adhoc

completed
2026-09-03T01:04:06.192391+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
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
529.1 s
total steps
99
operator
0
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=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
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 area and lowering slightly to calibrate positions from the cameras.
agent noteThe red block sits in front of the left arm and the bowl is nearer the right arm. Moving the left arm forward and down over the block area to calibrate its position in the cameras.
move_to
left_x0.3500left_y0.0000left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3866, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0204, -0.0338, 0.9997] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.001 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4991, -1.4154, 10.2085, 1.9365, -0.0708, 0.1929, -0.0904, -0.335, -1.5932, 9.812, 1.9121, -0.0317, 0.1783, -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 area and lowering slightly to calibrate positions from the cameras.
move_to({"targets": {"left_x": 0.35, "left_y": 0.0, "left_z": 0.1, "left_gripper": 1}, "note": "The red block sits in front of the left arm and the bowl is nearer the right arm. Moving the left arm forward and down over the block area to calibrate its position in the cameras."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteIn the left wrist camera the red block appears ahead and slightly to the right of the gripper; in the top view it's forward and a bit to the arm's left. Moving forward and slightly left to line up over the block.
move_to
left_x0.3900left_y0.0300left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 1.1709, 0.45, 0.0269, -0.0196, -0.0383, 0.9993, -0.0212, 0.7986, 0.609, -0.4221, -0.02, -0.0277, 0.9996] state[eef_state]: left_x=0.3307 left_y=0.0008 left_z=0.0809 left_yaw=0.0036 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9993 right_x=0.2899 right_y=0.001 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0279 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [-0.294, -4.8068, 6.0239, 2.1368, -0.0513, -0.0073, -0.0855, -0.1846, -1.6479, 6.8444, 2.0537, -0.0317, -0.1099, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": 0.03, "left_z": 0.07}, "note": "In the left wrist camera the red block appears ahead and slightly to the right of the gripper; in the top view it's forward and a bit to the arm's left. Moving forward and slightly left to line up over the block."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe block left the wrist camera view after I moved left, so it must be to the arm's right (image right = -y). Shifting right and slightly forward to find it again.
move_to
left_x0.4000left_y-0.0400left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0891, 1.4673, 0.5755, 0.1192, 0.0418, 0.0078, 0.9992, -0.0212, 0.8013, 0.6056, -0.4408, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3688 left_y=0.0291 left_z=0.0496 left_yaw=0.0336 left_pitch=-0.1973 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2869 right_y=0.001 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0526 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.4444, -6.1333, 8.1299, 1.9023, 0.1636, 0.1441, -0.022, -0.1846, -1.4701, 7.2684, 1.9023, -0.0415, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.04, "left_z": 0.06}, "note": "The block left the wrist camera view after I moved left, so it must be to the arm's right (image right = -y). Shifting right and slightly forward to find it again."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteTop camera shows the left gripper just short of the red block, roughly aligned laterally. Moving straight forward about 6 cm to bring the block between the fingers.
move_to
left_x0.4300left_y0.0200left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0471, 1.4845, 0.5766, 0.128, 0.0177, -0.0231, 0.9992, -0.0212, 0.8043, 0.6048, -0.458, -0.02, -0.0349, 0.9996] state[eef_state]: left_x=0.3704 left_y=0.0179 left_z=0.0455 left_yaw=0.0293 left_pitch=-0.2052 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1618 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.1162, -6.3521, 5.6, 1.7167, -0.1001, 0.0024, -0.0122, -0.1983, -1.3333, 7.0359, 1.8388, -0.0513, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": 0.02, "left_z": 0.05}, "note": "Top camera shows the left gripper just short of the red block, roughly aligned laterally. Moving straight forward about 6 cm to bring the block between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe arm barely moved last step (targets got clamped) and pitch has sagged to -0.2. Commanding a smaller forward step with pitch back to 0 to approach the block.
move_to
left_x0.4100left_y0.0200left_z0.0400left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0471, 1.4849, 0.5758, 0.1268, 0.0177, -0.0235, 0.9992, -0.0212, 0.8043, 0.6037, -0.4816, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.3699 left_y=0.0179 left_z=0.0449 left_yaw=0.0295 left_pitch=-0.2075 left_roll=-0.0154 left_gripper=0.9992 right_x=0.2806 right_y=0.0012 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0984 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.0615, -6.4615, 5.5726, 1.7656, -0.0904, -0.0269, -0.0122, -0.1983, -1.1692, 7.0359, 1.8779, -0.0562, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": 0.02, "left_z": 0.04, "left_pitch": 0}, "note": "The arm barely moved last step (targets got clamped) and pitch has sagged to -0.2. Commanding a smaller forward step with pitch back to 0 to approach the block."})
tool
executing move_to over 7 steps (0.7s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper is low near the table and the block still lies a few centimeters ahead and slightly to the arm's left per the top camera. Advancing forward and left while staying just above the table.
move_to
left_x0.4400left_y0.0300left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0471, 1.6714, 0.5289, 0.4671, 0.0181, -0.0307, 0.9992, -0.0212, 0.8082, 0.6018, -0.5007, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.395 left_y=0.019 left_z=0.0226 left_yaw=0.0335 left_pitch=-0.1008 left_roll=-0.0194 left_gripper=0.9992 right_x=0.2775 right_y=0.0012 right_z=0.1513 right_yaw=0.0002 right_pitch=-0.1232 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.0068, -6.4615, 4.8342, 2.127, -0.0122, 0.0269, -0.0122, -0.0889, -1.5248, 7.0906, 1.7998, -0.0269, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": 0.03, "left_z": 0.02}, "note": "The gripper is low near the table and the block still lies a few centimeters ahead and slightly to the arm's left per the top camera. Advancing forward and left while staying just above the table."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteTop view shows the left gripper still a few centimeters short of the red block, roughly aligned laterally; the wrist camera shows the block not yet between the fingers. Continuing forward another ~4 cm at table height.
move_to
left_x0.4700left_y0.0300left_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0738, 1.8126, 0.6697, 0.4393, 0.0231, -0.0299, 0.9992, -0.0212, 0.8116, 0.6018, -0.5198, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4265 left_y=0.031 left_z=0.0109 left_yaw=0.0555 left_pitch=-0.1289 left_roll=-0.0225 left_gripper=0.9992 right_x=0.2745 right_y=0.0012 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1457 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [0.3487, -7.8427, 6.9265, 1.6728, 0.1343, 0.1538, -0.0122, -0.212, -1.4974, 6.9128, 1.8828, -0.0366, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": 0.03, "left_z": 0.015}, "note": "Top view shows the left gripper still a few centimeters short of the red block, roughly aligned laterally; the wrist camera shows the block not yet between the fingers. Continuing forward another ~4 cm at table height."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteTop camera shows the fingertips just short of the red block, which sits slightly ahead of them; the wrist camera can't see straight down. Advancing about 4 more centimeters at table height to get the block between the jaws.
move_to
left_x0.5000left_y0.0350left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0673, 1.9125, 0.8158, 0.3573, 0.012, -0.0391, 0.9992, -0.0212, 0.8135, 0.6018, -0.5461, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4549 left_y=0.0321 left_z=0.004 left_yaw=0.0634 left_pitch=-0.1649 left_roll=-0.0224 left_gripper=0.9992 right_x=0.2701 right_y=0.0013 right_z=0.1416 right_yaw=0.0003 right_pitch=-0.1739 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.5812, -8.1983, 7.4325, 1.6825, 0.0073, -0.0366, -0.0122, -0.1026, -1.388, 6.9949, 1.8339, -0.0269, -0.0611, -0.0073] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": 0.035, "left_z": 0.01}, "note": "Top camera shows the fingertips just short of the red block, which sits slightly ahead of them; the wrist camera can't see straight down. Advancing about 4 more centimeters at table height to get the block between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteTop view shows the red block still ahead of the fingers and slightly toward the arm's right (image-down). Advancing ~4 cm forward and 2 cm right at table height to bring the block between the jaws.
