-0.0997 left_z=0.0003 left_yaw=-0.0096 left_pitch=-0.0909 left_roll=0.035 left_gripper=0.9993 right_x=0.282 right_y=0.0011 right_z=0.1581 right_yaw=-0.0002 right_pitch=-0.0927 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.147, 6.5846, 1.9365, 0.0122, 0.1587, -0.0855, -0.0205, -1.4701, 7.1179, 1.9512, -0.022, -0.0269, -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\": 0.385, \"left_y\": -0.14, \"left_z\": 0.01, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm only reached y=-0.105 and the block still sits right of center, right at the right finger in the wrist view. Commanding a further rightward shift so the block ends up between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01PrxEcmuFmAtXExcYoDyTCQ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01PrxEcmuFmAtXExcYoDyTCQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.7702, 0.4973, 0.6136, -0.345, -0.263, 0.9993, -0.0212, 0.8101, 0.6056, -0.5186, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1046 left_z=0.0095 left_yaw=-0.0151 left_pitch=-0.0419 left_roll=0.0116 left_gripper=0.9993 right_x=0.2752 right_y=0.0012 right_z=0.1491 right_yaw=0.0001 right_pitch=-0.1392 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.4068, 6.188, 1.9658, -0.0513, 0.1099, -0.0904, -0.0068, -1.2513, 7.0359, 1.8926, -0.0513, -0.0708, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c508314925cb7dd308ae1dbcd92492181831dd3ba117d785852bee1c3f950e4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d39ac46b9fb710e3f3a96426674ac40f27bca520c3d18e0d9bba3ab5245bca1a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b2f90555be849f05c5c49faf086d8a9aac5af94669bf511f39b4cf20068146b0"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 7.022 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.7702, 0.4973, 0.6136, -0.345, -0.2634, 0.9993, -0.0212, 0.8101, 0.6056, -0.4999, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1046 left_z=0.0095 left_yaw=-0.0149 left_pitch=-0.0419 left_roll=0.0113 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1526 right_yaw=0.0004 right_pitch=-0.1205 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.3385, 6.0103, 1.956, -0.0269, 0.1099, -0.0904, -0.0615, -1.4564, 7.0769, 1.8388, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.14, \"left_z\": 0.03, \"left_yaw\": -0.2, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm did not move at all on the last command, likely an IK stall near the table. Lifting slightly to 3 cm, adding a small clockwise yaw, and shifting right again so the block, currently at the right finger in the wrist view, falls between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01NTjGUSZZtSyELLt4HX6Qh1",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01NTjGUSZZtSyELLt4HX6Qh1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 1.7699, 0.5053, 0.6006, -0.2935, -0.2249, 0.9993, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3786 left_y=-0.1146 left_z=0.008 left_yaw=-0.0801 left_pitch=-0.0584 left_roll=0.0149 left_gripper=0.9993 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0003 right_pitch=-0.1659 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -8.5675, 7.2957, 2.0537, 0.0171, 0.1294, -0.0904, -0.1026, -1.2239, 6.9402, 1.873, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:51dab3e8ff9ef9e4b1eac81921429154e2bb10ff02171ddde0c1e2019507a396"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:325376d2bafd26e491959868db1ccf32379393defa69ba15449f9db6d724b778"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:65e87dc889ecd61a7d902d6a842b55b6aefe9be54d678082fb6554d6399ea34f"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 6.537 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.7702, 0.4973, 0.6136, -0.345, -0.263, 0.9993, -0.0212, 0.8101, 0.6056, -0.5186, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1046 left_z=0.0095 left_yaw=-0.0151 left_pitch=-0.0419 left_roll=0.0116 left_gripper=0.9993 right_x=0.2752 right_y=0.0012 right_z=0.1491 right_yaw=0.0001 right_pitch=-0.1392 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.4068, 6.188, 1.9658, -0.0513, 0.1099, -0.0904, -0.0068, -1.2513, 7.0359, 1.8926, -0.0513, -0.0708, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.12, \"left_z\": 0.0, \"left_yaw\": -0.1, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block now sits roughly between the jaws laterally in the wrist view, just ahead of the fingertips. Advancing ~2.5 cm forward and down to table level so the jaws straddle the block before closing.\"}",
"name": "move_to"
},
