adhoc

completed
2026-09-03T01:59:46.248270+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
290.3 s
total steps
111
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y

Grader notes

trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start by moving the left arm toward the red block, which appears ahead and to the right of the left wrist camera.
agent noteThe left wrist camera shows the red block ahead and to the right of the gripper; the top camera shows the block left of the bowl. Moving the left arm forward and right to get above the block while keeping the gripper open.
move_to
left_x0.4000left_y-0.1000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3878, -0.0193, -0.0322, 0.9993, -0.0212, 0.7929, 0.6044, -0.3988, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.4838, 10.2632, 1.9463, -0.0952, 0.188, -0.0904, -0.2256, -1.4701, 9.8256, 2.0147, -0.0952, 0.0952, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start by moving the left arm toward the red block, which appears ahead and to the right of the left wrist camera.
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.15, "left_gripper": 1.0}, "note": "The left wrist camera shows the red block ahead and to the right of the gripper; the top camera shows the block left of the bowl. Moving the left arm forward and right to get above the block while keeping the gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist camera now shows the red block just between/below the fingers, slightly right of center; the top camera shows the gripper over the block. Lowering the gripper and shifting slightly right to align around the block.
move_to
left_x0.3850left_y-0.1150left_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]: [-0.3836, 1.3869, 0.7723, -0.0917, -0.3019, -0.2352, 0.9993, -0.0212, 0.7979, 0.6056, -0.4328, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.381 left_y=-0.0932 left_z=0.1245 left_yaw=-0.0171 left_pitch=-0.0929 left_roll=0.0256 left_gripper=0.9993 right_x=0.2879 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.3761, -6.0923, 9.2923, 1.8877, -0.3053, -0.0269, -0.0855, -0.0889, -1.6068, 6.8991, 1.9902, -0.0415, -0.0659, -0.0073] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.115, "left_z": 0.06, "left_gripper": 1.0}, "note": "The left wrist camera now shows the red block just between/below the fingers, slightly right of center; the top camera shows the gripper over the block. Lowering the gripper and shifting slightly right to align around the block."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe wrist camera shows the red block between the open fingertips, slightly right of center. Lowering a bit more to block height, correcting the tool tilt, and nudging slightly right before closing.
move_to
left_x0.3750left_y-0.1200left_z0.0250left_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]: [-0.445, 1.5749, 0.6666, 0.1097, -0.3355, -0.2726, 0.9993, -0.0212, 0.8013, 0.6037, -0.4545, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3736 left_y=-0.1097 left_z=0.0502 left_yaw=-0.026 left_pitch=-0.1685 left_roll=0.054 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1628 right_yaw=-0.0001 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.5538, -6.7214, 5.5863, 1.8974, -0.3443, -0.1001, -0.0904, -0.0479, -1.5111, 7.241, 1.8681, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.12, "left_z": 0.025, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The wrist camera shows the red block between the open fingertips, slightly right of center. Lowering a bit more to block height, correcting the tool tilt, and nudging slightly right before closing."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe block sits near the fingertips but about 1.5 cm to the right of the gripper center in the wrist view; z did not descend last step. Shifting right and trying to lower again before closing.
move_to
left_x0.3800left_y-0.1300left_z0.0300left_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]: [-0.4511, 1.5951, 0.6605, 0.1795, -0.3462, -0.2928, 0.9993, -0.0212, 0.8024, 0.6025, -0.4557, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3808 left_y=-0.1139 left_z=0.0527 left_yaw=-0.0151 left_pitch=-0.1253 left_roll=0.0273 left_gripper=0.9993 right_x=0.2843 right_y=0.0011 right_z=0.1618 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.212, -7.1179, 5.8188, 1.7998, -0.2613, 0.0757, -0.0855, -0.0479, -1.1419, 7.0496, 1.6532, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.13, "left_z": 0.03, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The block sits near the fingertips but about 1.5 cm to the right of the gripper center in the wrist view; z did not descend last step. Shifting right and trying to lower again before closing."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm did not move at all last step (likely the fingertips are already at table height, so z=0.05 is effectively the floor). Keeping z, dropping the tilt targets, and sliding the gripper ~2 cm to the right to center the block between the fingers.
move_to
left_x0.3800left_y-0.1350left_z0.0550left_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]: [-0.4511, 1.5951, 0.659, 0.1799, -0.3462, -0.2932, 0.9993, -0.0212, 0.8036, 0.6018, -0.4816, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3804 left_y=-0.1137 left_z=0.0522 left_yaw=-0.0148 left_pitch=-0.1264 left_roll=0.0275 left_gripper=0.9993 right_x=0.2803 right_y=0.0012 right_z=0.1561 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.4308, -7.0496, 5.8188, 1.8046, -0.2857, 0.0415, -0.0904, -0.2256, -1.2786, 7.0359, 1.9072, -0.0659, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.135, "left_z": 0.055, "left_gripper": 1.0}, "note": "The arm did not move at all last step (likely the fingertips are already at table height, so z=0.05 is effectively the floor). Keeping z, dropping the tilt targets, and sliding the gripper ~2 cm to the right to center the block between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe block is now nearly centered between the fingertips in the wrist view, just a touch to the right. One more small shift right of ~1 cm to center it before closing.
move_to
left_x0.3770left_y-0.1330left_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]: [-0.4889, 1.6066, 0.6659, 0.1707, -0.374, -0.3164, 0.9993, -0.0212, 0.8036, 0.6018, -0.4911, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3769 left_y=-0.1233 left_z=0.0501 left_yaw=-0.0167 left_pitch=-0.1298 left_roll=0.0331 left_gripper=0.9993 right_x=0.2788 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [-0.4581, -5.6684, 8.4444, 1.5751, -0.2564, -0.0269, -0.0855, -0.1846, -1.1829, 7.1043, 1.8974, -0.0611, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.377, "left_y": -0.133, "left_z": 0.05, "left_gripper": 1.0}, "note": "The block is now nearly centered between the fingertips in the wrist view, just a touch to the right. One more small shift right of ~1 cm to center it before closing."})
tool
executing move_to over 1 steps (0.1s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
The block is centered between the fingers. Closing the gripper now.
agent noteThe wrist camera shows the red block centered between the open fingertips at table height. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.524, 1.6161, 0.6743, 0.149, -0.3874, -0.3458, 0.9993, -0.0212, 0.8043, 0.6018, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3717 left_y=-0.1336 left_z=0.0466 left_yaw=-0.0235 left_pitch=-0.145 left_roll=0.0299 left_gripper=0.9993 right_x=0.2774 right_y=0.0013 right_z=0.1523 right_yaw=0.0004 right_pitch=-0.1156 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.0342, -6.2427, 7.8564, 1.5458, -0.3346, -0.0122, -0.0904, -0.1983, -0.8, 6.9128, 1.7949, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
The block is centered between the fingers. Closing the gripper now.
