adhoc

completed
2026-09-03T04:12:24.690056+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
341.9 s
total steps
77
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 see the red block ahead and slightly to the right of the left gripper (left_cam), and the bowl to the left of the right gripper. I'll start by moving the left arm above the block.
agent noteThe red block appears at the lower right of the left wrist camera, a few cm forward and to the right of the gripper. Moving the left arm forward/right and lowering to hover above the block.
move_to
left_x0.3600left_y-0.0600left_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, 0.7929, 0.6041, -0.3859, -0.0223, -0.0338, 0.9992, -0.0212, 0.7944, 0.606, -0.3958, -0.0166, -0.0124, 0.9996] state[eef_state]: left_x=0.2939 left_y=0.0019 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9992 right_x=0.2929 right_y=0.0003 right_z=0.1775 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.2786, 10.2769, 1.9365, -0.0611, 0.1587, -0.0952, -0.5812, -1.5111, 9.7436, 1.8974, -0.0659, -0.0073, -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 see the red block ahead and slightly to the right of the left gripper (left_cam), and the bowl to the left of the right gripper. I'll start by moving the left arm above the block.
move_to({"targets": {"left_x": 0.36, "left_y": -0.06, "left_z": 0.1, "left_gripper": 1.0}, "note": "The red block appears at the lower right of the left wrist camera, a few cm forward and to the right of the gripper. Moving the left arm forward/right and lowering to hover above the block."})
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 noteThe block is still at the right edge of the left wrist camera, so the gripper needs to go further right (−y) and a bit forward. Shifting the left arm right and forward while staying at hover height.
move_to
left_x0.4000left_y-0.1300left_z0.0800left_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]: [-0.2836, 1.2591, 0.5026, 0.0452, -0.2127, -0.1684, 0.9992, -0.0212, 0.7979, 0.6125, -0.424, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3401 left_y=-0.0566 left_z=0.0804 left_yaw=-0.0304 left_pitch=-0.1179 left_roll=0.0233 left_gripper=0.9992 right_x=0.29 right_y=0.0009 right_z=0.1738 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.4496, 6.5299, 1.8291, -0.3053, -0.0513, -0.0952, -0.2256, -1.4017, 6.4889, 2.083, -0.0317, -0.0513, -0.0122] 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": 0.4, "left_y": -0.13, "left_z": 0.08, "left_gripper": 1.0}, "note": "The block is still at the right edge of the left wrist camera, so the gripper needs to go further right (\u2212y) and a bit forward. Shifting the left arm right and forward while staying at hover height."})
tool
executing move_to over 7 steps (0.7s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe block now sits at the lower right of the left wrist view, next to the right finger, and the top camera shows the gripper just short of it. Nudging right and forward a few cm and descending to grasp height with the gripper open.
move_to
left_x0.4150left_y-0.1550left_z0.0350left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4576, 1.5909, 0.7555, 0.0444, -0.3256, -0.2855, 0.9992, -0.0212, 0.8013, 0.6075, -0.4416, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3865 left_y=-0.1233 left_z=0.0658 left_yaw=-0.0433 left_pitch=-0.1654 left_roll=0.034 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1671 right_yaw=0.0024 right_pitch=-0.0511 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.2803, -6.7624, 8.212, 1.7167, -0.3394, 0.0073, -0.0952, -0.1846, -1.5248, 7.5009, 1.8535, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.155, "left_z": 0.035, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block now sits at the lower right of the left wrist view, next to the right finger, and the top camera shows the gripper just short of it. Nudging right and forward a few cm and descending to grasp height with the gripper open."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteTop camera shows the block just beyond the left gripper's fingertips, and the wrist camera shows it hugging the right finger. Moving another ~3 cm forward and ~2 cm right while descending so the block sits between the jaws.
move_to
left_x0.4400left_y-0.1750left_z0.0250left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5243, 1.8019, 0.7319, 0.411, -0.4145, -0.3012, 0.9992, -0.0212, 0.8043, 0.6075, -0.4553, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4132 left_y=-0.1526 left_z=0.0411 left_yaw=-0.0352 left_pitch=-0.0207 left_roll=0.0171 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1635 right_yaw=0.0024 right_pitch=-0.0678 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.6085, -6.2017, 4.9162, 1.0574, -0.1148, 0.1441, -0.0952, -0.0205, -1.4838, 6.9675, 1.7753, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.175, "left_z": 0.025, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top camera shows the block just beyond the left gripper's fingertips, and the wrist camera shows it hugging the right finger. Moving another ~3 cm forward and ~2 cm right while descending so the block sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe block is now close under the gripper but still offset toward the right finger in the wrist view, and z stalled at 0.04. Shifting 2.5 cm further right and lowering to 0.02 to center the block between the jaws.