"id": "toolu_01NdRxRfdLfshftCUibK7Uwo",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01NdRxRfdLfshftCUibK7Uwo"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4099, 1.8809, 0.5423, 0.7155, -0.2481, -0.2028, 0.9993, -0.0212, 0.8139, 0.6056, -0.5682, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3961 left_y=-0.1209 left_z=-0.0019 left_yaw=-0.1073 left_pitch=-0.0286 left_roll=-0.0059 left_gripper=0.9993 right_x=0.267 right_y=0.0014 right_z=0.1392 right_yaw=0.0001 right_pitch=-0.1926 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.335, -6.3521, 4.9026, 1.4286, -0.1636, 0.1636, -0.0904, -0.0615, -0.9778, 7.0496, 1.8046, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:31f6fb71d58992e712f18d977da7d1cc5a9388c4c1a4d21a90dc6649c3ace222"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0340457e084696dbd64fd86bee444e42b9520949972675cc168b907bd742b6ff"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3c80fe6cce40617e4904ff9b376c7ed66453b133254942b7e3f18e391ee2f795"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 9.739 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4328, 1.7699, 0.5053, 0.6006, -0.2935, -0.2249, 0.9993, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3786 left_y=-0.1146 left_z=0.008 left_yaw=-0.0801 left_pitch=-0.0584 left_roll=0.0149 left_gripper=0.9993 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0003 right_pitch=-0.1659 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -8.5675, 7.2957, 2.0537, 0.0171, 0.1294, -0.0904, -0.1026, -1.2239, 6.9402, 1.873, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_gripper\": 0.3}, \"note\": \"The block now fills the left wrist view between the two fingers, so the jaws are straddling it. Closing the gripper to grasp the block.\"}",
"name": "move_to"
},
"id": "toolu_01U7K2znEmt4AcCntLmrTMJV",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01U7K2znEmt4AcCntLmrTMJV"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4042, 1.8992, 0.5503, 0.7403, -0.2558, -0.2001, 0.305, -0.0212, 0.8158, 0.6056, -0.5991, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4009 left_y=-0.119 left_z=-0.0015 left_yaw=-0.0968 left_pitch=-0.0135 left_roll=-0.0039 left_gripper=0.305 right_x=0.2616 right_y=0.0015 right_z=0.1334 right_yaw=0.0002 right_pitch=-0.2254 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6667, 4.7521, 1.8584, -0.1441, 0.0513, -0.0952, -0.1846, -1.1145, 6.9675, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:30539d0828c06aa0c97ba49e31ca8e408173a1a2bad6a870dcc9925f577181bd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed0810095425f24ee27b270ec928e87eb85f56865c3f4d282de3b2ee9b797638"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a4bbedabeb089c75d22b2ed84c02ededb12f35487be7ddf572adef8184e5ff7c"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 15.01 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4099, 1.8809, 0.5423, 0.7155, -0.2481, -0.2028, 0.9993, -0.0212, 0.8139, 0.6056, -0.5682, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3961 left_y=-0.1209 left_z=-0.0019 left_yaw=-0.1073 left_pitch=-0.0286 left_roll=-0.0059 left_gripper=0.9993 right_x=0.267 right_y=0.0014 right_z=0.1392 right_yaw=0.0001 right_pitch=-0.1926 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.335, -6.3521, 4.9026, 1.4286, -0.1636, 0.1636, -0.0904, -0.0615, -0.9778, 7.0496, 1.8046, -0.0366, -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_z\": 0.06, \"left_gripper\": 0.2}, \"note\": \"The gripper closed to 0.3 with the block visible between the fingertips in the wrist view; squeezing a bit more and lifting 6 cm to test whether the block is held.\"}",
"name": "move_to"
},
"id": "toolu_011pZkttw66VXKyGzAVKoaK6",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_011pZkttw66VXKyGzAVKoaK6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4042, 1.8992, 0.5503, 0.7403, -0.2562, -0.1989, 0.202, -0.0212, 0.8158, 0.6056, -0.6136, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.401 left_y=-0.1189 left_z=-0.0015 left_yaw=-0.0971 left_pitch=-0.0134 left_roll=-0.0027 left_gripper=0.202 right_x=0.259 right_y=0.0016 right_z=0.131 right_yaw=0.0003 right_pitch=-0.2399 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4615, 4.7385, 1.8339, -0.1294, 0.0562, 0.0366, -0.0479, -1.1692, 6.8308, 1.6288, -0.0513, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0c1330b8ba93c7318d57de2f782c2c9c9e2c2f94226f84cc8e76bb671532b935"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c01df5e3747e9969e9d58d0cf49099859eb288a061b980238ae390fd0f6a203a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0cb3ca8cb655416c2b463fff99b92e1c9dbb811b6ba7b6d33335902c64bbcda6"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 