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist camera shows the red block centered between the open fingertips at table height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper closed almost fully (0.01) so it missed: the wrist camera shows the block just ahead of the closed fingertips. Reopening and moving about 3 cm forward so the block sits between the fingers.
move_to
left_x0.4050left_y-0.1330left_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]: [-0.5232, 1.6161, 0.6743, 0.149, -0.3874, -0.3454, 0.0117, -0.0212, 0.8043, 0.6018, -0.5232, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3718 left_y=-0.1333 left_z=0.0466 left_yaw=-0.023 left_pitch=-0.145 left_roll=0.0302 left_gripper=0.0117 right_x=0.2737 right_y=0.0013 right_z=0.1481 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [0.294, -5.9556, 6.7624, 1.6337, -0.232, 0.022, 1.0379, -0.0889, -1.1966, 6.9128, 1.79, -0.0855, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.405, "left_y": -0.133, "left_z": 0.05, "left_gripper": 1.0}, "note": "The gripper closed almost fully (0.01) so it missed: the wrist camera shows the block just ahead of the closed fingertips. Reopening and moving about 3 cm forward so the block sits between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gripper reopened; the wrist camera shows the block just ahead of the fingertips and slightly right of center. Moving forward ~3 cm and right ~1 cm to bring the block between the fingers.
move_to
left_x0.4200left_y-0.1400left_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]: [-0.4728, 1.6943, 0.7567, 0.1207, -0.3599, -0.3206, 0.9949, -0.0212, 0.8043, 0.6018, -0.5537, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3924 left_y=-0.1268 left_z=0.0405 left_yaw=-0.0064 left_pitch=-0.1761 left_roll=0.0423 left_gripper=0.9949 right_x=0.2686 right_y=0.0014 right_z=0.1425 right_yaw=0.0005 right_pitch=-0.169 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.4718, -6.2017, 8.253, 1.619, -0.0757, 0.105, -0.0855, -0.0342, -1.1692, 7.1043, 1.8681, -0.022, -0.0464, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.14, "left_z": 0.045, "left_gripper": 1.0}, "note": "The gripper reopened; the wrist camera shows the block just ahead of the fingertips and slightly right of center. Moving forward ~3 cm and right ~1 cm to bring the block between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe block now appears between the fingertips at the bottom of the wrist view, but likely still not deep enough between the jaws. Moving forward another ~3 cm so the block is well inside the fingers before closing.
move_to
left_x0.4400left_y-0.1400left_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]: [-0.4706, 1.7695, 0.8501, 0.0841, -0.3569, -0.3275, 0.9985, -0.0212, 0.8074, 0.6018, -0.5735, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4098 left_y=-0.1352 left_z=0.0378 left_yaw=-0.0012 left_pitch=-0.1933 left_roll=0.0436 left_gripper=0.9985 right_x=0.2653 right_y=0.0015 right_z=0.1382 right_yaw=0.0006 right_pitch=-0.1918 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.1436, -7.5829, 7.706, 1.4921, -0.2027, 0.105, -0.1734, -0.1162, -0.8, 6.8444, 1.7753, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.04, "left_gripper": 1.0}, "note": "The block now appears between the fingertips at the bottom of the wrist view, but likely still not deep enough between the jaws. Moving forward another ~3 cm so the block is well inside the fingers before closing."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe block is now well between the fingers, right at the bottom of the wrist view near the palm. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4503, 1.8462, 0.9306, 0.0433, -0.3546, -0.3264, 0.9985, -0.0212, 0.8101, 0.6018, -0.598, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4247 left_y=-0.1332 left_z=0.028 left_yaw=0.0202 left_pitch=-0.2271 left_roll=0.06 left_gripper=0.9985 right_x=0.261 right_y=0.0016 right_z=0.1334 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.212, -8.6222, 8.4581, 1.5458, -0.0659, 0.1734, -0.1734, -0.1436, -0.8137, 7.0769, 1.8095, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The block is now well between the fingers, right at the bottom of the wrist view near the palm. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
The gripper stopped at 0.60 with rising effort — the block is grasped. Lifting it.
agent noteGripper stopped at 0.60 with gripper effort rising to ~1.0, and the wrist camera shows the block held between the jaws. Lifting the block straight up to clear the table.
move_to
left_x0.4200left_y-0.1300left_z0.1500left_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]: [-0.4454, 1.858, 0.9348, 0.0372, -0.3534, -0.3313, 0.6007, -0.0212, 0.8101, 0.6018, -0.6132, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4246 left_y=-0.131 left_z=0.0235 left_yaw=0.0285 left_pitch=-0.2395 left_roll=0.0621 left_gripper=0.6007 right_x=0.2583 right_y=0.0017 right_z=0.1308 right_yaw=0.0008 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-0.5402, -9.8667, 5.2581, 1.4579, -0.2222, -0.022, 1.0281, -0.1162, -0.9778, 7.159, 1.663, -0.0415, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
The gripper stopped at 0.60 with rising effort — the block is grasped. Lifting it.
move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.15, "left_gripper": 0.0}, "note": "Gripper stopped at 0.60 with gripper effort rising to ~1.0, and the wrist camera shows the block held between the jaws. Lifting the block straight up to clear the table."})
tool
executing move_to over 9 steps (0.9s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe block is lifted and held securely; the top camera shows the bowl to the right of the left gripper (toward the left arm's -y). Moving the left arm ~10 cm to the right at a safe height to get over the bowl, then I'll re-check the top view.
move_to
left_x0.4200left_y-0.2300left_z0.1600left_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]: [-0.4454, 1.6817, 1.1755, -0.4347, -0.3531, -0.3454, 0.5971, -0.0212, 0.8101, 0.6018, -0.635, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4173 left_y=-0.1275 left_z=0.1176 left_yaw=0.0429 left_pitch=-0.2878 left_roll=0.0784 left_gripper=0.5971 right_x=0.2543 right_y=0.0017 right_z=0.1272 right_yaw=0.0009 right_pitch=-0.2559 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.294, -11.3436, 9.4017, 1.3797, -0.2759, 0.0757, 1.033, -0.1162, -1.1145, 6.7897, 1.6777, -0.0317, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.42, "left_y": -0.23, "left_z": 0.16, "left_gripper": 0.0}, "note": "The block is lifted and held securely; the top camera shows the bowl to the right of the left gripper (toward the left arm's -y). Moving the left arm ~10 cm to the right at a safe height to get over the bowl, then I'll re-check the top view."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe top camera shows the gripper still up-left of the bowl, and the bowl rim appears at the bottom-right of the left wrist view. Continuing ~10 cm further right (-y) and slightly forward to bring the block over the bowl.