move_to
left_x0.4450left_y-0.1950left_z0.0200left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5362, 1.9213, 0.8276, 0.4953, -0.4389, -0.3195, 0.9992, -0.0212, 0.8082, 0.6071, -0.4721, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4413 left_y=-0.1708 left_z=0.0405 left_yaw=-0.0171 left_pitch=0.0395 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2828 right_y=0.0011 right_z=0.1591 right_yaw=0.0024 right_pitch=-0.0888 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.7453, -7.4598, 5.3675, 1.1941, -0.1099, 0.188, -0.0952, -0.0752, -1.4701, 6.9675, 1.9756, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.195, "left_z": 0.02, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block is now close under the gripper but still offset toward the right finger in the wrist view, and z stalled at 0.04. Shifting 2.5 cm further right and lowering to 0.02 to center the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper stalled at z≈0.04 (fingertips likely on the table) and y did not track, with the block still just outside the right finger in the wrist view. Lifting clear and shifting ~3.5 cm to the right and slightly back so the block will fall between the jaws on the next descent.
move_to
left_x0.4350left_y-0.2100left_z0.0900left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5449, 1.9411, 0.8436, 0.5091, -0.4503, -0.3393, 0.9992, -0.0212, 0.8101, 0.6067, -0.4961, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4448 left_y=-0.1755 left_z=0.0404 left_yaw=-0.0057 left_pitch=0.0512 left_roll=-0.0317 left_gripper=0.9992 right_x=0.279 right_y=0.0012 right_z=0.1538 right_yaw=0.0025 right_pitch=-0.1151 right_roll=0.0047 right_gripper=0.9996 state[joint_eff]: [-0.9915, -8.3077, 6.2154, 1.37, -0.1783, -0.0122, -0.0952, -0.1436, -1.2239, 7.2, 1.9902, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.21, "left_z": 0.09, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The gripper stalled at z\u22480.04 (fingertips likely on the table) and y did not track, with the block still just outside the right finger in the wrist view. Lifting clear and shifting ~3.5 cm to the right and slightly back so the block will fall between the jaws on the next descent."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left arm did not move at all on the last command (state unchanged), so the IK may be stuck. Trying a simple pure lift of 4 cm to free it before repositioning over the block.
move_to
left_x0.4400left_y-0.1800left_z0.0800left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5079, -0.4503, -0.3462, 0.9992, -0.0212, 0.8116, 0.606, -0.5011, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4442 left_y=-0.1772 left_z=0.0403 left_yaw=-0.0058 left_pitch=0.0504 left_roll=-0.0372 left_gripper=0.9992 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0025 right_pitch=-0.1224 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.4581, -8.253, 6.0376, 1.4188, -0.1734, 0.0122, -0.0952, -0.1026, -1.1419, 7.0085, 1.6728, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.18, "left_z": 0.08, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm did not move at all on the last command (state unchanged), so the IK may be stuck. Trying a simple pure lift of 4 cm to free it before repositioning over the block."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe left arm is still frozen at the same pose despite two commands, so the IK seems stuck near this configuration. Retreating toward the earlier pose that it reached fine (back, left, up, slight negative pitch) to unstick it.
move_to
left_x0.4100left_y-0.1500left_z0.0700left_pitch-0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5076, -0.4503, -0.3462, 0.9992, -0.0212, 0.812, 0.606, -0.5156, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.4441 left_y=-0.1772 left_z=0.0402 left_yaw=-0.0058 left_pitch=0.0501 left_roll=-0.037 left_gripper=0.9992 right_x=0.2758 right_y=0.0012 right_z=0.1494 right_yaw=0.0022 right_pitch=-0.1373 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.7179, -8.3214, 6.0239, 1.3748, -0.2027, 0.0366, -0.0952, -0.1026, -1.1692, 7.1726, 1.8144, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.15, "left_z": 0.07, "left_pitch": -0.1, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm is still frozen at the same pose despite two commands, so the IK seems stuck near this configuration. Retreating toward the earlier pose that it reached fine (back, left, up, slight negative pitch) to unstick it."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe arm is free again; the block now sits just inside the right finger in the wrist view, about 3 cm right of the jaw center. Moving 3 cm right (−y) and descending to 4 cm with slight negative pitch, keeping x moderate to avoid the earlier IK stall.