move_to
left_x0.5300left_y0.0150left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0666, 2.0041, 0.981, 0.2703, 0.0071, -0.046, 0.9992, -0.0212, 0.8173, 0.6018, -0.5701, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4885 left_y=0.0349 left_z=0.0051 left_yaw=0.0706 left_pitch=-0.1784 left_roll=-0.0241 left_gripper=0.9992 right_x=0.2661 right_y=0.0015 right_z=0.1364 right_yaw=0.0005 right_pitch=-0.2018 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [-0.3487, -8.9778, 7.3094, 1.6337, 0.0122, 0.0464, -0.0122, -0.0889, -1.4291, 6.9128, 1.7949, -0.0464, -0.0366, -0.0073] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": 0.015, "left_z": 0.005}, "note": "Top view shows the red block still ahead of the fingers and slightly toward the arm's right (image-down). Advancing ~4 cm forward and 2 cm right at table height to bring the block between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe wrist camera shows no block between the fingers even though I've advanced 15 cm, so my mental mapping may be off. Lifting the gripper to 12 cm so the top camera clearly shows where the fingertips are relative to the block.
move_to
left_z0.1200
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, 2.0995, 1.1374, 0.2035, -0.0311, -0.0772, 0.9992, -0.0212, 0.8204, 0.6018, -0.5957, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.5213 left_y=0.0189 left_z=0.0038 left_yaw=0.0728 left_pitch=-0.1836 left_roll=-0.0205 left_gripper=0.9992 right_x=0.2616 right_y=0.0016 right_z=0.1313 right_yaw=0.0007 right_pitch=-0.2304 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.4581, -9.894, 7.1453, 1.5751, -0.022, -0.022, -0.0122, -0.0479, -1.4017, 6.8308, 1.7607, -0.0659, -0.0513, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "The wrist camera shows no block between the fingers even though I've advanced 15 cm, so my mental mapping may be off. Lifting the gripper to 12 cm so the top camera clearly shows where the fingertips are relative to the block."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteI can't see the gripper in the top camera, and the wrist camera shows the bowl edge to my upper-left, so I likely overshot the block. Pulling back and up so the top camera shows the gripper's position relative to the block.
move_to
left_x0.4000left_y0.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0143, 1.9305, 1.3045, -0.1818, -0.0345, -0.0872, 0.9992, -0.0212, 0.823, 0.6018, -0.6125, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.5169 left_y=0.0171 left_z=0.0861 left_yaw=0.0773 left_pitch=-0.2327 left_roll=-0.0223 left_gripper=0.9992 right_x=0.2586 right_y=0.0017 right_z=0.1278 right_yaw=0.0008 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [-0.0205, -13.5726, 9.0462, 1.6044, -0.0317, 0.0513, -0.0122, -0.1162, -1.4154, 6.8581, 1.6825, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": 0.0, "left_z": 0.15}, "note": "I can't see the gripper in the top camera, and the wrist camera shows the bowl edge to my upper-left, so I likely overshot the block. Pulling back and up so the top camera shows the gripper's position relative to the block."})
tool
executing move_to over 9 steps (0.9s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteA red corner just appeared at the bottom-right of the left wrist camera, meaning the block is close but to the gripper's right. Shifting right ~5 cm and lowering to 8 cm to center it between the fingers.
move_to
left_x0.4300left_y-0.0500left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0364, 1.4662, 1.0134, -0.3641, -0.0631, -0.1219, 0.9992, -0.0212, 0.8268, 0.6018, -0.635, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.408 left_y=-0.0001 left_z=0.1418 left_yaw=0.0708 left_pitch=-0.2404 left_roll=-0.0248 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1232 right_yaw=0.0009 right_pitch=-0.2761 right_roll=0.0052 right_gripper=0.9996 state[joint_eff]: [-0.3077, -7.4188, 6.8034, 1.7118, -0.1099, -0.1099, -0.0122, -0.1846, -1.5248, 6.8991, 1.6728, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.05, "left_z": 0.08}, "note": "A red corner just appeared at the bottom-right of the left wrist camera, meaning the block is close but to the gripper's right. Shifting right ~5 cm and lowering to 8 cm to center it between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteTop camera now shows the left gripper with the red block about 5 cm to its image-right, and the wrist camera shows red at bottom-right, so the block is to the gripper's right side. Moving ~5 cm in -y at low height to center the block between the jaws.
move_to
left_x0.4100left_y-0.1000left_z0.0500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1829, 1.6413, 0.9428, -0.207, -0.1371, -0.2157, 0.9992, -0.0212, 0.8291, 0.6018, -0.6575, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4142 left_y=-0.0484 left_z=0.0711 left_yaw=0.0459 left_pitch=-0.319 left_roll=-0.016 left_gripper=0.9992 right_x=0.2503 right_y=0.0018 right_z=0.1191 right_yaw=0.0011 right_pitch=-0.3009 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.253, -7.3504, 6.2701, 1.6728, -0.3346, -0.0122, -0.0122, -0.1709, -1.347, 6.735, 1.619, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.1, "left_z": 0.05, "left_pitch": 0}, "note": "Top camera now shows the left gripper with the red block about 5 cm to its image-right, and the wrist camera shows red at bottom-right, so the block is to the gripper's right side. Moving ~5 cm in -y at low height to center the block between the jaws."})
tool
executing move_to over 11 steps (1.1s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe wrist camera now shows the red block at the bottom-right near the right finger, so it's slightly behind and right of the grasp point. Shifting back ~2 cm, right ~2.5 cm, and lowering to table height to straddle the block.
move_to
left_x0.3850left_y-0.1250left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3866, 1.6917, 0.6453, 0.3557, -0.3279, -0.2821, 0.9992, -0.0212, 0.8295, 0.6018, -0.6762, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4021 left_y=-0.0984 left_z=0.041 left_yaw=0.0259 left_pitch=-0.0728 left_roll=-0.0011 left_gripper=0.9992 right_x=0.2467 right_y=0.0018 right_z=0.1162 right_yaw=0.0011 right_pitch=-0.32 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.5265, -5.9009, 4.9846, 1.8486, -0.1832, -0.0464, -0.0122, -0.0342, -1.2239, 6.7077, 1.5409, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.125, "left_z": 0.01}, "note": "The wrist camera now shows the red block at the bottom-right near the right finger, so it's slightly behind and right of the grasp point. Shifting back ~2 cm, right ~2.5 cm, and lowering to table height to straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe block is still at the bottom-right of the wrist view, near the right fingertip, and the arm didn't fully descend. Stepping ~1 cm back, ~2.5 cm right, and down to the table to get the block between the jaws.
move_to
left_x0.3900left_y-0.1500left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4767, 1.7576, 0.6205, 0.5072, -0.4084, -0.3508, 0.9986, -0.0212, 0.8307, 0.6018, -0.68, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4018 left_y=-0.1245 left_z=0.0376 left_yaw=0.0374 left_pitch=0.0029 left_roll=-0.0404 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1153 right_yaw=0.0009 right_pitch=-0.325 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [-0.4581, -4.8068, 2.9333, 0.7937, -0.0073, 0.2369, -0.0708, -0.1162, -1.1009, 6.7214, 1.4286, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.15, "left_z": 0.0}, "note": "The block is still at the bottom-right of the wrist view, near the right fingertip, and the arm didn't fully descend. Stepping ~1 cm back, ~2.5 cm right, and down to the table to get the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe block stays at the wrist camera's bottom-right, hugging the right finger, and the gripper isn't descending fully. Nudging 2 cm further right, down to the table, and pitching slightly forward so the fingers reach the block.
