adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.387, -0.0193, -0.033, 0.9992, -0.0212, 0.7929, 0.606, -0.3958, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -1.4017, 10.1812, 1.9414, -0.0513, 0.1978, -0.0952, -0.5812, -1.4701, 9.7026, 1.917, -0.0659, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93362ffa63276851455b883c33bfd1f2e75c016e8db55268e821df0fb5af6244"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b0d7b3dc3335055dcabeca361dcd5956d831dbd0c09f11134856c71b7486cee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d546efb53e4eff0a2d2628cdeed95cdb2266eaafbbcdc67b640cf1aab1eea90"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.08, \"left_z\": 0.15, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block ahead and to the right of the left gripper; the bowl is to the left of the right arm. Moving the left arm forward and right to get above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WusbSvbbsWxko6DwGLg8Xg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01WusbSvbbsWxko6DwGLg8Xg"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3374, 1.2774, 0.6914, -0.115, -0.2604, -0.2058, 0.9992, -0.0212, 0.7979, 0.6075, -0.4297, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3607 left_y=-0.0746 left_z=0.1241 left_yaw=-0.0213 left_pitch=-0.0985 left_roll=0.0221 left_gripper=0.9992 right_x=0.2886 right_y=0.001 right_z=0.1704 right_yaw=0.0 right_pitch=-0.0374 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -5.3402, 9.1009, 1.8926, -0.3199, 0.0073, -0.0952, -0.0479, -1.5932, 6.9265, 2.0098, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e89cac69a47ed7e76f97e943eee04e1ffd0980701a91c53773d587bc03414acb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4d7c06d45eec1f4e6f04e3f94b331aa06e0eb33f9864966dfd81f12342d7393"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69ee0e951f6fa9411d8de4338c74197867695a3675fe0ef5716d1bff14b6dd74"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "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, 0.6048, -0.387, -0.0193, -0.033, 0.9992, -0.0212, 0.7929, 0.606, -0.3958, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -1.4017, 10.1812, 1.9414, -0.0513, 0.1978, -0.0952, -0.5812, -1.4701, 9.7026, 1.917, -0.0659, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.05, \"left_z\": 0.08, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the block still ahead (further +x) of the left gripper and slightly toward +y; the wrist cam shows it near the right finger. Moving forward, a bit left, and lower to line up over it.\"}",
        "name": "move_to"
      },
      "id": "toolu_016M4FTT7Z8Jd3HTqpqwjDgu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_016M4FTT7Z8Jd3HTqpqwjDgu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1982, 1.5658, 0.709, 0.0666, -0.1787, -0.1413, 0.9992, -0.0212, 0.8024, 0.6075, -0.4526, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.0437 left_z=0.057 left_yaw=0.0179 left_pitch=-0.2005 left_roll=0.0407 left_gripper=0.9992 right_x=0.2855 right_y=0.001 right_z=0.1646 right_yaw=-0.0001 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.0222, 8.8957, 1.9267, -0.022, 0.1392, -0.0952, -0.1299, -1.4701, 7.0496, 1.8877, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5fb17b54894d5a500a63c97b4e31efcee1d0fee3533ccf3a3c83a5b61c85481c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:472d8f42de2bdc59ab281a4ff4cd6dbeb39755b9230ccbb02bad0d9f4f515595"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72f1b4cdb818339b0179995eed3d6b783b6cce50e3e8c548f7cabfa5c13cc5a3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3374, 1.2774, 0.6914, -0.115, -0.2604, -0.2058, 0.9992, -0.0212, 0.7979, 0.6075, -0.4297, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3607 left_y=-0.0746 left_z=0.1241 left_yaw=-0.0213 left_pitch=-0.0985 left_roll=0.0221 left_gripper=0.9992 right_x=0.2886 right_y=0.001 right_z=0.1704 right_yaw=0.0 right_pitch=-0.0374 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -5.3402, 9.1009, 1.8926, -0.3199, 0.0073, -0.0952, -0.0479, -1.5932, 6.9265, 2.0098, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.47, \"left_y\": -0.045, \"left_z\": 0.05, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the block still several centimeters ahead (+x) of the left fingertips and roughly aligned in y; the tool has pitched back slightly. Moving