5.713 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4042, 1.8992, 0.5503, 0.7403, -0.2558, -0.2001, 0.305, -0.0212, 0.8158, 0.6056, -0.5991, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4009 left_y=-0.119 left_z=-0.0015 left_yaw=-0.0968 left_pitch=-0.0135 left_roll=-0.0039 left_gripper=0.305 right_x=0.2616 right_y=0.0015 right_z=0.1334 right_yaw=0.0002 right_pitch=-0.2254 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.6667, 4.7521, 1.8584, -0.1441, 0.0513, -0.0952, -0.1846, -1.1145, 6.9675, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.122, \"left_z\": 0.0, \"left_yaw\": -0.1, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper closed to 0.2 on empty air and the block still sits just beyond the fingertips in the wrist view, so it is ahead of the jaws rather than between them. Reopening and advancing about 4 cm forward at table height so the jaws straddle the block.\"}",
"name": "move_to"
},
"id": "toolu_017dfT5ukLsacMQCD5NT7hSs",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_017dfT5ukLsacMQCD5NT7hSs"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3645, 1.9827, 0.6937, 0.696, -0.242, -0.1875, 0.995, -0.0212, 0.8173, 0.6056, -0.6353, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4386 left_y=-0.1182 left_z=0.0004 left_yaw=-0.0753 left_pitch=-0.0008 left_roll=-0.0054 left_gripper=0.995 right_x=0.255 right_y=0.0017 right_z=0.127 right_yaw=0.0008 right_pitch=-0.2632 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0496, 6.1744, 1.79, 0.105, 0.2027, -0.0708, -0.0342, -1.1829, 6.7761, 1.6386, -0.0317, -0.0269, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:842a61c2b5fa4e9676a2cbb770825186500b0d26cee94a617d6f70819af91aa3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6398bbda3d7cce6daba88ad24d989a59a5dfa6b716b4195f60d841a2c8d85d21"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0cf9200bfbcbcfc0badba6b925e8f717f3706d8141571021375c07820a6554ad"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 9.695 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4042, 1.8992, 0.5503, 0.7403, -0.2562, -0.1989, 0.202, -0.0212, 0.8158, 0.6056, -0.6136, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.401 left_y=-0.1189 left_z=-0.0015 left_yaw=-0.0971 left_pitch=-0.0134 left_roll=-0.0027 left_gripper=0.202 right_x=0.259 right_y=0.0016 right_z=0.131 right_yaw=0.0003 right_pitch=-0.2399 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4615, 4.7385, 1.8339, -0.1294, 0.0562, 0.0366, -0.0479, -1.1692, 6.8308, 1.6288, -0.0513, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_gripper\": 0.25}, \"note\": \"The block now sits between the open jaws in the left wrist view, and the top camera shows the gripper directly over the block. Closing the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01UY31XNZvSHUwz9Jxx1A1W8",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01UY31XNZvSHUwz9Jxx1A1W8"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3649, 1.9846, 0.6983, 0.688, -0.2443, -0.1951, 0.254, -0.0212, 0.8173, 0.6056, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.1181 left_z=-0.0005 left_yaw=-0.0697 left_pitch=-0.0056 left_roll=-0.009 left_gripper=0.254 right_x=0.2509 right_y=0.0018 right_z=0.1234 right_yaw=0.0009 right_pitch=-0.2853 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -8.7179, 4.2325, 1.7607, -0.0806, 0.0708, 0.1099, -0.0615, -1.1556, 6.9402, 1.5946, -0.0513, -0.0464, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 65):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c98dead8333a14961cdac28c3a3df57d5e87c790f866acd697a6912bf44a9184"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 65):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8bfb038a2fc1a571e83b1994009aef92b6f15100f74a0bb715fafab633fc052f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 65):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4005ff983eb269d1d3719b72262933d13bdf5432af2a722b68777e1e5cf973e"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 8.567 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3645, 1.9827, 0.6937, 0.696, -0.242, -0.1875, 0.995, -0.0212, 0.8173, 0.6056, -0.6353, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4386 left_y=-0.1182 left_z=0.0004 left_yaw=-0.0753 left_pitch=-0.0008 left_roll=-0.0054 left_gripper=0.995 right_x=0.255 right_y=0.0017 right_z=0.127 right_yaw=0.0008 right_pitch=-0.2632 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0496, 6.1744, 1.79, 0.105, 0.2027, -0.0708, -0.0342, -1.1829, 6.7761, 1.6386, -0.0317, -0.0269, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.485, \"left_y\": -0.12, \"left_z\": 0.0, \"left_yaw\": -0.07, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper closed to 0.25 (narrower than the block) and the block still appears just beyond the fingertips in the wrist view, so it is still ahead of the jaws. Reopening and pushing another ~4.5 cm forward at table height.\"}",