move_to
left_x0.4300left_y-0.3300left_z0.1700left_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]: [-0.672, 1.8767, 1.5604, -0.7414, -0.4526, -0.5499, 0.5965, -0.0212, 0.8116, 0.6018, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.413 left_y=-0.2252 left_z=0.1453 left_yaw=0.0299 left_pitch=-0.3279 left_roll=0.0837 left_gripper=0.5965 right_x=0.2501 right_y=0.0018 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2799 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.2803, -9.6479, 9.2513, 1.2186, -0.4957, 0.0366, 1.0085, -0.0205, -1.2103, 7.0085, 1.6532, -0.0073, -0.0513, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.33, "left_z": 0.17, "left_gripper": 0.0}, "note": "The top camera shows the gripper still up-left of the bowl, and the bowl rim appears at the bottom-right of the left wrist view. Continuing ~10 cm further right (-y) and slightly forward to bring the block over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe top view shows the gripper nearly over the bowl and the wrist view shows the bowl just right/below the held block. Shifting ~4 cm more right and slightly back while lowering so the block is squarely over the bowl interior.
move_to
left_x0.4150left_y-0.3650left_z0.1300left_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]: [-0.8165, 2.2681, 2.2299, -1.0954, -0.4957, -0.7013, 0.5964, -0.0212, 0.8154, 0.6018, -0.6762, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4282 left_y=-0.3278 left_z=0.1609 left_yaw=0.0205 left_pitch=-0.3489 left_roll=0.0708 left_gripper=0.5964 right_x=0.2466 right_y=0.0018 right_z=0.1194 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [-0.4171, -12.7521, 8.3487, 0.8083, -0.5348, 0.105, 1.033, -0.1162, -1.388, 6.735, 1.5556, -0.0269, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.365, "left_z": 0.13, "left_gripper": 0.0}, "note": "The top view shows the gripper nearly over the bowl and the wrist view shows the bowl just right/below the held block. Shifting ~4 cm more right and slightly back while lowering so the block is squarely over the bowl interior."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
The block is centered over the bowl interior. Releasing it.
agent noteThe wrist camera shows the held block directly above the bowl's interior and the top camera confirms the gripper over the bowl. Opening the gripper to drop the block into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8829, 2.3569, 2.2505, -1.1, -0.5064, -0.7616, 0.5963, -0.0212, 0.8158, 0.6018, -0.6796, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4097 left_y=-0.358 left_z=0.1225 left_yaw=0.0172 left_pitch=-0.3855 left_roll=0.0992 left_gripper=0.5963 right_x=0.2459 right_y=0.0019 right_z=0.1187 right_yaw=0.0009 right_pitch=-0.3063 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.335, -12.9026, 9.1966, 1.0818, -0.5348, -0.0855, 1.033, -0.1983, -0.9094, 6.7624, 1.4383, -0.0366, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
The block is centered over the bowl interior. Releasing it.
move_to({"targets": {"left_gripper": 1.0}, "note": "The wrist camera shows the held block directly above the bowl's interior and the top camera confirms the gripper over the bowl. Opening the gripper to drop the block into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe gripper did not actually open (still 0.60) — the block remains clamped over the bowl. Commanding the gripper open again with a small z change to get a longer motion window.
move_to
left_gripper1.0000left_z0.1100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8886, 2.3699, 2.252, -1.1038, -0.506, -0.7708, 0.5963, -0.0212, 0.8158, 0.6018, -0.68, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4074 left_y=-0.3601 left_z=0.116 left_yaw=0.0215 left_pitch=-0.3946 left_roll=0.1063 left_gripper=0.5963 right_x=0.2459 right_y=0.0019 right_z=0.1187 right_yaw=0.0013 right_pitch=-0.3066 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.4034, -14.3932, 6.0923, 0.9206, -0.3492, 0.0757, 1.0281, -0.1026, -1.0872, 6.8581, 1.3748, -0.0659, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.11}, "note": "The gripper did not actually open (still 0.60) \u2014 the block remains clamped over the bowl. Commanding the gripper open again with a small z change to get a longer motion window."})
tool
executing move_to over 5 steps (0.5s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
The gripper opened and the red block is now resting inside the bowl, visible in both the wrist and top cameras.
agent noteGrasped the red block with the left arm (needed two attempts—first close missed because the block was just in front of the fingertips), lifted it, carried it ~23 cm to the right (-y) over the bowl, and released it. The wrist camera shows the block lying inside the bowl.
done
hindsightRig facts: the red block sat at about left (x≈0.42, y≈-0.13) and the bowl center at about left (x≈0.41, y≈-0.36); the right arm was not needed. Fingertips touch the table when left_z≈0.045–0.05 (commands below that are clamped/held). The left wrist camera looks forward-down: an object appearing at the bottom edge of the image just ahead of the fingertips is still ~5 cm in front of the jaws, so advance further in +x before closing. Grip on the block stops the gripper at ≈0.60 with gripper effort ≈1.0; a fully closed 0.01 means a miss. The gripper command is rate-limited: a single open command over 5 steps may be entirely clamped and not move it—re-issue it (or pair it with a small position change) and verify left_gripper in the state. Pitch drifts negative (~-0.4) at far-right reach but did not hurt the task.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.889, 2.3699, 2.2307, -1.1, -0.5056, -0.7757, 0.9949, -0.0212, 0.8158, 0.6018, -0.6994, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4052 left_y=-0.3578 left_z=0.1093 left_yaw=0.0297 left_pitch=-0.4053 left_roll=0.1181 left_gripper=0.9949 right_x=0.2421 right_y=0.0019 right_z=0.1157 right_yaw=0.0011 right_pitch=-0.3261 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.1573, -13.7641, 5.5453, 1.0183, -0.3248, 0.0073, 0.0269, -0.1846, -1.0872, 6.9949, 1.5556, -0.0317, -0.022, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
The gripper opened and the red block is now resting inside the bowl, visible in both the wrist and top cameras.