move_to
left_x0.4200left_y-0.1850left_z0.0400left_pitch-0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.522, 1.7332, 0.8341, 0.1936, -0.4152, -0.358, 0.9992, -0.0212, 0.8139, 0.606, -0.5457, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4175 left_y=-0.1538 left_z=0.068 left_yaw=-0.0005 left_pitch=-0.0606 left_roll=-0.0064 left_gripper=0.9992 right_x=0.2709 right_y=0.0013 right_z=0.1434 right_yaw=0.0027 right_pitch=-0.1693 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.4034, -9.4291, 6.3111, 1.7118, -0.0073, -0.0855, -0.0952, -0.0752, -0.8137, 7.0906, 1.8828, -0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.42, "left_y": -0.185, "left_z": 0.04, "left_pitch": -0.1, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm is free again; the block now sits just inside the right finger in the wrist view, about 3 cm right of the jaw center. Moving 3 cm right (\u2212y) and descending to 4 cm with slight negative pitch, keeping x moderate to avoid the earlier IK stall."})
tool
executing move_to over 3 steps (0.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe block is still about 3 cm to the right of jaw center and slightly forward in the wrist view, and y undershot the command. Moving further right to y=-0.21, a bit forward, and down to 2 cm so the block sits between the fingers.
move_to
left_x0.4300left_y-0.2100left_z0.0200left_pitch-0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5793, 1.8469, 0.8787, 0.1505, -0.4358, -0.4042, 0.9992, -0.0212, 0.8173, 0.6056, -0.5694, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4091 left_y=-0.1742 left_z=0.0303 left_yaw=-0.0101 left_pitch=-0.1486 left_roll=0.0282 left_gripper=0.9992 right_x=0.2669 right_y=0.0014 right_z=0.1382 right_yaw=0.0028 right_pitch=-0.1967 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.1573, -9.2103, 8.212, 1.7265, -0.4469, -0.0513, -0.0952, -0.0889, -1.4701, 6.8718, 1.7802, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.21, "left_z": 0.02, "left_pitch": -0.1, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The block is still about 3 cm to the right of jaw center and slightly forward in the wrist view, and y undershot the command. Moving further right to y=-0.21, a bit forward, and down to 2 cm so the block sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe block is now ahead of the fingertips and slightly right in the wrist view; the arm undershot x and y. Re-commanding forward ~4 cm and right ~2 cm at grasp height so the block ends up between the jaws.
move_to
left_x0.4450left_y-0.2000left_z0.0200left_pitch-0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1558, -0.4427, -0.4255, 0.9992, -0.0212, 0.8173, 0.6056, -0.5949, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4067 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0073 left_pitch=-0.163 left_roll=0.028 left_gripper=0.9992 right_x=0.2624 right_y=0.0015 right_z=0.1338 right_yaw=0.0029 right_pitch=-0.2223 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [0.0615, -8.3214, 7.0359, 1.5653, -0.2906, 0.0659, -0.0904, -0.212, -1.1419, 6.8034, 1.7558, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.2, "left_z": 0.02, "left_pitch": -0.1, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The block is now ahead of the fingertips and slightly right in the wrist view; the arm undershot x and y. Re-commanding forward ~4 cm and right ~2 cm at grasp height so the block ends up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe arm froze again when asked to move forward at 2 cm height — this low, forward pose seems unreachable for the IK. Lifting to 5.5 cm while moving forward and right so I can then descend straight onto the block, which is just ahead of the fingertips.
move_to
left_x0.4450left_y-0.2000left_z0.0550left_pitch-0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4248, 0.9992, -0.0212, 0.8173, 0.6056, -0.6128, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0076 left_pitch=-0.1633 left_roll=0.0288 left_gripper=0.9992 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=0.003 right_pitch=-0.2402 right_roll=0.0078 right_gripper=0.9996 state[joint_eff]: [0.0342, -8.6085, 7.0906, 1.5556, -0.3053, 0.0366, -0.0952, -0.0205, -1.1556, 6.8581, 1.6581, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.2, "left_z": 0.055, "left_pitch": -0.1, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm froze again when asked to move forward at 2 cm height \u2014 this low, forward pose seems unreachable for the IK. Lifting to 5.5 cm while moving forward and right so I can then descend straight onto the block, which is just ahead of the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe left arm is frozen again in this stretched low pose; the block sits directly ahead of the open fingertips in the wrist camera. Retreating slightly back/up with orientation matched to the current one to free the IK, then I'll come down onto the block.