move_to
left_x0.4100left_y-0.1700left_z0.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5503, 1.861, 0.6159, 0.691, -0.4847, -0.4187, 0.9985, -0.0212, 0.8341, 0.6018, -0.6903, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4058 left_y=-0.1482 left_z=0.0331 left_yaw=0.0642 left_pitch=0.0874 left_roll=-0.1036 left_gripper=0.9985 right_x=0.2439 right_y=0.002 right_z=0.113 right_yaw=0.0014 right_pitch=-0.3387 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.9504, -4.6838, 3.9043, 0.2418, 0.1832, 0.3639, -0.0171, -0.0479, -1.4427, 6.8171, 1.5067, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.17, "left_z": 0.0, "left_pitch": 0.15}, "note": "The block stays at the wrist camera's bottom-right, hugging the right finger, and the gripper isn't descending fully. Nudging 2 cm further right, down to the table, and pitching slightly forward so the fingers reach the block."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe block still sits at the wrist view's bottom-right along the right finger, so it's slightly behind and to the right of the grasp point. Stepping back ~1.5 cm and right ~2.5 cm while pushing down to the table.
move_to
left_x0.3950left_y-0.1800left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5682, 1.8862, 0.6346, 0.7139, -0.5056, -0.4492, 0.9985, -0.0212, 0.8352, 0.6018, -0.7021, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4094 left_y=-0.1556 left_z=0.0343 left_yaw=0.0809 left_pitch=0.1052 left_roll=-0.1318 left_gripper=0.9985 right_x=0.2416 right_y=0.002 right_z=0.111 right_yaw=0.0015 right_pitch=-0.3516 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [-0.0752, -6.653, 5.7094, 1.3602, -0.0269, 0.1001, -0.0122, -0.1709, -1.2376, 6.8991, 1.4774, -0.0855, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.18, "left_z": 0.0}, "note": "The block still sits at the wrist view's bottom-right along the right finger, so it's slightly behind and to the right of the grasp point. Stepping back ~1.5 cm and right ~2.5 cm while pushing down to the table."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe block sits right against the gripper's right finger in the wrist view; the arm hasn't tracked my last small commands. Making a firmer step back-right and down to straddle the block.
move_to
left_x0.3900left_y-0.1900left_z0.0050left_pitch0.1000
agent noteClosing the left gripper to grasp the red block once the straddle move completes.
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]: [-0.5671, 1.8862, 0.6357, 0.7109, -0.5034, -0.4549, 0.9985, -0.0212, 0.836, 0.6018, -0.712, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4096 left_y=-0.1556 left_z=0.034 left_yaw=0.0831 left_pitch=0.1026 left_roll=-0.1367 left_gripper=0.9985 right_x=0.2396 right_y=0.0021 right_z=0.1094 right_yaw=0.0016 right_pitch=-0.3623 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.0342, -6.6393, 5.3949, 1.3602, -0.0562, 0.0904, -0.0122, -0.0342, -1.0872, 6.9812, 1.4872, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.19, "left_z": 0.005, "left_pitch": 0.1}, "note": "The block sits right against the gripper's right finger in the wrist view; the arm hasn't tracked my last small commands. Making a firmer step back-right and down to straddle the block."})
move_to({"targets": {"left_gripper": 0}, "note": "Closing the left gripper to grasp the red block once the straddle move completes."})
tool
executing move_to over 4 steps (0.4s)
tool
ignored: one tool call per turn
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe arm has stopped tracking small position commands, likely because the wrist orientation drifted (roll -0.14, yaw 0.08) into an awkward IK pose. Resetting orientation while stepping right and down so the fingers straddle the red block seen at the wrist camera's bottom-right.
move_to
left_x0.4000left_y-0.1800left_z0.0050left_yaw0.0000left_roll0.0000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5671, 1.8862, 0.6384, 0.7063, -0.5022, -0.4583, 0.9985, -0.0212, 0.8398, 0.6018, -0.7277, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4098 left_y=-0.1559 left_z=0.0339 left_yaw=0.0839 left_pitch=0.1004 left_roll=-0.139 left_gripper=0.9985 right_x=0.2364 right_y=0.0021 right_z=0.1063 right_yaw=0.0014 right_pitch=-0.3818 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.335, -6.6256, 5.1214, 1.37, -0.0952, 0.0904, -0.0122, -0.1026, -1.4838, 6.6803, 1.4628, -0.0562, -0.022, -0.0073] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.005, "left_yaw": 0, "left_roll": 0, "left_pitch": 0.1}, "note": "The arm has stopped tracking small position commands, likely because the wrist orientation drifted (roll -0.14, yaw 0.08) into an awkward IK pose. Resetting orientation while stepping right and down so the fingers straddle the red block seen at the wrist camera's bottom-right."})
tool
executing move_to over 3 steps (0.3s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteI ran out of my action budget while still trying to align the left gripper with the red block. The arm's Cartesian tracking repeatedly stalled near the table (commands clamped, position error with flat effort), and I spent too many steps hunting for the block using the top and wrist cameras without a reliable pixel-to-meter mapping.
give_up
hindsightKey facts for this rig: (1) The red block is NOT in front of the left arm at start — it sits at roughly left_x≈0.40, left_y≈-0.17 or further right (toward the robot's right / -y in the left arm frame), while the bowl is near the center at about the position seen in top_cam. Do not waste steps searching near y=0..+0.03. (2) The left wrist camera looks forward-down; a block appearing at the image's bottom-right near the right finger means it is a few cm BEHIND (-x) and slightly right (-y) of the grasp point — moving further -y alone does not center it. (3) The controller frequently fails to track small (<2 cm) Cartesian steps near the table when wrist orientation has drifted (pitch/roll sag of 0.1-0.3 rad accumulates); periodically re-command yaw/pitch/roll=0 and use 3-5 cm steps. (4) The approver clamps deltas, so large multi-axis jumps get truncated — expect actual motion smaller than commanded. (5) Budget is tight (20 calls): locate the block precisely from top_cam in the first 1-2 moves, go directly above it, descend, grasp, and transfer; avoid iterative visual servoing with tiny steps.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.601, 1.9438, 0.6506, 0.7879, -0.5564, -0.4362, 0.9985, -0.0212, 0.8398, 0.6018, -0.7341, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4126 left_y=-0.1654 left_z=0.0323 left_yaw=0.085 left_pitch=0.1471 left_roll=-0.1202 left_gripper=0.9985 right_x=0.2351 right_y=0.0021 right_z=0.1054 right_yaw=0.0017 right_pitch=-0.3883 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [-1.9761, -5.5863, 4.1094, 0.0611, 0.3883, 0.5495, -0.0171, -0.0479, -1.1556, 6.653, 1.4237, -0.0269, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of my action budget while still trying to align the left gripper with the red block. The arm's Cartesian tracking repeatedly stalled near the table (commands clamped, position error with flat effort), and I spent too many steps hunting for the block using the top and wrist cameras without a reliable pixel-to-meter mapping.", "hindsight": "Key facts for this rig: (1) The red block is NOT in front of the left arm at start \u2014 it sits at roughly left_x\u22480.40, left_y\u2248-0.17 or further right (toward the robot's right / -y in the left arm frame), while the bowl is near the center at about the position seen in top_cam. Do not waste steps searching near y=0..+0.03. (2) The left wrist camera looks forward-down; a block appearing at the image's bottom-right near the right finger means it is a few cm BEHIND (-x) and slightly right (-y) of the grasp point \u2014 moving further -y alone does not center it. (3) The controller frequently fails to track small (<2 cm) Cartesian steps near the table when wrist orientation has drifted (pitch/roll sag of 0.1-0.3 rad accumulates); periodically re-command yaw/pitch/roll=0 and use 3-5 cm steps. (4) The approver clamps deltas, so large multi-axis jumps get truncated \u2014 expect actual motion smaller than commanded. (5) Budget is tight (20 calls): locate the block precisely from top_cam in the first 1-2 moves, go directly above it, descend, grasp, and transfer; avoid iterative visual servoing with tiny steps."})
tool
give_up: I ran out of my action budget while still trying to align the left gripper with the red block. The arm's Cartesian tracking repeatedly stalled near the table (commands clamped, position error with flat effort), and I spent too many steps hunting for the block using the top and wrist cameras without a reliable pixel-to-meter mapping.