done({"summary": "Grasped the red block with the left arm (needed two attempts\u2014first close missed because the block was just in front of the fingertips), lifted it, carried it ~23 cm to the right (-y) over the bowl, and released it. The wrist camera shows the block lying inside the bowl.", "hindsight": "Rig facts: the red block sat at about left (x\u22480.42, y\u2248-0.13) and the bowl center at about left (x\u22480.41, y\u2248-0.36); the right arm was not needed. Fingertips touch the table when left_z\u22480.045\u20130.05 (commands below that are clamped/held). The left wrist camera looks forward-down: an object appearing at the bottom edge of the image just ahead of the fingertips is still ~5 cm in front of the jaws, so advance further in +x before closing. Grip on the block stops the gripper at \u22480.60 with gripper effort \u22481.0; a fully closed 0.01 means a miss. The gripper command is rate-limited: a single open command over 5 steps may be entirely clamped and not move it\u2014re-issue it (or pair it with a small position change) and verify left_gripper in the state. Pitch drifts negative (~-0.4) at far-right reach but did not hurt the task."})
tool
done: Grasped the red block with the left arm (needed two attempts—first close missed because the block was just in front of the fingertips), lifted it, carried it ~23 cm to the right (-y) over the bowl, and released it. The wrist camera shows the block lying inside the bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 44.36 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]: [-0.0189, 0.7921, 0.6041, -0.3878, -0.0193, -0.0322, 0.9993, -0.0212, 0.7929, 0.6044, -0.3988, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4838, 10.2632, 1.9463, -0.0952, 0.188, -0.0904, -0.2256, -1.4701, 9.8256, 2.0147, -0.0952, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fecd1536e87ad9672511e026de1c9483942765da79fa008e8db844130ddaa519"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7db5e8997a32d8303cbfa3033ab4382033dec2eff503b9826b99e78a768e3876"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:412413c96435674c9b2c54281cb002e4c45678fc591a4168400d5b3cab576da8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fecd1536e87a
wire blob 7db5e8997a32
wire blob 412413c96435
call 1 attempt 0 · /chat/completions · status 200 · 9.107 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the left arm toward the red block, which appears ahead and to the right of the left wrist camera.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.1, \"left_z\": 0.15, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block ahead and to the right of the gripper; the top camera shows the block left of the bowl. Moving the left arm forward and right to get above the block while keeping the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_016Gr7CgddkqxZSn8d8QNenh",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_016Gr7CgddkqxZSn8d8QNenh"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3836, 1.3869, 0.7723, -0.0917, -0.3019, -0.2352, 0.9993, -0.0212, 0.7979, 0.6056, -0.4328, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.0932 left_z=0.1245 left_yaw=-0.0171 left_pitch=-0.0929 left_roll=0.0256 left_gripper=0.9993 right_x=0.2879 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -6.0923, 9.2923, 1.8877, -0.3053, -0.0269, -0.0855, -0.0889, -1.6068, 6.8991, 1.9902, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd9d96776bdbcaed8b68d27bdab3f8627ad78199d773193049491238506eacbf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dbbe5f282f27d855780c62add552de5b9bb9c9404533318842e4fee230a5c402"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24c61eb78da7429016f6f88ec694381be7be49b71b42d244c25f7b9bd439528e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bd9d96776bdb
wire blob dbbe5f282f27
wire blob 24c61eb78da7
call 2 attempt 0 · /chat/completions · status 200 · 8.99 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]: [-0.0189, 0.7921, 0.6041, -0.3878, -0.0193, -0.0322, 0.9993, -0.0212, 0.7929, 0.6044, -0.3988, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0009 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4838, 10.2632, 1.9463, -0.0952, 0.188, -0.0904, -0.2256, -1.4701, 9.8256, 2.0147, -0.0952, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.115, \"left_z\": 0.06, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera now shows the red block just between/below the fingers, slightly right of center; the top camera shows the gripper over the block. Lowering the gripper and shifting slightly right to align around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FRNQvfTZRxtEvPex1fFnYk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01FRNQvfTZRxtEvPex1fFnYk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.445, 1.5749, 0.6666, 0.1097, -0.3355, -0.2726, 0.9993, -0.0212, 0.8013, 0.6037, -0.4545, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3736 left_y=-0.1097 left_z=0.0502 left_yaw=-0.026 left_pitch=-0.1685 left_roll=0.054 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1628 right_yaw=-0.0001 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.7214, 5.5863, 1.8974, -0.3443, -0.1001, -0.0904, -0.0479, -1.5111, 7.241, 1.8681, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aca3d382a1bbf0eea4849d83a55fecc3f5a4a9fa5806c2765e383b0c457cc0c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4b534077655c1725d424740778030de3fda618a87123cd4394c1873ce3acad7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78dc5f91fd7e762016698ec33c17fffe0a2c1d3f2c3df75a99654819be179bed"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob aca3d382a1bb
wire blob d4b534077655
wire blob 78dc5f91fd7e
call 3 attempt 0 · /chat/completions · status 200 · 12.9 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]: [-0.3836, 1.3869, 0.7723, -0.0917, -0.3019, -0.2352, 0.9993, -0.0212, 0.7979, 0.6056, -0.4328, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.381 left_y=-0.0932 left_z=0.1245 left_yaw=-0.0171 left_pitch=-0.0929 left_roll=0.0256 left_gripper=0.9993 right_x=0.2879 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -6.0923, 9.2923, 1.8877, -0.3053, -0.0269, -0.0855, -0.0889, -1.6068, 6.8991, 1.9902, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.375, \"left_y\": -0.12, \"left_z\": 0.025, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The wrist camera shows the red block between the open fingertips, slightly right of center. Lowering a bit more to block height, correcting the tool tilt, and nudging slightly right before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_015FKGagadRXthn2HGmK7DPK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_015FKGagadRXthn2HGmK7DPK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4511, 1.5951, 0.6605, 0.1795, -0.3462, -0.2928, 0.9993, -0.0212, 0.8024, 0.6025, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.1139 left_z=0.0527 left_yaw=-0.0151 left_pitch=-0.1253 left_roll=0.0273 left_gripper=0.9993 right_x=0.2843 right_y=0.0011 right_z=0.1618 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -7.1179, 5.8188, 1.7998, -0.2613, 0.0757, -0.0855, -0.0479, -1.1419, 7.0496, 1.6532, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:104ecd4315c689d91b9f02ae6fbf7b639a902d9df3d4cccd8c8be302d1afb0fe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70416721ac23d07b4358d3aa501989ee30e6eee352ffc66a67ddb1ad24787e3c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d004b18478e0907e139ae7d8f81e35042b3b8fd8bc79f813c9fcb45cdd9efbda"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 104ecd4315c6