further forward at low height with pitch leveled to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_0134kuZQiAgvW5U2bMKtwcoD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_0134kuZQiAgvW5U2bMKtwcoD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1883, 1.5894, 0.7158, 0.1165, -0.1604, -0.1272, 0.9992, -0.0212, 0.8024, 0.6075, -0.4561, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4048 left_y=-0.0447 left_z=0.0589 left_yaw=0.0033 left_pitch=-0.1709 left_roll=0.0315 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.1639 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -7.1863, 8.2667, 1.9267, 0.0806, 0.1685, -0.0952, -0.1846, -1.0735, 7.1453, 1.6874, -0.0464, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:214907cff4d8a74b1377d6656213cf7db00954e260dc34e21e13fc54dec60bc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5157e5ec904acd874221e67cbd24ccd77c967c73ba05d9c4d9cedfc8f7325f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7abfa6fe20dd71a420b030c4b219faa2b63f25491aec976d5e81677906682efd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1982, 1.5658, 0.709, 0.0666, -0.1787, -0.1413, 0.9992, -0.0212, 0.8024, 0.6075, -0.4526, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.0437 left_z=0.057 left_yaw=0.0179 left_pitch=-0.2005 left_roll=0.0407 left_gripper=0.9992 right_x=0.2855 right_y=0.001 right_z=0.1646 right_yaw=-0.0001 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.0222, 8.8957, 1.9267, -0.022, 0.1392, -0.0952, -0.1299, -1.4701, 7.0496, 1.8877, -0.022, -0.0708, -0.0171]\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\": 0.45, \"left_y\": -0.045, \"left_z\": 0.09, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm barely advanced (x only 0.405); the block in the top view is still ahead of the fingertips. Raising slightly to 9 cm and stepping forward more gently to avoid IK/table trouble.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GxdFSJegoDFLkw7hecAzmL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01GxdFSJegoDFLkw7hecAzmL"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1753, 1.6608, 0.7494, 0.2089, -0.1619, -0.1154, 0.9992, -0.0212, 0.8047, 0.6075, -0.4786, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.043 left_z=0.0603 left_yaw=0.0096 left_pitch=-0.1174 left_roll=0.0312 left_gripper=0.9992 right_x=0.2816 right_y=0.0012 right_z=0.1589 right_yaw=0.0003 right_pitch=-0.0931 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.6923, 8.9368, 1.9658, -0.1245, 0.1978, -0.0952, -0.0615, -1.1419, 6.9402, 1.8437, -0.0611, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3351c7ceb9989fff619e691aee7a775b19b60faa9aa2920144ee47089ae90e34"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9060feb8d1bf08d30c5073dbd570871ee6618e9ef9dd6fbda3975372993b52c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1024d1f961242604a3f73dd65c7ebe2654216b12a777196414ea04f0781c5f3d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1883, 1.5894, 0.7158, 0.1165, -0.1604, -0.1272, 0.9992, -0.0212, 0.8024, 0.6075, -0.4561, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4048 left_y=-0.0447 left_z=0.0589 left_yaw=0.0033 left_pitch=-0.1709 left_roll=0.0315 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.1639 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -7.1863, 8.2667, 1.9267, 0.0806, 0.1685, -0.0952, -0.1846, -1.0735, 7.1453, 1.6874, -0.0464, -0.0513, -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\": -0.043, \"left_z\": 0.045, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top view still shows the block just ahead of the left fingertips (block not visible in the wrist cam, so it's likely just below its field of view). Pushing forward another ~4 cm and down to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_014Eogk6rXee1W42XSPj2PGm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_014Eogk6rXee1W42XSPj2PGm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1638, 1.8488, 0.7589, 0.3798, -0.1684, -0.1081, 0.9992, -0.0212, 0.807, 0.6075, -0.5003, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.0397 left_z=0.0173 left_yaw=0.0226 left_pitch=-0.1242 left_roll=0.0424 left_gripper=0.9992 right_x=0.2783 right_y=0.0012 right_z=0.1542 right_yaw=0.0004 right_pitch=-0.1171 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -8.9641, 8.3624, 2.2051, -0.0464, 0.1343, -0.0952, -0.1983, -1.388, 