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 · 15.7 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3866, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0204, -0.0338, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.001 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.4154, 10.2085, 1.9365, -0.0708, 0.1929, -0.0904, -0.335, -1.5932, 9.812, 1.9121, -0.0317, 0.1783, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65383441fd8ad59d48c975686addac153ae51529d4cfd38c202e0eabc771ab43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c2a91dd7abadef00a9543219c3519e0b1905795ae3d2e15273bd26ce5365b62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9095d2ecb007df8404de87c3987c856cdae1f283047cc57dd201e649a9641d8d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 65383441fd8a
wire blob 9c2a91dd7aba
wire blob 9095d2ecb007
call 1 attempt 0 · /chat/completions · status 200 · 13.07 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the left arm toward the red block area and lowering slightly to calibrate positions from the cameras.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": 0.0, \"left_z\": 0.1, \"left_gripper\": 1}, \"note\": \"The red block sits in front of the left arm and the bowl is nearer the right arm. Moving the left arm forward and down over the block area to calibrate its position in the cameras.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LhMF75Y9yjcMxXUryR4cw5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01LhMF75Y9yjcMxXUryR4cw5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.1709, 0.45, 0.0269, -0.0196, -0.0383, 0.9993, -0.0212, 0.7986, 0.609, -0.4221, -0.02, -0.0277, 0.9996]\nstate[eef_state]: left_x=0.3307 left_y=0.0008 left_z=0.0809 left_yaw=0.0036 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9993 right_x=0.2899 right_y=0.001 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0279 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.8068, 6.0239, 2.1368, -0.0513, -0.0073, -0.0855, -0.1846, -1.6479, 6.8444, 2.0537, -0.0317, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:943d5cf600f0ef664ef9b4493781d8353a8933a6f57eff7bd7054d9c04b4404d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aff32e4ff35a2a0b74f182a91b95db773640fcf7ccad36c4b83a7e5e81bab753"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3c35d4b9106d7ba13f5725232c3d47943b5bd936a151f4f21346c7befabb4b1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 943d5cf600f0
wire blob aff32e4ff35a
wire blob f3c35d4b9106
call 2 attempt 0 · /chat/completions · status 200 · 10.42 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3866, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0204, -0.0338, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.001 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.4154, 10.2085, 1.9365, -0.0708, 0.1929, -0.0904, -0.335, -1.5932, 9.812, 1.9121, -0.0317, 0.1783, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": 0.03, \"left_z\": 0.07}, \"note\": \"In the left wrist camera the red block appears ahead and slightly to the right of the gripper; in the top view it's forward and a bit to the arm's left. Moving forward and slightly left to line up over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JhUVfmJCFi4q5UKv5z1MDj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JhUVfmJCFi4q5UKv5z1MDj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0891, 1.4673, 0.5755, 0.1192, 0.0418, 0.0078, 0.9992, -0.0212, 0.8013, 0.6056, -0.4408, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3688 left_y=0.0291 left_z=0.0496 left_yaw=0.0336 left_pitch=-0.1973 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2869 right_y=0.001 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0526 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -6.1333, 8.1299, 1.9023, 0.1636, 0.1441, -0.022, -0.1846, -1.4701, 7.2684, 1.9023, -0.0415, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b04baff60ae410445ef1b13a45373b1fa39d5d15e4efcf3d2aaf286486a0cdd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e8b72dae9cbd8031b4687ddd2452a99b1aa20e1f89d81d1f909c5a0471a67ab1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:005d7cd3ef3a8cb53095dabc491c92c8c578170182c725bc3bc9176f3fe8c9b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2b04baff60ae
wire blob e8b72dae9cbd
wire blob 005d7cd3ef3a
call 3 attempt 0 · /chat/completions · status 200 · 13.11 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.1709, 0.45, 0.0269, -0.0196, -0.0383, 0.9993, -0.0212, 0.7986, 0.609, -0.4221, -0.02, -0.0277, 0.9996]\nstate[eef_state]: left_x=0.3307 left_y=0.0008 left_z=0.0809 left_yaw=0.0036 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9993 right_x=0.2899 right_y=0.001 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0279 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.8068, 6.0239, 2.1368, -0.0513, -0.0073, -0.0855, -0.1846, -1.6479, 6.8444, 2.0537, -0.0317, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.04, \"left_z\": 0.06}, \"note\": \"The block left the wrist camera view after I moved left, so it must be to the arm's right (image right = -y). Shifting right and slightly forward to find it again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01N8xFhrjQZcnGAndNna4FXo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01N8xFhrjQZcnGAndNna4FXo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.4845, 0.5766, 0.128, 0.0177, -0.0231, 0.9992, -0.0212, 0.8043, 0.6048, -0.458, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=0.0179 left_z=0.0455 left_yaw=0.0293 left_pitch=-0.2052 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1618 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.3521, 5.6, 1.7167, -0.1001, 0.0024, -0.0122, -0.1983, -1.3333, 7.0359, 1.8388, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:205f41fa84b00709df574246ae1ab710d49c21208543f4137fff640ec77782c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c553be830ac47ae7965858d050f45ac8e19f01908f5994d00cb6316fee9514a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a4203523d2cc2ae73de45f85164171dd285acc1bbddf79d38c319c9937b7e994"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 205f41fa84b0
wire blob 8c553be830ac
wire blob a4203523d2cc
call 4 attempt 0 · /chat/completions · status 200 · 7.956 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0891, 1.4673, 0.5755, 0.1192, 0.0418, 0.0078, 0.9992, -0.0212, 0.8013, 0.6056, -0.4408, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3688 left_y=0.0291 left_z=0.0496 left_yaw=0.0336 left_pitch=-0.1973 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2869 right_y=0.001 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0526 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -6.1333, 8.1299, 1.9023, 0.1636, 0.1441, -0.022, -0.1846, -1.4701, 7.2684, 1.9023, -0.0415, -0.0073, -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\": 0.43, \"left_y\": 0.02, \"left_z\": 0.05}, \"note\": \"Top camera shows the left gripper just short of the red block, roughly aligned laterally. Moving straight forward about 6 cm to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01STGVwHTm5mdqnEyjQcNV2c",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01STGVwHTm5mdqnEyjQcNV2c"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.4849, 0.5758, 0.1268, 0.0177, -0.0235, 0.9992, -0.0212, 0.8043, 0.6037, -0.4816, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3699 left_y=0.0179 left_z=0.0449 left_yaw=0.0295 left_pitch=-0.2075 left_roll=-0.0154 left_gripper=0.9992 right_x=0.2806 right_y=0.0012 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0984 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.4615, 5.5726, 1.7656, -0.0904, -0.0269, -0.0122, -0.1983, -1.1692, 7.0359, 1.8779, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17488f3a017382f7139b49aae2b4957c1d3a4b2b4dd40380f964027703148e09"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65fc65bfe23b710af1650371dc6f91038792665527758cff48d4ca2c87887614"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f3de731b6dd7e9d53a3580146c74e5c089163fe739c2ce28e1232dd8b1802e5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 17488f3a0173