wire blob 70416721ac23
wire blob d004b18478e0
call 4 attempt 0 · /chat/completions · status 200 · 12.54 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]: [-0.445, 1.5749, 0.6666, 0.1097, -0.3355, -0.2726, 0.9993, -0.0212, 0.8013, 0.6037, -0.4545, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3736 left_y=-0.1097 left_z=0.0502 left_yaw=-0.026 left_pitch=-0.1685 left_roll=0.054 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1628 right_yaw=-0.0001 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.7214, 5.5863, 1.8974, -0.3443, -0.1001, -0.0904, -0.0479, -1.5111, 7.241, 1.8681, -0.0366, -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\": 0.38, \"left_y\": -0.13, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block sits near the fingertips but about 1.5 cm to the right of the gripper center in the wrist view; z did not descend last step. Shifting right and trying to lower again before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_017AjmaReLJQgTPqp1uuM61R",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_017AjmaReLJQgTPqp1uuM61R"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4511, 1.5951, 0.659, 0.1799, -0.3462, -0.2932, 0.9993, -0.0212, 0.8036, 0.6018, -0.4816, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3804 left_y=-0.1137 left_z=0.0522 left_yaw=-0.0148 left_pitch=-0.1264 left_roll=0.0275 left_gripper=0.9993 right_x=0.2803 right_y=0.0012 right_z=0.1561 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.0496, 5.8188, 1.8046, -0.2857, 0.0415, -0.0904, -0.2256, -1.2786, 7.0359, 1.9072, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba51b3c485c97f3e043a21a9ebde108424cb1e876f110f7c97c7692748143106"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6078128ec1efa0d7d15e60bd34570a444dba92f0352f6fd6ca98733ddc45f034"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d88046c4822085b05d9cb396b80d35053e4806dcb09b4cc9919ca7c71783bdfe"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ba51b3c485c9
wire blob 6078128ec1ef
wire blob d88046c48220
call 5 attempt 0 · /chat/completions · status 200 · 9.65 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]: [-0.4511, 1.5951, 0.6605, 0.1795, -0.3462, -0.2928, 0.9993, -0.0212, 0.8024, 0.6025, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.1139 left_z=0.0527 left_yaw=-0.0151 left_pitch=-0.1253 left_roll=0.0273 left_gripper=0.9993 right_x=0.2843 right_y=0.0011 right_z=0.1618 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -7.1179, 5.8188, 1.7998, -0.2613, 0.0757, -0.0855, -0.0479, -1.1419, 7.0496, 1.6532, -0.0611, -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\": 0.38, \"left_y\": -0.135, \"left_z\": 0.055, \"left_gripper\": 1.0}, \"note\": \"The arm did not move at all last step (likely the fingertips are already at table height, so z=0.05 is effectively the floor). Keeping z, dropping the tilt targets, and sliding the gripper ~2 cm to the right to center the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LXTMf1LVqTt6gJogQmHyGt",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01LXTMf1LVqTt6gJogQmHyGt"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4889, 1.6066, 0.6659, 0.1707, -0.374, -0.3164, 0.9993, -0.0212, 0.8036, 0.6018, -0.4911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1233 left_z=0.0501 left_yaw=-0.0167 left_pitch=-0.1298 left_roll=0.0331 left_gripper=0.9993 right_x=0.2788 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.6684, 8.4444, 1.5751, -0.2564, -0.0269, -0.0855, -0.1846, -1.1829, 7.1043, 1.8974, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d5dccb4270a474c3c5f0b1396577b982fa5bccdd3da5adc20e23ebbdb7462876"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9655c2ebb8c98f835c44c1f2abfd2c53614614d3b8c6b6f95ba9617f3ef700fd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aef2aec92949ad24cfb09743f30274a262aeda08611db75aa630acf25a2f1af4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d5dccb4270a4
wire blob 9655c2ebb8c9
wire blob aef2aec92949
call 6 attempt 0 · /chat/completions · status 200 · 5.285 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]: [-0.4511, 1.5951, 0.659, 0.1799, -0.3462, -0.2932, 0.9993, -0.0212, 0.8036, 0.6018, -0.4816, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3804 left_y=-0.1137 left_z=0.0522 left_yaw=-0.0148 left_pitch=-0.1264 left_roll=0.0275 left_gripper=0.9993 right_x=0.2803 right_y=0.0012 right_z=0.1561 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.0496, 5.8188, 1.8046, -0.2857, 0.0415, -0.0904, -0.2256, -1.2786, 7.0359, 1.9072, -0.0659, -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\": 0.377, \"left_y\": -0.133, \"left_z\": 0.05, \"left_gripper\": 1.0}, \"note\": \"The block is now nearly centered between the fingertips in the wrist view, just a touch to the right. One more small shift right of ~1 cm to center it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LUpYEe7wvRRSuF6xqBps9i",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01LUpYEe7wvRRSuF6xqBps9i"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.524, 1.6161, 0.6743, 0.149, -0.3874, -0.3458, 0.9993, -0.0212, 0.8043, 0.6018, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3717 left_y=-0.1336 left_z=0.0466 left_yaw=-0.0235 left_pitch=-0.145 left_roll=0.0299 left_gripper=0.9993 right_x=0.2774 right_y=0.0013 right_z=0.1523 right_yaw=0.0004 right_pitch=-0.1156 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.2427, 7.8564, 1.5458, -0.3346, -0.0122, -0.0904, -0.1983, -0.8, 6.9128, 1.7949, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7dd5d37d53e121e02a9524312c22c28b006843e19aa0f052ff47f21ef0b18d1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec92883104eb347064520c9984bb8322bf8eee2f491b3660b625e48588ccb7da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:617bdd6f250ebd18614fc99df613359eee35469fdc4f7e778210280575884e52"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7dd5d37d53e1
wire blob ec92883104eb
wire blob 617bdd6f250e