6.9402, 1.8144, -0.0415, -0.0464, -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,$blob:1f2f1e16e977e236b2c0477bf3f12910784ae27c10033094e5362b466aadde29"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6d88c4a90da77954be888495e6c04060b07bd36623ce7008758e9a2510b8315"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4338e8ed11994687d2aa9412a9768264e1f892cfa4b91be077e134f9c1fe4a2f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1753, 1.6608, 0.7494, 0.2089, -0.1619, -0.1154, 0.9992, -0.0212, 0.8047, 0.6075, -0.4786, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.043 left_z=0.0603 left_yaw=0.0096 left_pitch=-0.1174 left_roll=0.0312 left_gripper=0.9992 right_x=0.2816 right_y=0.0012 right_z=0.1589 right_yaw=0.0003 right_pitch=-0.0931 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.6923, 8.9368, 1.9658, -0.1245, 0.1978, -0.0952, -0.0615, -1.1419, 6.9402, 1.8437, -0.0611, -0.0757, -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\": 0.49, \"left_y\": -0.04, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top view: the block is still a couple of centimeters ahead of the open left fingers; it is not yet in the wrist camera view. Advancing forward another ~4.5 cm at low height so the block enters the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W5byBab23X5nygD9jM96ct",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01W5byBab23X5nygD9jM96ct"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 1.8679, 0.7715, 0.4488, -0.1688, -0.1085, 0.9992, -0.0212, 0.8082, 0.6075, -0.5228, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4568 left_y=-0.0413 left_z=0.0267 left_yaw=0.0232 left_pitch=-0.0627 left_roll=0.0307 left_gripper=0.9992 right_x=0.2747 right_y=0.0012 right_z=0.1497 right_yaw=0.0001 right_pitch=-0.1407 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.0872, 7.1863, 2.0244, -0.0562, 0.1197, -0.0952, -0.0752, -1.1692, 6.9128, 1.8046, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4b8525c4cc9701972e2a67b78bf047abf8733ed4cd4b009eebdc66435ae07edf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aa5f90356d64fbf7d2db6d90053603113c1285a5fd538d8087fbdca59e885a70"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fb90f148b8286b257d4ce401eb172197d2d91f2568feb87b1c000ce71b22525"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1638, 1.8488, 0.7589, 0.3798, -0.1684, -0.1081, 0.9992, -0.0212, 0.807, 0.6075, -0.5003, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4437 left_y=-0.0397 left_z=0.0173 left_yaw=0.0226 left_pitch=-0.1242 left_roll=0.0424 left_gripper=0.9992 right_x=0.2783 right_y=0.0012 right_z=0.1542 right_yaw=0.0004 right_pitch=-0.1171 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -8.9641, 8.3624, 2.2051, -0.0464, 0.1343, -0.0952, -0.1983, -1.388, 6.9402, 1.8144, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.04, \"left_z\": 0.025, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm is only advancing about 1.3 cm per command; the block in the top view is still just ahead of the fingertips. Commanding a larger forward target (x=0.52) so the jaws move over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NX4Wy2uLKvZ2LSgogsNwTB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01NX4Wy2uLKvZ2LSgogsNwTB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 1.8679, 0.7715, 0.4492, -0.1688, -0.1085, 0.9992, -0.0212, 0.8082, 0.6075, -0.5522, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4569 left_y=-0.0413 left_z=0.0268 left_yaw=0.0232 left_pitch=-0.0623 left_roll=0.0306 left_gripper=0.9992 right_x=0.2699 right_y=0.0013 right_z=0.1443 right_yaw=0.0002 right_pitch=-0.1701 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -9.0872, 7.0632, 2.0488, -0.0562, 0.1197, -0.0952, -0.0479, -1.0735, 6.8718, 1.917, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c6e71959f3986be4a3cfdfbc57c836ce618067e95781f621f3821590475888bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8594e07e2817920f242fb86df0844cf32a0ab12283a17092d0c138a1e2827e6f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f549dea8206196f71083e14f0111f16fdda27caabf9f86dae26ac00f20d79368"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 1.8679, 0.7715, 0.4488, -0.1688, -0.1085, 0.9992, -0.0212, 0.8082, 0.6075, -0.5228, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4568 left_y=-0.0413 left_z=0.0267 