wire blob 65fc65bfe23b
wire blob 4f3de731b6dd
call 5 attempt 0 · /chat/completions · status 200 · 8.3 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.4845, 0.5766, 0.128, 0.0177, -0.0231, 0.9992, -0.0212, 0.8043, 0.6048, -0.458, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3704 left_y=0.0179 left_z=0.0455 left_yaw=0.0293 left_pitch=-0.2052 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1618 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.3521, 5.6, 1.7167, -0.1001, 0.0024, -0.0122, -0.1983, -1.3333, 7.0359, 1.8388, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": 0.02, \"left_z\": 0.04, \"left_pitch\": 0}, \"note\": \"The arm barely moved last step (targets got clamped) and pitch has sagged to -0.2. Commanding a smaller forward step with pitch back to 0 to approach the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VHVhnue8xeZjfYegFVoZMi",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01VHVhnue8xeZjfYegFVoZMi"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.6714, 0.5289, 0.4671, 0.0181, -0.0307, 0.9992, -0.0212, 0.8082, 0.6018, -0.5007, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.395 left_y=0.019 left_z=0.0226 left_yaw=0.0335 left_pitch=-0.1008 left_roll=-0.0194 left_gripper=0.9992 right_x=0.2775 right_y=0.0012 right_z=0.1513 right_yaw=0.0002 right_pitch=-0.1232 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -6.4615, 4.8342, 2.127, -0.0122, 0.0269, -0.0122, -0.0889, -1.5248, 7.0906, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af755d6fd3ba936b9de077ea7fc71059be572188ad4714a8162ce760df010ac3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcddf9984402ec59224ca50f92abad718a864e3e839ffa9f4b686b6732686513"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9dd2a70a390c84618087e913a44bd7b256dff9d416eaf37d379c842844c7fafc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob af755d6fd3ba
wire blob fcddf9984402
wire blob 9dd2a70a390c
call 6 attempt 0 · /chat/completions · status 200 · 10.99 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.4849, 0.5758, 0.1268, 0.0177, -0.0235, 0.9992, -0.0212, 0.8043, 0.6037, -0.4816, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3699 left_y=0.0179 left_z=0.0449 left_yaw=0.0295 left_pitch=-0.2075 left_roll=-0.0154 left_gripper=0.9992 right_x=0.2806 right_y=0.0012 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0984 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -6.4615, 5.5726, 1.7656, -0.0904, -0.0269, -0.0122, -0.1983, -1.1692, 7.0359, 1.8779, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": 0.03, \"left_z\": 0.02}, \"note\": \"The gripper is low near the table and the block still lies a few centimeters ahead and slightly to the arm's left per the top camera. Advancing forward and left while staying just above the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DGCprbVYtjeJ7vpXwn1tJq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01DGCprbVYtjeJ7vpXwn1tJq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0738, 1.8126, 0.6697, 0.4393, 0.0231, -0.0299, 0.9992, -0.0212, 0.8116, 0.6018, -0.5198, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=0.031 left_z=0.0109 left_yaw=0.0555 left_pitch=-0.1289 left_roll=-0.0225 left_gripper=0.9992 right_x=0.2745 right_y=0.0012 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1457 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.8427, 6.9265, 1.6728, 0.1343, 0.1538, -0.0122, -0.212, -1.4974, 6.9128, 1.8828, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:89be2bc7c9f7b890a9f71de86a2ee04aa700960a3eb909aec776a13a104acaea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20e649fa3eacc67da3d2ba2c27b1266e826ad013632bd602cead3c0f156545c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f44d263802582dfa55df5f62d1f2a3549032c518d7cbd18ddc9c4cbfe1d998ea"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 89be2bc7c9f7
wire blob 20e649fa3eac
wire blob f44d26380258
call 7 attempt 0 · /chat/completions · status 200 · 19 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0471, 1.6714, 0.5289, 0.4671, 0.0181, -0.0307, 0.9992, -0.0212, 0.8082, 0.6018, -0.5007, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.395 left_y=0.019 left_z=0.0226 left_yaw=0.0335 left_pitch=-0.1008 left_roll=-0.0194 left_gripper=0.9992 right_x=0.2775 right_y=0.0012 right_z=0.1513 right_yaw=0.0002 right_pitch=-0.1232 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -6.4615, 4.8342, 2.127, -0.0122, 0.0269, -0.0122, -0.0889, -1.5248, 7.0906, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.47, \"left_y\": 0.03, \"left_z\": 0.015}, \"note\": \"Top view shows the left gripper still a few centimeters short of the red block, roughly aligned laterally; the wrist camera shows the block not yet between the fingers. Continuing forward another ~4 cm at table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_019anADCM638V5t1eADuYf3L",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019anADCM638V5t1eADuYf3L"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0673, 1.9125, 0.8158, 0.3573, 0.012, -0.0391, 0.9992, -0.0212, 0.8135, 0.6018, -0.5461, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4549 left_y=0.0321 left_z=0.004 left_yaw=0.0634 left_pitch=-0.1649 left_roll=-0.0224 left_gripper=0.9992 right_x=0.2701 right_y=0.0013 right_z=0.1416 right_yaw=0.0003 right_pitch=-0.1739 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -8.1983, 7.4325, 1.6825, 0.0073, -0.0366, -0.0122, -0.1026, -1.388, 6.9949, 1.8339, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:122f8e122017c03285e63eb4ea75ab8ce19d097ad32e99b6ec865a78cdd20d67"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d9a496657be35581fa6b2b5ec95c046937a065ddad958beb6ac042b92156046e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f713f3bb56b13f9beb957f8f7866222641c4631800c578be297ef70b8121f04c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 122f8e122017
wire blob d9a496657be3
wire blob f713f3bb56b1
call 8 attempt 0 · /chat/completions · status 200 · 17.11 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0738, 1.8126, 0.6697, 0.4393, 0.0231, -0.0299, 0.9992, -0.0212, 0.8116, 0.6018, -0.5198, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=0.031 left_z=0.0109 left_yaw=0.0555 left_pitch=-0.1289 left_roll=-0.0225 left_gripper=0.9992 right_x=0.2745 right_y=0.0012 right_z=0.1469 right_yaw=0.0 right_pitch=-0.1457 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.8427, 6.9265, 1.6728, 0.1343, 0.1538, -0.0122, -0.212, -1.4974, 6.9128, 1.8828, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": 0.035, \"left_z\": 0.01}, \"note\": \"Top camera shows the fingertips just short of the red block, which sits slightly ahead of them; the wrist camera can't see straight down. Advancing about 4 more centimeters at table height to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Apq773f8fYubLL1tdtbHym",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Apq773f8fYubLL1tdtbHym"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0666, 2.0041, 0.981, 0.2703, 0.0071, -0.046, 0.9992, -0.0212, 0.8173, 0.6018, -0.5701, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4885 left_y=0.0349 left_z=0.0051 left_yaw=0.0706 left_pitch=-0.1784 left_roll=-0.0241 left_gripper=0.9992 right_x=0.2661 right_y=0.0015 right_z=0.1364 right_yaw=0.0005 right_pitch=-0.2018 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.9778, 7.3094, 1.6337, 0.0122, 0.0464, -0.0122, -0.0889, -1.4291, 6.9128, 1.7949, -0.0464, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4c1b6454358e3968588b8dfe01e2dc1648b091e47f7c7d35d9508282a951581f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af881cf9f283cb6f711fc37f8d4c3d56d80b5ed4d5eb754d5cc7d213ffcda878"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27a37dc412ac58e7da6ddad2323bf416891d9a64a4746d3c91d2b47b85ef9b7c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4c1b6454358e