call 7 attempt 0 · /chat/completions · status 200 · 10.16 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]: [-0.4889, 1.6066, 0.6659, 0.1707, -0.374, -0.3164, 0.9993, -0.0212, 0.8036, 0.6018, -0.4911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3769 left_y=-0.1233 left_z=0.0501 left_yaw=-0.0167 left_pitch=-0.1298 left_roll=0.0331 left_gripper=0.9993 right_x=0.2788 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.6684, 8.4444, 1.5751, -0.2564, -0.0269, -0.0855, -0.1846, -1.1829, 7.1043, 1.8974, -0.0611, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is centered between the fingers. Closing the gripper now.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The wrist camera shows the red block centered between the open fingertips at table height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01A984KEdyjvUfQsfutWztkX",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01A984KEdyjvUfQsfutWztkX"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5232, 1.6161, 0.6743, 0.149, -0.3874, -0.3454, 0.0117, -0.0212, 0.8043, 0.6018, -0.5232, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3718 left_y=-0.1333 left_z=0.0466 left_yaw=-0.023 left_pitch=-0.145 left_roll=0.0302 left_gripper=0.0117 right_x=0.2737 right_y=0.0013 right_z=0.1481 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.294, -5.9556, 6.7624, 1.6337, -0.232, 0.022, 1.0379, -0.0889, -1.1966, 6.9128, 1.79, -0.0855, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c7a10dac662bd6f18cd95217489c21d5e0cf33ffdf2e51234cb363f1519f286e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc76316d2f390ea91dff159ebaff1311ee412b70ada9eb53db615d6ee3c3e196"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:833247187c08cd2a5a623a8b559995284dd4d201debc40a554ca3392ccf16933"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c7a10dac662b
wire blob cc76316d2f39
wire blob 833247187c08
call 8 attempt 0 · /chat/completions · status 200 · 9.692 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]: [-0.524, 1.6161, 0.6743, 0.149, -0.3874, -0.3458, 0.9993, -0.0212, 0.8043, 0.6018, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3717 left_y=-0.1336 left_z=0.0466 left_yaw=-0.0235 left_pitch=-0.145 left_roll=0.0299 left_gripper=0.9993 right_x=0.2774 right_y=0.0013 right_z=0.1523 right_yaw=0.0004 right_pitch=-0.1156 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.2427, 7.8564, 1.5458, -0.3346, -0.0122, -0.0904, -0.1983, -0.8, 6.9128, 1.7949, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.133, \"left_z\": 0.05, \"left_gripper\": 1.0}, \"note\": \"The gripper closed almost fully (0.01) so it missed: the wrist camera shows the block just ahead of the closed fingertips. Reopening and moving about 3 cm forward so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Pat7Pa399rqrt7phWPHigg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Pat7Pa399rqrt7phWPHigg"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4728, 1.6943, 0.7567, 0.1207, -0.3599, -0.3206, 0.9949, -0.0212, 0.8043, 0.6018, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3924 left_y=-0.1268 left_z=0.0405 left_yaw=-0.0064 left_pitch=-0.1761 left_roll=0.0423 left_gripper=0.9949 right_x=0.2686 right_y=0.0014 right_z=0.1425 right_yaw=0.0005 right_pitch=-0.169 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.2017, 8.253, 1.619, -0.0757, 0.105, -0.0855, -0.0342, -1.1692, 7.1043, 1.8681, -0.022, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4fd8335f2a0dd4df56f68a6b7ed5aae138c93a0044a62224a0783b7f52af57f8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a38045da085540b81d3a1745f6952c64bc9b51af28c18977d859d9807ba298a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b3eab73ad7c0e67785a9d27caf4ef3a03f4f8f1794a6a4bf61023bb9365dde6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4fd8335f2a0d
wire blob a38045da0855
wire blob 0b3eab73ad7c
call 9 attempt 0 · /chat/completions · status 200 · 7.788 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]: [-0.5232, 1.6161, 0.6743, 0.149, -0.3874, -0.3454, 0.0117, -0.0212, 0.8043, 0.6018, -0.5232, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3718 left_y=-0.1333 left_z=0.0466 left_yaw=-0.023 left_pitch=-0.145 left_roll=0.0302 left_gripper=0.0117 right_x=0.2737 right_y=0.0013 right_z=0.1481 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.294, -5.9556, 6.7624, 1.6337, -0.232, 0.022, 1.0379, -0.0889, -1.1966, 6.9128, 1.79, -0.0855, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.14, \"left_z\": 0.045, \"left_gripper\": 1.0}, \"note\": \"The gripper reopened; the wrist camera shows the block just ahead of the fingertips and slightly right of center. Moving forward ~3 cm and right ~1 cm to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_019YH72FgqCgSLbQwBKRzrJ7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_019YH72FgqCgSLbQwBKRzrJ7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4706, 1.7695, 0.8501, 0.0841, -0.3569, -0.3275, 0.9985, -0.0212, 0.8074, 0.6018, -0.5735, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4098 left_y=-0.1352 left_z=0.0378 left_yaw=-0.0012 left_pitch=-0.1933 left_roll=0.0436 left_gripper=0.9985 right_x=0.2653 right_y=0.0015 right_z=0.1382 right_yaw=0.0006 right_pitch=-0.1918 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.5829, 7.706, 1.4921, -0.2027, 0.105, -0.1734, -0.1162, -0.8, 6.8444, 1.7753, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c503ef6a28de6ac1d3524bf2dce98c1af24c6d2d3ef4356515a3ba28e0d46b97"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bd865092927013be43028fcc8a7f0010448e8a220b54fc2b58df44a8f976995"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:501bf4cb5989adeaa7ccf6ef250171498125881df1535ea637292636309c0904"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c503ef6a28de
wire blob 4bd865092927
wire blob 501bf4cb5989
call 10 attempt 0 · /chat/completions · status 200 · 7.922 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]: [-0.4728, 1.6943, 0.7567, 0.1207, -0.3599, -0.3206, 0.9949, -0.0212, 0.8043, 0.6018, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3924 left_y=-0.1268 left_z=0.0405 left_yaw=-0.0064 left_pitch=-0.1761 left_roll=0.0423 left_gripper=0.9949 right_x=0.2686 right_y=0.0014 right_z=0.1425 right_yaw=0.0005 right_pitch=-0.169 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.2017, 8.253, 1.619, -0.0757, 0.105, -0.0855, -0.0342, -1.1692, 7.1043, 1.8681, -0.022, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.14, \"left_z\": 0.04, \"left_gripper\": 1.0}, \"note\": \"The block now appears between the fingertips at the bottom of the wrist view, but likely still not deep enough between the jaws. Moving forward another ~3 cm so the block is well inside the fingers before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LV1Z9no2sA69pMZCZn73re",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01LV1Z9no2sA69pMZCZn73re"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4503, 1.8462, 0.9306, 0.0433, -0.3546, -0.3264, 0.9985, -0.0212, 0.8101, 0.6018, -0.598, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.1332 left_z=0.028 left_yaw=0.0202 left_pitch=-0.2271 left_roll=0.06 left_gripper=0.9985 right_x=0.261 right_y=0.0016 right_z=0.1334 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6222, 8.4581, 1.5458, -0.0659, 0.1734, -0.1734, -0.1436, -0.8137, 7.0769, 1.8095, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d1912f6e18a7ec9649a30dc6b16424f15ba94535ccedf43c52d5a12b2ef072be"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80bac99ab3ba44259d2a457261d060d9bcc250353d1e75a18b3a097954c378c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90e7b6a3dce9e461cec76768a16842874efd63aea654d6633e99329c19a47ed2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d1912f6e18a7