left_yaw=0.0232 left_pitch=-0.0627 left_roll=0.0307 left_gripper=0.9992 right_x=0.2747 right_y=0.0012 right_z=0.1497 right_yaw=0.0001 right_pitch=-0.1407 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.0872, 7.1863, 2.0244, -0.0562, 0.1197, -0.0952, -0.0752, -1.1692, 6.9128, 1.8046, -0.0464, -0.0562, -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\": 0.49, \"left_y\": -0.04, \"left_z\": 0.04, \"left_pitch\": 0.3, \"left_gripper\": 1.0}, \"note\": \"The left arm did not move at all on the last command, suggesting an IK/reach stall at this low, level pose. Tipping the tool forward (pitch +0.3) and raising slightly to extend reach toward the block, which sits just ahead of the fingertips in the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TcS1J1GLKbWHFJKKnAPuPx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TcS1J1GLKbWHFJKKnAPuPx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 2.0918, 0.7052, 1.0298, -0.1978, -0.0631, 0.9992, -0.0212, 0.8101, 0.6075, -0.5873, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4832 left_y=-0.0405 left_z=0.0263 left_yaw=0.0272 left_pitch=0.2246 left_roll=0.0303 left_gripper=0.9992 right_x=0.2639 right_y=0.0015 right_z=0.1376 right_yaw=0.0007 right_pitch=-0.2071 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2256, 4.8615, 2.0684, -0.0366, 0.1587, -0.0952, -0.0752, -1.3197, 7.0085, 1.8584, -0.0317, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:166c8f2da89d856c3a27d2ce7fc5af208a37334c7e423ab3b844f83a7ee2f0e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62c480192ff82dd79d0a55e2cb36775cd06c59dd0140f7916095b306deb6581e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7a970cc7ba84eb55370df505caaa0ff5a40d93b32d55f8dc790fb58bb98dcdb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 1.8679, 0.7715, 0.4492, -0.1688, -0.1085, 0.9992, -0.0212, 0.8082, 0.6075, -0.5522, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4569 left_y=-0.0413 left_z=0.0268 left_yaw=0.0232 left_pitch=-0.0623 left_roll=0.0306 left_gripper=0.9992 right_x=0.2699 right_y=0.0013 right_z=0.1443 right_yaw=0.0002 right_pitch=-0.1701 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -9.0872, 7.0632, 2.0488, -0.0562, 0.1197, -0.0952, -0.0479, -1.0735, 6.8718, 1.917, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.08, \"left_z\": 0.03, \"left_pitch\": 0.35, \"left_gripper\": 1.0}, \"note\": \"Top view shows the red block about 4 cm ahead and ~4 cm to the arm's right (-y) of the left fingertips; it's still out of the wrist camera frame. Moving forward and to -y with more forward pitch to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BwUguvM9Jpp1rdwXxeNovD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01BwUguvM9Jpp1rdwXxeNovD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2504, 2.2421, 0.8337, 1.1049, -0.279, -0.0677, 0.9992, -0.0212, 0.8127, 0.6064, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5092 left_y=-0.0763 left_z=0.0152 left_yaw=0.0154 left_pitch=0.2826 left_roll=0.0398 left_gripper=0.9992 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=0.0003 right_pitch=-0.2365 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.7573, 5.4906, 2.3321, -0.1099, 0.0171, -0.0952, -0.0205, -1.347, 6.9675, 1.7705, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b6820b65e8ded22e771e6f6374e75527abbe8c6b8e8c9776050d13df14ce903"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b165955818323e0153d044ccff2a83cf2f12735548c6a72763f84711df728818"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df0f47d169a065661a190af0bb2ed7a155b30c2f1de34f67eaef727649bd837a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1627, 2.0918, 0.7052, 1.0298, -0.1978, -0.0631, 0.9992, -0.0212, 0.8101, 0.6075, -0.5873, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4832 left_y=-0.0405 left_z=0.0263 left_yaw=0.0272 left_pitch=0.2246 left_roll=0.0303 left_gripper=0.9992 right_x=0.2639 right_y=0.0015 right_z=0.1376 right_yaw=0.0007 right_pitch=-0.2071 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2256, 4.8615, 2.0684, -0.0366, 0.1587, -0.0952, -0.0752, -1.3197, 7.0085, 1.8584, -0.0317, -0.0659, -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\": 0.55, \"left_y\": -0.076, \"left_z\": 0.02, \"left_pitch\": 0.3, \"left_gripper\": 1.0}, \"note\": \"Top view now shows the block directly ahead of the left fingertips, aligned