move_to
left_x0.4000left_y-0.1700left_z0.0600left_pitch-0.1600left_roll0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4244, 0.9992, -0.0212, 0.8173, 0.6056, -0.6247, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0079 left_pitch=-0.1633 left_roll=0.0291 left_gripper=0.9992 right_x=0.257 right_y=0.0016 right_z=0.1288 right_yaw=0.0029 right_pitch=-0.252 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [0.0889, -8.6222, 6.9265, 1.5897, -0.3101, 0.0904, -0.0952, -0.0205, -0.8, 6.8444, 1.6288, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.17, "left_z": 0.06, "left_pitch": -0.16, "left_roll": 0.03, "left_gripper": 1.0}, "note": "The left arm is frozen again in this stretched low pose; the block sits directly ahead of the open fingertips in the wrist camera. Retreating slightly back/up with orientation matched to the current one to free the IK, then I'll come down onto the block."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe block sits directly ahead of the open fingertips in the left wrist camera. Returning to the earlier reachable pose (x≈0.44, pitch slightly positive) which should put the block between the jaws.
move_to
left_x0.4450left_y-0.1800left_z0.0350left_pitch0.0500left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5911, 1.8317, 0.8837, 0.0711, -0.4347, -0.4236, 0.9992, -0.0212, 0.8196, 0.6056, -0.6357, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3981 left_y=-0.1733 left_z=0.0262 left_yaw=-0.0064 left_pitch=-0.1982 left_roll=0.0458 left_gripper=0.9992 right_x=0.255 right_y=0.0017 right_z=0.1264 right_yaw=0.0032 right_pitch=-0.2654 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [0.6906, -13.1077, 6.6667, 2.0635, -0.1978, 0.1197, -0.0952, -0.1846, -0.841, 6.7624, 1.619, -0.0317, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.445, "left_y": -0.18, "left_z": 0.035, "left_pitch": 0.05, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The block sits directly ahead of the open fingertips in the left wrist camera. Returning to the earlier reachable pose (x\u22480.44, pitch slightly positive) which should put the block between the jaws."})
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 noteThe block is right at the fingertips, about 3 cm to the right of jaw center in the wrist view. Moving 2 cm forward and 3 cm right at grasp height to bring the block between the jaws.
move_to
left_x0.4550left_y-0.2100left_z0.0200left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5686, 1.9564, 0.8616, 0.4179, -0.4709, -0.3546, 0.9992, -0.0212, 0.823, 0.6056, -0.6571, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4347 left_y=-0.1784 left_z=0.024 left_yaw=-0.0053 left_pitch=-0.0178 left_roll=0.0121 left_gripper=0.9992 right_x=0.251 right_y=0.0017 right_z=0.1222 right_yaw=0.0031 right_pitch=-0.2902 right_roll=0.0093 right_gripper=0.9996 state[joint_eff]: [0.4718, -8.8, 4.9846, 1.9658, -0.3101, 0.0855, -0.0952, -0.1846, -1.4291, 6.7487, 1.619, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.455, "left_y": -0.21, "left_z": 0.02, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The block is right at the fingertips, about 3 cm to the right of jaw center in the wrist view. Moving 2 cm forward and 3 cm right at grasp height to bring the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
The block is now between the jaws (slightly right of center but within the 9.5 cm opening). Closing the gripper.
agent noteThe red block is now between the open fingers in the left wrist camera, slightly right of center but within the jaw span. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5999, 2.048, 0.9592, 0.4141, -0.4946, -0.3786, 0.9992, -0.0208, 0.8249, 0.6022, -0.6754, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4491 left_y=-0.2012 left_z=0.0165 left_yaw=-0.005 left_pitch=-0.0076 left_roll=0.0032 left_gripper=0.9992 right_x=0.2469 right_y=0.0019 right_z=0.1175 right_yaw=0.0039 right_pitch=-0.3138 right_roll=0.0096 right_gripper=0.9996 state[joint_eff]: [-0.4171, -9.853, 7.1179, 1.6532, -0.3101, -0.0073, -0.0952, -0.0752, -1.2513, 7.0222, 1.6239, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
The block is now between the jaws (slightly right of center but within the 9.5 cm opening). Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The red block is now between the open fingers in the left wrist camera, slightly right of center but within the jaw span. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe gripper closed fully (0.01) beside the block rather than on it — the block remained ~3 cm to the right of the jaw center, and I'm out of call budget to reposition, re-grasp, and transport it to the bowl.