"name": "move_to"
},
"id": "toolu_01YD6hnGAWXHNhp2guxSPdPp",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01YD6hnGAWXHNhp2guxSPdPp"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3302, 2.0689, 0.8604, 0.6193, -0.2386, -0.1867, 0.9955, -0.0212, 0.8173, 0.6056, -0.6765, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4784 left_y=-0.116 left_z=0.0019 left_yaw=-0.0443 left_pitch=0.0023 left_roll=-0.0076 left_gripper=0.9955 right_x=0.2472 right_y=0.0019 right_z=0.1204 right_yaw=0.001 right_pitch=-0.3043 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -8.1162, 6.5573, 1.6288, 0.1245, 0.1636, -0.1343, -0.0889, -1.1009, 6.735, 1.619, -0.0513, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7bff35ed116554d26af18412e568bf3a825bcd7af28ae4633c83be60cb809212"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e8a35721f62c7de7afacb10e5d07873ca516f0b4cc5a229606b757377f4da690"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d8f13362addef7a0b36715dfb2d12005fd13c3e2fc70f54a49a715549a46816"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 13.3 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3649, 1.9846, 0.6983, 0.688, -0.2443, -0.1951, 0.254, -0.0212, 0.8173, 0.6056, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.1181 left_z=-0.0005 left_yaw=-0.0697 left_pitch=-0.0056 left_roll=-0.009 left_gripper=0.254 right_x=0.2509 right_y=0.0018 right_z=0.1234 right_yaw=0.0009 right_pitch=-0.2853 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -8.7179, 4.2325, 1.7607, -0.0806, 0.0708, 0.1099, -0.0615, -1.1556, 6.9402, 1.5946, -0.0513, -0.0464, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.495, \"left_gripper\": 0.35}, \"note\": \"The block is now clearly between the two fingertips at the bottom of the left wrist view, and the top camera shows the gripper at the block. Nudging 1.5 cm further forward while closing the jaws to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_015pUQDPgeoMZzw3neXtPqJd",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_015pUQDPgeoMZzw3neXtPqJd"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3206, 2.0892, 0.9039, 0.5869, -0.2394, -0.1917, 0.3543, -0.0212, 0.8173, 0.6056, -0.6804, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.1139 left_z=0.0009 left_yaw=-0.0314 left_pitch=-0.0064 left_roll=-0.0088 left_gripper=0.3543 right_x=0.2465 right_y=0.0018 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.3082 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -8.5128, 6.9402, 1.6777, 0.0366, 0.149, 0.1343, -0.0752, -1.1145, 6.7214, 1.4042, -0.0269, -0.0269, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:18d911219490702217ccd6455b6f005434edac611e9535d9da0f72733566eb76"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bb41d46fe9d1afdf8474dd885efc79f4a016e9e512bb5dce3fd229816ad18c71"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f7df40cf0e06ee127308218378cf02a8195ab0dd2698673a6f6dfcdb6a53ecf2"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 35.04 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3302, 2.0689, 0.8604, 0.6193, -0.2386, -0.1867, 0.9955, -0.0212, 0.8173, 0.6056, -0.6765, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4784 left_y=-0.116 left_z=0.0019 left_yaw=-0.0443 left_pitch=0.0023 left_roll=-0.0076 left_gripper=0.9955 right_x=0.2472 right_y=0.0019 right_z=0.1204 right_yaw=0.001 right_pitch=-0.3043 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -8.1162, 6.5573, 1.6288, 0.1245, 0.1636, -0.1343, -0.0889, -1.1009, 6.735, 1.619, -0.0513, -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\": 0.58, \"left_y\": -0.19, \"left_z\": 0.16, \"left_gripper\": 0.35}, \"note\": \"The block is clamped between the fingers in the left wrist view. Lifting it well above the bowl rim and moving forward and to the arm's right toward the bowl seen in the top camera.\"}",
"name": "move_to"
},