wire blob 80bac99ab3ba
wire blob 90e7b6a3dce9
call 11 attempt 0 · /chat/completions · status 200 · 6.648 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]: [-0.4706, 1.7695, 0.8501, 0.0841, -0.3569, -0.3275, 0.9985, -0.0212, 0.8074, 0.6018, -0.5735, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4098 left_y=-0.1352 left_z=0.0378 left_yaw=-0.0012 left_pitch=-0.1933 left_roll=0.0436 left_gripper=0.9985 right_x=0.2653 right_y=0.0015 right_z=0.1382 right_yaw=0.0006 right_pitch=-0.1918 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.5829, 7.706, 1.4921, -0.2027, 0.105, -0.1734, -0.1162, -0.8, 6.8444, 1.7753, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is now well between the fingers, right at the bottom of the wrist view near the palm. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XnTBa59qVVtvvQ8LhSJWKo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XnTBa59qVVtvvQ8LhSJWKo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4454, 1.858, 0.9348, 0.0372, -0.3534, -0.3313, 0.6007, -0.0212, 0.8101, 0.6018, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.131 left_z=0.0235 left_yaw=0.0285 left_pitch=-0.2395 left_roll=0.0621 left_gripper=0.6007 right_x=0.2583 right_y=0.0017 right_z=0.1308 right_yaw=0.0008 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.8667, 5.2581, 1.4579, -0.2222, -0.022, 1.0281, -0.1162, -0.9778, 7.159, 1.663, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:204042ce31eb6e2705d0fda64db41c8f22a59a29410b73fec98cce8c99c00656"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0cd20c5e4963ff3e40812cc4b9782d0a70ba9f873bca448f6ac99dbfc53c9561"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0d2f44f789813201cb66bc7462868a9425026a5ee3909ec4329904d61a5b4a6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 204042ce31eb
wire blob 0cd20c5e4963
wire blob e0d2f44f7898
call 12 attempt 0 · /chat/completions · status 200 · 19.3 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]: [-0.4503, 1.8462, 0.9306, 0.0433, -0.3546, -0.3264, 0.9985, -0.0212, 0.8101, 0.6018, -0.598, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.1332 left_z=0.028 left_yaw=0.0202 left_pitch=-0.2271 left_roll=0.06 left_gripper=0.9985 right_x=0.261 right_y=0.0016 right_z=0.1334 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.212, -8.6222, 8.4581, 1.5458, -0.0659, 0.1734, -0.1734, -0.1436, -0.8137, 7.0769, 1.8095, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper stopped at 0.60 with rising effort — the block is grasped. Lifting it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.13, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Gripper stopped at 0.60 with gripper effort rising to ~1.0, and the wrist camera shows the block held between the jaws. Lifting the block straight up to clear the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TooajkYVrq5sPkATjKAhXF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01TooajkYVrq5sPkATjKAhXF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4454, 1.6817, 1.1755, -0.4347, -0.3531, -0.3454, 0.5971, -0.0212, 0.8101, 0.6018, -0.635, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.1275 left_z=0.1176 left_yaw=0.0429 left_pitch=-0.2878 left_roll=0.0784 left_gripper=0.5971 right_x=0.2543 right_y=0.0017 right_z=0.1272 right_yaw=0.0009 right_pitch=-0.2559 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.3436, 9.4017, 1.3797, -0.2759, 0.0757, 1.033, -0.1162, -1.1145, 6.7897, 1.6777, -0.0317, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56cbbc5ded9a0cd9c434361e5eb1d9029ff4eb97b354087be2769eacf8274ec5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e9083e31c716adc34c26115242c93a8838869f73e15689e5ff42f2fcb18eb63"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2d275649f290fe737d10b1d083c72660864baf5774bff87527026c3812f1b0c4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 56cbbc5ded9a
wire blob 3e9083e31c71
wire blob 2d275649f290
call 13 attempt 0 · /chat/completions · status 200 · 14.17 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]: [-0.4454, 1.858, 0.9348, 0.0372, -0.3534, -0.3313, 0.6007, -0.0212, 0.8101, 0.6018, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.131 left_z=0.0235 left_yaw=0.0285 left_pitch=-0.2395 left_roll=0.0621 left_gripper=0.6007 right_x=0.2583 right_y=0.0017 right_z=0.1308 right_yaw=0.0008 right_pitch=-0.2342 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.8667, 5.2581, 1.4579, -0.2222, -0.022, 1.0281, -0.1162, -0.9778, 7.159, 1.663, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.23, \"left_z\": 0.16, \"left_gripper\": 0.0}, \"note\": \"The block is lifted and held securely; the top camera shows the bowl to the right of the left gripper (toward the left arm's -y). Moving the left arm ~10 cm to the right at a safe height to get over the bowl, then I'll re-check the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01B28HPh24ou4xA6XuD2Pm7B",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01B28HPh24ou4xA6XuD2Pm7B"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.672, 1.8767, 1.5604, -0.7414, -0.4526, -0.5499, 0.5965, -0.0212, 0.8116, 0.6018, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.2252 left_z=0.1453 left_yaw=0.0299 left_pitch=-0.3279 left_roll=0.0837 left_gripper=0.5965 right_x=0.2501 right_y=0.0018 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2799 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.6479, 9.2513, 1.2186, -0.4957, 0.0366, 1.0085, -0.0205, -1.2103, 7.0085, 1.6532, -0.0073, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31eb407b6a2c39ddc8339a38a3ce257b8b957954368499bd53f2b0382ad0f9a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb00bfb21346d4a6ec4d8d8813c5ea6ba1ca938d93cbeb1060fc4aea5952dfad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80ced6f6b2f748276ef219ea32de0ed01f505781e7134c21469a9d73c89cab4c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 31eb407b6a2c
wire blob fb00bfb21346
wire blob 80ced6f6b2f7