in y, only a few centimeters in front (below the wrist camera's view). Advancing ~4 cm forward at grasp height to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019w1Wbo5yJG4i1QDRaYzpxC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019w1Wbo5yJG4i1QDRaYzpxC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2558, 2.2562, 0.8516, 1.1221, -0.2981, -0.0673, 0.9992, -0.0212, 0.8127, 0.6064, -0.6289, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.077 left_z=0.0183 left_yaw=0.0282 left_pitch=0.3043 left_roll=0.0398 left_gripper=0.9992 right_x=0.2563 right_y=0.0016 right_z=0.1295 right_yaw=0.0004 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.1265, 5.4496, 2.1807, -0.1148, 0.0122, -0.0952, -0.1436, -1.1556, 7.0085, 1.6923, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78338e2a65fc5b9b7b28ef0f078da4809a45110674e33a11b4904df37468364f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e987450b0a1bc8be653b8b3cc5c10d66edd7b62985a96cfcbf11318fd2f0cd7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e4f575e1b62e91a030d45ff41f575beb9762bb1ad8e852483a609712b63f8e4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2504, 2.2421, 0.8337, 1.1049, -0.279, -0.0677, 0.9992, -0.0212, 0.8127, 0.6064, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5092 left_y=-0.0763 left_z=0.0152 left_yaw=0.0154 left_pitch=0.2826 left_roll=0.0398 left_gripper=0.9992 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=0.0003 right_pitch=-0.2365 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.7573, 5.4906, 2.3321, -0.1099, 0.0171, -0.0952, -0.0205, -1.347, 6.9675, 1.7705, -0.0562, -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\": 0.545, \"left_y\": -0.077, \"left_z\": 0.015, \"left_pitch\": 0.5, \"left_gripper\": 1.0}, \"note\": \"The left arm is barely advancing (x stuck ~0.51), likely near its reach limit; the block in the top view sits right at the fingertips. Pitching the tool further forward to extend the grasp point over the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LspHZyk11SD1EbggRgVB9s",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01LspHZyk11SD1EbggRgVB9s"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2558, 2.2562, 0.8516, 1.1221, -0.2981, -0.0677, 0.9992, -0.0212, 0.8127, 0.6064, -0.6552, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.077 left_z=0.0183 left_yaw=0.0285 left_pitch=0.3043 left_roll=0.0394 left_gripper=0.9992 right_x=0.2514 right_y=0.0018 right_z=0.1252 right_yaw=0.0009 right_pitch=-0.2788 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.1538, 5.4496, 2.1709, -0.1197, 0.0171, -0.0904, -0.1436, -0.9368, 6.9265, 1.6972, -0.0562, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43eb08b6de061259a9e3c12a0bea71099d3210b303af75cc386036784c3aca6b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a3b8e51d628576bfd99ac1210575d8bba07b57cfb71abf5cc094ee2e81a5c123"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a130c84495128e48bc223ce19b4c615489df5193b0685515627421a6de59105"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2558, 2.2562, 0.8516, 1.1221, -0.2981, -0.0673, 0.9992, -0.0212, 0.8127, 0.6064, -0.6289, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.077 left_z=0.0183 left_yaw=0.0282 left_pitch=0.3043 left_roll=0.0398 left_gripper=0.9992 right_x=0.2563 right_y=0.0016 right_z=0.1295 right_yaw=0.0004 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.1265, 5.4496, 2.1807, -0.1148, 0.0122, -0.0952, -0.1436, -1.1556, 7.0085, 1.6923, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.077, \"left_z\": 0.05, \"left_pitch\": 0.55, \"left_gripper\": 1.0}, \"note\": \"The left arm didn't move at all on the last command\\u2014it appears to be at an IK/reach limit at this low height. Trying a slightly higher target with a strong forward pitch so the fingertips angle down over the block just ahead of them.\"}",
        "name": "move_to"
      },