wire blob af881cf9f283
wire blob 27a37dc412ac
call 9 attempt 0 · /chat/completions · status 200 · 26.66 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0673, 1.9125, 0.8158, 0.3573, 0.012, -0.0391, 0.9992, -0.0212, 0.8135, 0.6018, -0.5461, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4549 left_y=0.0321 left_z=0.004 left_yaw=0.0634 left_pitch=-0.1649 left_roll=-0.0224 left_gripper=0.9992 right_x=0.2701 right_y=0.0013 right_z=0.1416 right_yaw=0.0003 right_pitch=-0.1739 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -8.1983, 7.4325, 1.6825, 0.0073, -0.0366, -0.0122, -0.1026, -1.388, 6.9949, 1.8339, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": 0.015, \"left_z\": 0.005}, \"note\": \"Top view shows the red block still ahead of the fingers and slightly toward the arm's right (image-down). Advancing ~4 cm forward and 2 cm right at table height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VBFjdFSdEpsJ6LnkxDx77c",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01VBFjdFSdEpsJ6LnkxDx77c"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0189, 2.0995, 1.1374, 0.2035, -0.0311, -0.0772, 0.9992, -0.0212, 0.8204, 0.6018, -0.5957, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5213 left_y=0.0189 left_z=0.0038 left_yaw=0.0728 left_pitch=-0.1836 left_roll=-0.0205 left_gripper=0.9992 right_x=0.2616 right_y=0.0016 right_z=0.1313 right_yaw=0.0007 right_pitch=-0.2304 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.894, 7.1453, 1.5751, -0.022, -0.022, -0.0122, -0.0479, -1.4017, 6.8308, 1.7607, -0.0659, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fec9c1caa3564412f0b563457decc5ef979d4da92137f6bae920fd72829abcea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b743b0afc9c523e25bcbd790844195aa04f4edb94b97800379f10ca3116183ef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:795774004e41fa887f9c72fea44a4305fa662a146e0f6cbcb03c9f35b581a742"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fec9c1caa356
wire blob b743b0afc9c5
wire blob 795774004e41
call 10 attempt 0 · /chat/completions · status 200 · 21.89 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0666, 2.0041, 0.981, 0.2703, 0.0071, -0.046, 0.9992, -0.0212, 0.8173, 0.6018, -0.5701, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4885 left_y=0.0349 left_z=0.0051 left_yaw=0.0706 left_pitch=-0.1784 left_roll=-0.0241 left_gripper=0.9992 right_x=0.2661 right_y=0.0015 right_z=0.1364 right_yaw=0.0005 right_pitch=-0.2018 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -8.9778, 7.3094, 1.6337, 0.0122, 0.0464, -0.0122, -0.0889, -1.4291, 6.9128, 1.7949, -0.0464, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.12}, \"note\": \"The wrist camera shows no block between the fingers even though I've advanced 15 cm, so my mental mapping may be off. Lifting the gripper to 12 cm so the top camera clearly shows where the fingertips are relative to the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PDsRnqHTJA9MrojzpQhJVB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01PDsRnqHTJA9MrojzpQhJVB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0143, 1.9305, 1.3045, -0.1818, -0.0345, -0.0872, 0.9992, -0.0212, 0.823, 0.6018, -0.6125, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5169 left_y=0.0171 left_z=0.0861 left_yaw=0.0773 left_pitch=-0.2327 left_roll=-0.0223 left_gripper=0.9992 right_x=0.2586 right_y=0.0017 right_z=0.1278 right_yaw=0.0008 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -13.5726, 9.0462, 1.6044, -0.0317, 0.0513, -0.0122, -0.1162, -1.4154, 6.8581, 1.6825, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c0c3e349e03a547c38be88bab1c9fc7324d45fefddb6749e7d96b74da396f0a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3ad9da39824d3125680ba935b1f79e245a6c7f12f663614bebbef3824a9ed55"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:daa34b416c9a4df0e6da1745bdcc65807e7583ffb02ac378a895ccf675eb442a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8c0c3e349e03
wire blob f3ad9da39824
wire blob daa34b416c9a
call 11 attempt 0 · /chat/completions · status 200 · 8.634 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0189, 2.0995, 1.1374, 0.2035, -0.0311, -0.0772, 0.9992, -0.0212, 0.8204, 0.6018, -0.5957, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5213 left_y=0.0189 left_z=0.0038 left_yaw=0.0728 left_pitch=-0.1836 left_roll=-0.0205 left_gripper=0.9992 right_x=0.2616 right_y=0.0016 right_z=0.1313 right_yaw=0.0007 right_pitch=-0.2304 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.894, 7.1453, 1.5751, -0.022, -0.022, -0.0122, -0.0479, -1.4017, 6.8308, 1.7607, -0.0659, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": 0.0, \"left_z\": 0.15}, \"note\": \"I can't see the gripper in the top camera, and the wrist camera shows the bowl edge to my upper-left, so I likely overshot the block. Pulling back and up so the top camera shows the gripper's position relative to the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YKgY79WAcwmnybU8sHUeVB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01YKgY79WAcwmnybU8sHUeVB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0364, 1.4662, 1.0134, -0.3641, -0.0631, -0.1219, 0.9992, -0.0212, 0.8268, 0.6018, -0.635, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.408 left_y=-0.0001 left_z=0.1418 left_yaw=0.0708 left_pitch=-0.2404 left_roll=-0.0248 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1232 right_yaw=0.0009 right_pitch=-0.2761 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.4188, 6.8034, 1.7118, -0.1099, -0.1099, -0.0122, -0.1846, -1.5248, 6.8991, 1.6728, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f3cb892c297aab9e8c3396646ae7a52e4e60b2e636bdd16c6e31c14e099cbf5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:992579590d78c5bfa65f552d8d338e28647e94d9699af985448a526ca2f66de5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:923758a4edc4d8038622ad8b7335bb6619fc8455de2bc13a824afb4cda090e9a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3f3cb892c297
wire blob 992579590d78
wire blob 923758a4edc4
call 12 attempt 0 · /chat/completions · status 200 · 44.11 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0143, 1.9305, 1.3045, -0.1818, -0.0345, -0.0872, 0.9992, -0.0212, 0.823, 0.6018, -0.6125, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5169 left_y=0.0171 left_z=0.0861 left_yaw=0.0773 left_pitch=-0.2327 left_roll=-0.0223 left_gripper=0.9992 right_x=0.2586 right_y=0.0017 right_z=0.1278 right_yaw=0.0008 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -13.5726, 9.0462, 1.6044, -0.0317, 0.0513, -0.0122, -0.1162, -1.4154, 6.8581, 1.6825, -0.0269, -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_x\": 0.43, \"left_y\": -0.05, \"left_z\": 0.08}, \"note\": \"A red corner just appeared at the bottom-right of the left wrist camera, meaning the block is close but to the gripper's right. Shifting right ~5 cm and lowering to 8 cm to center it between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RDugf54QUVHSuRpmqAAC8S",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01RDugf54QUVHSuRpmqAAC8S"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1829, 1.6413, 0.9428, -0.207, -0.1371, -0.2157, 0.9992, -0.0212, 0.8291, 0.6018, -0.6575, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.0484 left_z=0.0711 left_yaw=0.0459 left_pitch=-0.319 left_roll=-0.016 left_gripper=0.9992 right_x=0.2503 right_y=0.0018 right_z=0.1191 right_yaw=0.0011 right_pitch=-0.3009 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -7.3504, 6.2701, 1.6728, -0.3346, -0.0122, -0.0122, -0.1709, -1.347, 6.735, 1.619, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d10d3540e7196eaa7143ca7a534efbdd60770ff623515b139372619a8919d3e9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aff179f539d8254d043fb5d5febfe3ac52ab7a695029a92484347473ba7d6c6e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dfee30150ebcbad9a62ed5022b7d3db06102ca87df20d94e8371ef4ca3e96321"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d10d3540e719