"id": "toolu_019PNTFSu91HsqjQwmBs1TGK",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_019PNTFSu91HsqjQwmBs1TGK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4049, 2.1235, 1.6978, -0.1505, -0.3073, -0.2493, 0.3505, -0.0212, 0.82, 0.6056, -0.7021, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.58 left_y=-0.1866 left_z=0.1604 left_yaw=-0.0282 left_pitch=0.0264 left_roll=-0.0292 left_gripper=0.3505 right_x=0.2423 right_y=0.002 right_z=0.1159 right_yaw=0.0012 right_pitch=-0.3326 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -11.5487, 8.3214, 1.409, -0.1294, 0.0171, 0.0366, -0.1709, -1.2786, 6.694, 1.5311, -0.0513, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0e7087741984bc6d833797296d7c98c9d713dfd5b698b09bc54cca228ddc9a29"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c2f07645707c576054b4a2a6a37afe31a259f59e1edbb863423cf1728cd44850"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:98b869daf385eee0730a38de6dc4319841e9003b297e685f4130efdcf4d5a7b2"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 17.81 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3206, 2.0892, 0.9039, 0.5869, -0.2394, -0.1917, 0.3543, -0.0212, 0.8173, 0.6056, -0.6804, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.1139 left_z=0.0009 left_yaw=-0.0314 left_pitch=-0.0064 left_roll=-0.0088 left_gripper=0.3543 right_x=0.2465 right_y=0.0018 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.3082 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -8.5128, 6.9402, 1.6777, 0.0366, 0.149, 0.1343, -0.0752, -1.1145, 6.7214, 1.4042, -0.0269, -0.0269, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.495, \"left_y\": -0.115, \"left_z\": 0.0, \"left_yaw\": -0.03, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block slipped out during the lift and is back on the table at roughly the same spot in the top camera; the wrist camera shows empty jaws. Returning to the previous grasp pose with the gripper open to re-grasp it more tightly.\"}",
"name": "move_to"
},
"id": "toolu_01GQ7jYYjpZDVEG9YbtyeuBX",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_01GQ7jYYjpZDVEG9YbtyeuBX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3267, 2.093, 0.9596, 0.4999, -0.2558, -0.2047, 0.9972, -0.0212, 0.823, 0.6056, -0.7238, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.493 left_y=-0.1161 left_z=0.0018 left_yaw=-0.0167 left_pitch=-0.0371 left_roll=-0.0001 left_gripper=0.9972 right_x=0.238 right_y=0.002 right_z=0.112 right_yaw=0.0013 right_pitch=-0.3574 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -8.4855, 4.8479, 1.3748, -0.1099, 0.1832, -0.0757, -0.0205, -1.1966, 6.6667, 1.5995, -0.0317, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:587b9cbd8b74635bfe6734ab86387ca6d044008947445415c9429564b4fbe9b9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:aa6f80ccd87c38e2f4f929a90abe686dfa5215a43aae8282f33d1a115bc30cea"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e215d905cf7392f34cff43e97e94f00e55b423e0b9d017b4623f9dbe79490d34"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 16.97 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4049, 2.1235, 1.6978, -0.1505, -0.3073, -0.2493, 0.3505, -0.0212, 0.82, 0.6056, -0.7021, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.58 left_y=-0.1866 left_z=0.1604 left_yaw=-0.0282 left_pitch=0.0264 left_roll=-0.0292 left_gripper=0.3505 right_x=0.2423 right_y=0.002 right_z=0.1159 right_yaw=0.0012 right_pitch=-0.3326 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -11.5487, 8.3214, 1.409, -0.1294, 0.0171, 0.0366, -0.1709, -1.2786, 6.694, 1.5311, -0.0513, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.535, \"left_y\": -0.118, \"left_z\": 0.0, \"left_yaw\": -0.45, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 0.3}, \"note\": \"The block sits ~4 cm ahead of the fingertips and is rotated about 30\\u00b0 relative to the jaws in the wrist view. Advancing forward, yawing the tool to match the block's faces, and closing firmly to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01Kq1HYsew9JVo8bkyLMwfZ8",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01Kq1HYsew9JVo8bkyLMwfZ8"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1539, 2.1925, 1.1019, 0.5163, 0.1505, 0.0788, 0.3048, -0.0212, 0.8246, 0.6056, -0.7372, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5358 left_y=-0.1063 left_z=0.0042 left_yaw=-0.3379 left_pitch=0.0056 left_roll=0.0026 left_gripper=0.3048 right_x=0.2353 right_y=0.0021 right_z=0.1098 right_yaw=0.0012 right_pitch=-0.3722 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -9.935, 6.735, 1.6142, 0.2955, 0.149, 0.0317, -0.1436, -1.2103, 6.9675, 1.4237, -0.0269, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:563b24cc341a3e3623b4f0ccc5063df32aa3de39470a519698c1925bbfc2f7b6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:07ee51118c065bc78de7db28863b1294d0ba5023f08d18ed6aa2ed0fcb1e994f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b0b5abd7f292ac7957bbffa3c32533c6c58f34b04e3cf790f2646815214c9174"
},
"type": "image_url"
}
],
"role": "user"
}