      "id": "toolu_018D9o4GAb4WUdRfC8LkTWie",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_018D9o4GAb4WUdRfC8LkTWie"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2539, 2.3592, 0.8753, 1.3754, -0.3019, -0.0147, 0.9992, -0.0212, 0.8139, 0.6064, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5231 left_y=-0.0778 left_z=0.0336 left_yaw=0.0223 left_pitch=0.4704 left_roll=0.0445 left_gripper=0.9992 right_x=0.2474 right_y=0.0018 right_z=0.1216 right_yaw=0.0007 right_pitch=-0.3009 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -8.7043, 5.9419, 2.2882, -0.0464, 0.1392, -0.0952, -0.1026, -1.1692, 6.8991, 1.5849, -0.0269, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c96e7361f6831374caf233dda88978fe531c7829f7ceb7c51a8d41cdc949d40"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:59dd54462ff686c4eea3d874f07ad50ae8eef972426c82ede1c74d2e52eae4aa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:15ab8c5100c06f3cc39758b97d93b55a0db89b2d108ab266d666f1a684f6e97b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2558, 2.2562, 0.8516, 1.1221, -0.2981, -0.0677, 0.9992, -0.0212, 0.8127, 0.6064, -0.6552, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.077 left_z=0.0183 left_yaw=0.0285 left_pitch=0.3043 left_roll=0.0394 left_gripper=0.9992 right_x=0.2514 right_y=0.0018 right_z=0.1252 right_yaw=0.0009 right_pitch=-0.2788 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -10.1538, 5.4496, 2.1709, -0.1197, 0.0171, -0.0904, -0.1436, -0.9368, 6.9265, 1.6972, -0.0562, -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\": 0.56, \"left_y\": -0.078, \"left_z\": 0.015, \"left_pitch\": 0.6, \"left_gripper\": 1.0}, \"note\": \"Top view: the red block sits ~3-4 cm just beyond the left fingertips, aligned in y; the arm gained ~1 cm with the pitch increase. Pushing forward and down with maximum forward pitch to get the jaws over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DdRfHcdaTX9WKQtrw5hzKo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01DdRfHcdaTX9WKQtrw5hzKo"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2363, 2.5355, 1.0733, 1.5181, -0.3038, 0.004, 0.9992, -0.0212, 0.8173, 0.6056, -0.6838, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5594 left_y=-0.0767 left_z=0.039 left_yaw=0.0582 left_pitch=0.6278 left_roll=0.0123 left_gripper=0.9992 right_x=0.2459 right_y=0.0019 right_z=0.1193 right_yaw=0.0007 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.5556, 3.2068, 1.3895, 0.188, 0.0317, -0.0904, -0.1573, -1.1966, 6.8171, 1.4481, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9b199b82c3a8aa886274a3d4d6751436a5123a33b0a9fa2db3712b50b5dfd8e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3c239f66d535d4e3a736930bebb3335586cf17b0803f49d299738fa14c9e5477"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:288c57f7988ac3852d4efef88c4079f74743aa4dfba0e1a0043b960dfd6044f8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2539, 2.3592, 0.8753, 1.3754, -0.3019, -0.0147, 0.9992, -0.0212, 0.8139, 0.6064, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5231 left_y=-0.0778 left_z=0.0336 left_yaw=0.0223 left_pitch=0.4704 left_roll=0.0445 left_gripper=0.9992 right_x=0.2474 right_y=0.0018 right_z=0.1216 right_yaw=0.0007 right_pitch=-0.3009 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -8.7043, 5.9419, 2.2882, -0.0464, 0.1392, -0.0952, -0.1026, -1.1692, 6.8991, 1.5849, -0.0269, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.585, \"left_y\": -0.077, \"left_z\": 0.01, \"left_pitch\": 0.6, \"left_gripper\": 1.0}, \"note\": \"Top view shows the red block right at the left fingertips, aligned in y, but it is not yet between the fingers in the wrist view. Advancing ~2.5 cm more and lowering to table height so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UezUNmFLqv4rMduDbQvu1u",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01UezUNmFLqv4rMduDbQvu1u"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.234, 2.55, 1.0981, 1.549, -0.3012, 0.0147, 0.9992, -0.0212, 0.8173, 0.6056, -0.6987, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5633 left_y=-0.0767 left_z=0.0466 left_yaw=0.0594 left_pitch=0.6672 left_roll=0.0109 left_gripper=0.9992 right_x=0.243 right_y=0.002 right_z=0.117 right_yaw=0.0012 right_pitch=-0.3276 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.9521, 3.535, 1.5653, 0.1294, 0.0024, -0.0904, -0.0752, -0.5538, 6.7214, 1.5067, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88225e4904cc9d199ee6b540ccd0e28512833946ca301879363e9eb2be2bef64"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b795c9c66b133b105bcd41c78ca1ac59d9dbbe455d03003f0f0ee135bfdb65cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b1d8259b92c303212f3adf9ba14aa1913784499ba88e43417fa6258a09c13da7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}