wire blob aff179f539d8
wire blob dfee30150ebc
call 13 attempt 0 · /chat/completions · status 200 · 9.844 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0364, 1.4662, 1.0134, -0.3641, -0.0631, -0.1219, 0.9992, -0.0212, 0.8268, 0.6018, -0.635, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.408 left_y=-0.0001 left_z=0.1418 left_yaw=0.0708 left_pitch=-0.2404 left_roll=-0.0248 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1232 right_yaw=0.0009 right_pitch=-0.2761 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.4188, 6.8034, 1.7118, -0.1099, -0.1099, -0.0122, -0.1846, -1.5248, 6.8991, 1.6728, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.1, \"left_z\": 0.05, \"left_pitch\": 0}, \"note\": \"Top camera now shows the left gripper with the red block about 5 cm to its image-right, and the wrist camera shows red at bottom-right, so the block is to the gripper's right side. Moving ~5 cm in -y at low height to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CkVUF4CUa92AaXQuT7XoCw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01CkVUF4CUa92AaXQuT7XoCw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3866, 1.6917, 0.6453, 0.3557, -0.3279, -0.2821, 0.9992, -0.0212, 0.8295, 0.6018, -0.6762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4021 left_y=-0.0984 left_z=0.041 left_yaw=0.0259 left_pitch=-0.0728 left_roll=-0.0011 left_gripper=0.9992 right_x=0.2467 right_y=0.0018 right_z=0.1162 right_yaw=0.0011 right_pitch=-0.32 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.9009, 4.9846, 1.8486, -0.1832, -0.0464, -0.0122, -0.0342, -1.2239, 6.7077, 1.5409, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8943c6ff46b2dac1f7c83d9c2a7a05077f4c48165cbdf7ef12149a2523b83279"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efb56f6d28569950e8cf248fc3a19a821917e62a9c64a92478b4af768e58de2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:425cca26f6c0ced4663aa552a9dd09e8c8f267eaa804ca4554c138fdd760670d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8943c6ff46b2
wire blob efb56f6d2856
wire blob 425cca26f6c0
call 14 attempt 0 · /chat/completions · status 200 · 8.339 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1829, 1.6413, 0.9428, -0.207, -0.1371, -0.2157, 0.9992, -0.0212, 0.8291, 0.6018, -0.6575, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.0484 left_z=0.0711 left_yaw=0.0459 left_pitch=-0.319 left_roll=-0.016 left_gripper=0.9992 right_x=0.2503 right_y=0.0018 right_z=0.1191 right_yaw=0.0011 right_pitch=-0.3009 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -7.3504, 6.2701, 1.6728, -0.3346, -0.0122, -0.0122, -0.1709, -1.347, 6.735, 1.619, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.125, \"left_z\": 0.01}, \"note\": \"The wrist camera now shows the red block at the bottom-right near the right finger, so it's slightly behind and right of the grasp point. Shifting back ~2 cm, right ~2.5 cm, and lowering to table height to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016RFQmowS77754A9mz2Tg5e",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_016RFQmowS77754A9mz2Tg5e"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4767, 1.7576, 0.6205, 0.5072, -0.4084, -0.3508, 0.9986, -0.0212, 0.8307, 0.6018, -0.68, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.1245 left_z=0.0376 left_yaw=0.0374 left_pitch=0.0029 left_roll=-0.0404 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1153 right_yaw=0.0009 right_pitch=-0.325 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -4.8068, 2.9333, 0.7937, -0.0073, 0.2369, -0.0708, -0.1162, -1.1009, 6.7214, 1.4286, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64f2324588c4ffe7e3f73098b54962a5e9d323a3c9306cde500d4a331f356188"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e3c312352c84b43c46ba142bbe8e7fd58d1dfc77b04f4877d5f7d7cf14eb560"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd9928bf9e484701907e0815e19308d10818b5717dae4556f60c2a3d2fcfdd9a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 64f2324588c4
wire blob 8e3c312352c8
wire blob bd9928bf9e48
call 15 attempt 0 · /chat/completions · status 200 · 26.42 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3866, 1.6917, 0.6453, 0.3557, -0.3279, -0.2821, 0.9992, -0.0212, 0.8295, 0.6018, -0.6762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4021 left_y=-0.0984 left_z=0.041 left_yaw=0.0259 left_pitch=-0.0728 left_roll=-0.0011 left_gripper=0.9992 right_x=0.2467 right_y=0.0018 right_z=0.1162 right_yaw=0.0011 right_pitch=-0.32 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.9009, 4.9846, 1.8486, -0.1832, -0.0464, -0.0122, -0.0342, -1.2239, 6.7077, 1.5409, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.15, \"left_z\": 0.0}, \"note\": \"The block is still at the bottom-right of the wrist view, near the right fingertip, and the arm didn't fully descend. Stepping ~1 cm back, ~2.5 cm right, and down to the table to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_012DiQpqpYP5YtUusHxhnNjf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_012DiQpqpYP5YtUusHxhnNjf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5503, 1.861, 0.6159, 0.691, -0.4847, -0.4187, 0.9985, -0.0212, 0.8341, 0.6018, -0.6903, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4058 left_y=-0.1482 left_z=0.0331 left_yaw=0.0642 left_pitch=0.0874 left_roll=-0.1036 left_gripper=0.9985 right_x=0.2439 right_y=0.002 right_z=0.113 right_yaw=0.0014 right_pitch=-0.3387 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -4.6838, 3.9043, 0.2418, 0.1832, 0.3639, -0.0171, -0.0479, -1.4427, 6.8171, 1.5067, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:579e3d3fb9ef009f092468e54ba7313c71710f322cdfaadb7f966991ae8369cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ddcae60e9bd37efdd904ed83a8f3b2b97d223c4d4391476b1e528219ae88228a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:771faddd2a7f4865070021276c38e200ba8884bc43116621e2b4c4b73609b9b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 579e3d3fb9ef
wire blob ddcae60e9bd3
wire blob 771faddd2a7f