call 14 attempt 0 · /chat/completions · status 200 · 12.43 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]: [-0.4454, 1.6817, 1.1755, -0.4347, -0.3531, -0.3454, 0.5971, -0.0212, 0.8101, 0.6018, -0.635, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.1275 left_z=0.1176 left_yaw=0.0429 left_pitch=-0.2878 left_roll=0.0784 left_gripper=0.5971 right_x=0.2543 right_y=0.0017 right_z=0.1272 right_yaw=0.0009 right_pitch=-0.2559 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.3436, 9.4017, 1.3797, -0.2759, 0.0757, 1.033, -0.1162, -1.1145, 6.7897, 1.6777, -0.0317, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.33, \"left_z\": 0.17, \"left_gripper\": 0.0}, \"note\": \"The top camera shows the gripper still up-left of the bowl, and the bowl rim appears at the bottom-right of the left wrist view. Continuing ~10 cm further right (-y) and slightly forward to bring the block over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_019h6kkWqfmQU3oPXP2f19yb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_019h6kkWqfmQU3oPXP2f19yb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8165, 2.2681, 2.2299, -1.0954, -0.4957, -0.7013, 0.5964, -0.0212, 0.8154, 0.6018, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4282 left_y=-0.3278 left_z=0.1609 left_yaw=0.0205 left_pitch=-0.3489 left_roll=0.0708 left_gripper=0.5964 right_x=0.2466 right_y=0.0018 right_z=0.1194 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -12.7521, 8.3487, 0.8083, -0.5348, 0.105, 1.033, -0.1162, -1.388, 6.735, 1.5556, -0.0269, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4b0462b4f623899d62a1785855866bb24f8884e90448092630ba70a92cb3a1c3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3c4bbb4d70c2ff8c4c0dca6a13815d9119c1a13b37c99d6cccb811648c2c616a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83204a0e66f235dac56feca2383194f44a6eca7a773927473f48657a36524285"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4b0462b4f623
wire blob 3c4bbb4d70c2
wire blob 83204a0e66f2
call 15 attempt 0 · /chat/completions · status 200 · 6.392 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]: [-0.672, 1.8767, 1.5604, -0.7414, -0.4526, -0.5499, 0.5965, -0.0212, 0.8116, 0.6018, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.2252 left_z=0.1453 left_yaw=0.0299 left_pitch=-0.3279 left_roll=0.0837 left_gripper=0.5965 right_x=0.2501 right_y=0.0018 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2799 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.6479, 9.2513, 1.2186, -0.4957, 0.0366, 1.0085, -0.0205, -1.2103, 7.0085, 1.6532, -0.0073, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.415, \"left_y\": -0.365, \"left_z\": 0.13, \"left_gripper\": 0.0}, \"note\": \"The top view shows the gripper nearly over the bowl and the wrist view shows the bowl just right/below the held block. Shifting ~4 cm more right and slightly back while lowering so the block is squarely over the bowl interior.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AxZQ4YaGiFXSNu5khp7rE3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01AxZQ4YaGiFXSNu5khp7rE3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8829, 2.3569, 2.2505, -1.1, -0.5064, -0.7616, 0.5963, -0.0212, 0.8158, 0.6018, -0.6796, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.358 left_z=0.1225 left_yaw=0.0172 left_pitch=-0.3855 left_roll=0.0992 left_gripper=0.5963 right_x=0.2459 right_y=0.0019 right_z=0.1187 right_yaw=0.0009 right_pitch=-0.3063 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.9026, 9.1966, 1.0818, -0.5348, -0.0855, 1.033, -0.1983, -0.9094, 6.7624, 1.4383, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5b5d66aa1a8bbc167e8c8c0543a9a84f4e2fbe8180d5289ad47fedaadf9fbe6f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52325f8117ac04701c7b40991bd0de020c8cd2ca73f37b70599e0f87dd4507df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:110f8f14e4b9e1179a887610024c1745f0c28f9e5c446f5e83952d5407675363"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5b5d66aa1a8b
wire blob 52325f8117ac
wire blob 110f8f14e4b9
call 16 attempt 0 · /chat/completions · status 200 · 7.154 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]: [-0.8165, 2.2681, 2.2299, -1.0954, -0.4957, -0.7013, 0.5964, -0.0212, 0.8154, 0.6018, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4282 left_y=-0.3278 left_z=0.1609 left_yaw=0.0205 left_pitch=-0.3489 left_roll=0.0708 left_gripper=0.5964 right_x=0.2466 right_y=0.0018 right_z=0.1194 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -12.7521, 8.3487, 0.8083, -0.5348, 0.105, 1.033, -0.1162, -1.388, 6.735, 1.5556, -0.0269, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is centered over the bowl interior. Releasing it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0}, \"note\": \"The wrist camera shows the held block directly above the bowl's interior and the top camera confirms the gripper over the bowl. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VnLYRfn7NjzcuxST48fmPf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01VnLYRfn7NjzcuxST48fmPf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8886, 2.3699, 2.252, -1.1038, -0.506, -0.7708, 0.5963, -0.0212, 0.8158, 0.6018, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4074 left_y=-0.3601 left_z=0.116 left_yaw=0.0215 left_pitch=-0.3946 left_roll=0.1063 left_gripper=0.5963 right_x=0.2459 right_y=0.0019 right_z=0.1187 right_yaw=0.0013 right_pitch=-0.3066 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -14.3932, 6.0923, 0.9206, -0.3492, 0.0757, 1.0281, -0.1026, -1.0872, 6.8581, 1.3748, -0.0659, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:98ccae03c9702fb5cf3a2e9339142473d8b8bb058d7100d3f6b9009ad58ce80a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17b4b7e2bcd0630b520cf05b58290962c5803ed832adc4bac65b37e76a6644bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26128f05b0b44b3c18e9e5ea09e51f565a40bdaa195fb0c53535d9b47b25a102"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 98ccae03c970
wire blob 17b4b7e2bcd0
wire blob 26128f05b0b4
call 17 attempt 0 · /chat/completions · status 200 · 10.94 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]: [-0.8829, 2.3569, 2.2505, -1.1, -0.5064, -0.7616, 0.5963, -0.0212, 0.8158, 0.6018, -0.6796, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.358 left_z=0.1225 left_yaw=0.0172 left_pitch=-0.3855 left_roll=0.0992 left_gripper=0.5963 right_x=0.2459 right_y=0.0019 right_z=0.1187 right_yaw=0.0009 right_pitch=-0.3063 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.9026, 9.1966, 1.0818, -0.5348, -0.0855, 1.033, -0.1983, -0.9094, 6.7624, 1.4383, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_z\": 0.11}, \"note\": \"The gripper did not actually open (still 0.60) \\u2014 the block remains clamped over the bowl. Commanding the gripper open again with a small z change to get a longer motion window.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KkPvNuzK6fb8CcSuVYPS12",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KkPvNuzK6fb8CcSuVYPS12"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.889, 2.3699, 2.2307, -1.1, -0.5056, -0.7757, 0.9949, -0.0212, 0.8158, 0.6018, -0.6994, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4052 left_y=-0.3578 left_z=0.1093 left_yaw=0.0297 left_pitch=-0.4053 left_roll=0.1181 left_gripper=0.9949 right_x=0.2421 right_y=0.0019 right_z=0.1157 right_yaw=0.0011 right_pitch=-0.3261 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -13.7641, 5.5453, 1.0183, -0.3248, 0.0073, 0.0269, -0.1846, -1.0872, 6.9949, 1.5556, -0.0317, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0134c4f0be61e572e3576fbf5e27cb922176aa4f41eb13ad49b2b2e2c2e12851"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:77282a9c356db3487a6eaf8e53155a596411a133ac5fe9b9b6a822c763eb9e63"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3681ce04b531d15d9bcea8a67b1371d3a4798815bdef4cc3b4cc407a51f33334"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0134c4f0be61
wire blob 77282a9c356d
wire blob 3681ce04b531