call 16 attempt 0 · /chat/completions · status 200 · 14.2 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4767, 1.7576, 0.6205, 0.5072, -0.4084, -0.3508, 0.9986, -0.0212, 0.8307, 0.6018, -0.68, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4018 left_y=-0.1245 left_z=0.0376 left_yaw=0.0374 left_pitch=0.0029 left_roll=-0.0404 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1153 right_yaw=0.0009 right_pitch=-0.325 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -4.8068, 2.9333, 0.7937, -0.0073, 0.2369, -0.0708, -0.1162, -1.1009, 6.7214, 1.4286, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.17, \"left_z\": 0.0, \"left_pitch\": 0.15}, \"note\": \"The block stays at the wrist camera's bottom-right, hugging the right finger, and the gripper isn't descending fully. Nudging 2 cm further right, down to the table, and pitching slightly forward so the fingers reach the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CZMqJvMi8bh6qfo5RXtGmk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CZMqJvMi8bh6qfo5RXtGmk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5682, 1.8862, 0.6346, 0.7139, -0.5056, -0.4492, 0.9985, -0.0212, 0.8352, 0.6018, -0.7021, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4094 left_y=-0.1556 left_z=0.0343 left_yaw=0.0809 left_pitch=0.1052 left_roll=-0.1318 left_gripper=0.9985 right_x=0.2416 right_y=0.002 right_z=0.111 right_yaw=0.0015 right_pitch=-0.3516 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.653, 5.7094, 1.3602, -0.0269, 0.1001, -0.0122, -0.1709, -1.2376, 6.8991, 1.4774, -0.0855, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca1088cafcceb98f55297fcfdbd4039e9e7283560a9588b7357260c05d274a62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1946b0aa7a1e0ed08f085b96429d6d72db8f52b3dc4de516f6665dce57450208"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8545ce7d5b8be9ae02c692d8572a07de64f22c2784d9e3685f4cb54703c8e13a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ca1088cafcce
wire blob 1946b0aa7a1e
wire blob 8545ce7d5b8b
call 17 attempt 0 · /chat/completions · status 200 · 69.77 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5503, 1.861, 0.6159, 0.691, -0.4847, -0.4187, 0.9985, -0.0212, 0.8341, 0.6018, -0.6903, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4058 left_y=-0.1482 left_z=0.0331 left_yaw=0.0642 left_pitch=0.0874 left_roll=-0.1036 left_gripper=0.9985 right_x=0.2439 right_y=0.002 right_z=0.113 right_yaw=0.0014 right_pitch=-0.3387 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -4.6838, 3.9043, 0.2418, 0.1832, 0.3639, -0.0171, -0.0479, -1.4427, 6.8171, 1.5067, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.18, \"left_z\": 0.0}, \"note\": \"The block still sits at the wrist view's bottom-right along the right finger, so it's slightly behind and to the right of the grasp point. Stepping back ~1.5 cm and right ~2.5 cm while pushing down to the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CC8ARjq9ApTzpUojnCMKob",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CC8ARjq9ApTzpUojnCMKob"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 1.8862, 0.6357, 0.7109, -0.5034, -0.4549, 0.9985, -0.0212, 0.836, 0.6018, -0.712, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1556 left_z=0.034 left_yaw=0.0831 left_pitch=0.1026 left_roll=-0.1367 left_gripper=0.9985 right_x=0.2396 right_y=0.0021 right_z=0.1094 right_yaw=0.0016 right_pitch=-0.3623 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.6393, 5.3949, 1.3602, -0.0562, 0.0904, -0.0122, -0.0342, -1.0872, 6.9812, 1.4872, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:023acfa52ef4c4b2b399614b9b414834c62d73f96a5de7f09793ab9033098162"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60ee14565ce25fd2212fddf9456857af8aa01e1e60b94fa8a2402b3880296b9b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d59e2c4d04ab43764a2a605f8c023a08a1aad4f0f0a9328e60eb74648a8dc796"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 023acfa52ef4
wire blob 60ee14565ce2
wire blob d59e2c4d04ab
call 18 attempt 0 · /chat/completions · status 200 · 46.66 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5682, 1.8862, 0.6346, 0.7139, -0.5056, -0.4492, 0.9985, -0.0212, 0.8352, 0.6018, -0.7021, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4094 left_y=-0.1556 left_z=0.0343 left_yaw=0.0809 left_pitch=0.1052 left_roll=-0.1318 left_gripper=0.9985 right_x=0.2416 right_y=0.002 right_z=0.111 right_yaw=0.0015 right_pitch=-0.3516 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.653, 5.7094, 1.3602, -0.0269, 0.1001, -0.0122, -0.1709, -1.2376, 6.8991, 1.4774, -0.0855, -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": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.19, \"left_z\": 0.005, \"left_pitch\": 0.1}, \"note\": \"The block sits right against the gripper's right finger in the wrist view; the arm hasn't tracked my last small commands. Making a firmer step back-right and down to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_015e8R7KiQtiWB67xLmcDNkS",
      "type": "function"
    },
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0}, \"note\": \"Closing the left gripper to grasp the red block once the straddle move completes.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LdJvV3nSwNjZkQgBw1dLo2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_015e8R7KiQtiWB67xLmcDNkS"
}
{
  "content": "ignored: one tool call per turn",
  "role": "tool",
  "tool_call_id": "toolu_01LdJvV3nSwNjZkQgBw1dLo2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 1.8862, 0.6384, 0.7063, -0.5022, -0.4583, 0.9985, -0.0212, 0.8398, 0.6018, -0.7277, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4098 left_y=-0.1559 left_z=0.0339 left_yaw=0.0839 left_pitch=0.1004 left_roll=-0.139 left_gripper=0.9985 right_x=0.2364 right_y=0.0021 right_z=0.1063 right_yaw=0.0014 right_pitch=-0.3818 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.335, -6.6256, 5.1214, 1.37, -0.0952, 0.0904, -0.0122, -0.1026, -1.4838, 6.6803, 1.4628, -0.0562, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3576c24b24a3bc2597fedecf7652c966468872cc309b813c6922b3b6901f5bef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:15de0b36a41e052bc038a223ba4edbcb3af754f975bd3a11360b1d0516233f16"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f756f66b61f198eeec7bcbd45d8b322489c006eaf9a815adaa761693da4eadad"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3576c24b24a3
wire blob 15de0b36a41e
wire blob f756f66b61f1
call 19 attempt 0 · /chat/completions · status 200 · 29.41 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 1.8862, 0.6357, 0.7109, -0.5034, -0.4549, 0.9985, -0.0212, 0.836, 0.6018, -0.712, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1556 left_z=0.034 left_yaw=0.0831 left_pitch=0.1026 left_roll=-0.1367 left_gripper=0.9985 right_x=0.2396 right_y=0.0021 right_z=0.1094 right_yaw=0.0016 right_pitch=-0.3623 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -6.6393, 5.3949, 1.3602, -0.0562, 0.0904, -0.0122, -0.0342, -1.0872, 6.9812, 1.4872, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.18, \"left_z\": 0.005, \"left_yaw\": 0, \"left_roll\": 0, \"left_pitch\": 0.1}, \"note\": \"The arm has stopped tracking small position commands, likely because the wrist orientation drifted (roll -0.14, yaw 0.08) into an awkward IK pose. Resetting orientation while stepping right and down so the fingers straddle the red block seen at the wrist camera's bottom-right.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UNfe7HSd6mKskg9pybnsXM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UNfe7HSd6mKskg9pybnsXM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.601, 1.9438, 0.6506, 0.7879, -0.5564, -0.4362, 0.9985, -0.0212, 0.8398, 0.6018, -0.7341, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4126 left_y=-0.1654 left_z=0.0323 left_yaw=0.085 left_pitch=0.1471 left_roll=-0.1202 left_gripper=0.9985 right_x=0.2351 right_y=0.0021 right_z=0.1054 right_yaw=0.0017 right_pitch=-0.3883 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [-1.9761, -5.5863, 4.1094, 0.0611, 0.3883, 0.5495, -0.0171, -0.0479, -1.1556, 6.653, 1.4237, -0.0269, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32585aa9ec87a2536aa576eb914d7a1b1807036e80c7569ce724efd9d43ec77d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5825c2354d35c42831476d9d0e1907b05d694bdd81052ab89c1473745474d90b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ef5be568424c9299a8504daaec2f4ac41a2984734b3a39444d41779f9393b24"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 32585aa9ec87
wire blob 5825c2354d35
wire blob 1ef5be568424