give_up
hindsightOn this rig the red block was at roughly left_x≈0.45, left_y≈-0.23 (further right than it appears; the left wrist camera's image-right corresponds to −y, and objects hugging the right finger in the image are ~3-4 cm off jaw center). The left arm's IK frequently freezes entirely (state unchanged) when commanded to low (z≤0.02) forward (x≥0.44) poses or when y is pushed beyond about -0.20 at low z; recover by retreating back/up toward x≈0.40, z≈0.07 first, and prefer z≈0.035 as grasp height (fingertips reach the table around z≈0.02-0.04). Commands undershoot in y by 1-2 cm near that region, so over-command y. Bowl is at about right_y≈+0.2, x≈0.45 in the right arm frame (top_cam shows it centered between the arms). Budget only 20 calls — plan grasp approach in ≤4 moves and don't spend calls on incremental 2 cm nudges.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6018, 2.0609, 0.9627, 0.3882, -0.4942, -0.3832, 0.01, -0.0212, 0.8249, 0.6018, -0.68, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4454 left_y=-0.1999 left_z=0.0072 left_yaw=-0.0042 left_pitch=-0.037 left_roll=0.0192 left_gripper=0.01 right_x=0.2459 right_y=0.0019 right_z=0.1166 right_yaw=0.0036 right_pitch=-0.3188 right_roll=0.0098 right_gripper=0.9996 state[joint_eff]: [-0.0752, -11.0701, 4.8068, 1.79, -0.1734, 0.022, 0.779, -0.0205, -0.9778, 6.7214, 1.4042, -0.0708, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The gripper closed fully (0.01) beside the block rather than on it \u2014 the block remained ~3 cm to the right of the jaw center, and I'm out of call budget to reposition, re-grasp, and transport it to the bowl.", "hindsight": "On this rig the red block was at roughly left_x\u22480.45, left_y\u2248-0.23 (further right than it appears; the left wrist camera's image-right corresponds to \u2212y, and objects hugging the right finger in the image are ~3-4 cm off jaw center). The left arm's IK frequently freezes entirely (state unchanged) when commanded to low (z\u22640.02) forward (x\u22650.44) poses or when y is pushed beyond about -0.20 at low z; recover by retreating back/up toward x\u22480.40, z\u22480.07 first, and prefer z\u22480.035 as grasp height (fingertips reach the table around z\u22480.02-0.04). Commands undershoot in y by 1-2 cm near that region, so over-command y. Bowl is at about right_y\u2248+0.2, x\u22480.45 in the right arm frame (top_cam shows it centered between the arms). Budget only 20 calls \u2014 plan grasp approach in \u22644 moves and don't spend calls on incremental 2 cm nudges."})
tool
give_up: The gripper closed fully (0.01) beside the block rather than on it — the block remained ~3 cm to the right of the jaw center, and I'm out of call budget to reposition, re-grasp, and transport it to the bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 31.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3859, -0.0223, -0.0338, 0.9992, -0.0212, 0.7944, 0.606, -0.3958, -0.0166, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0019 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9992 right_x=0.2929 right_y=0.0003 right_z=0.1775 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.2786, 10.2769, 1.9365, -0.0611, 0.1587, -0.0952, -0.5812, -1.5111, 9.7436, 1.8974, -0.0659, -0.0073, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:410a51f688245daeb09fa91ec7ad3eb6fb188550a9b48afd4a9cc4a59a4f65b7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f913b26435f7a19f357544796ffe0cf77ac5c087241361c826d269bb4b0e2618"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:011c4886f65b157d12c7860227fb9ff57fb4c56ff4e1721ef19f1cff52a10f51"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 410a51f68824
wire blob f913b26435f7
wire blob 011c4886f65b
call 1 attempt 0 · /chat/completions · status 200 · 12.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I see the red block ahead and slightly to the right of the left gripper (left_cam), and the bowl to the left of the right gripper. I'll start by moving the left arm above the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.06, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"The red block appears at the lower right of the left wrist camera, a few cm forward and to the right of the gripper. Moving the left arm forward/right and lowering to hover above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LoEwMyh4ZgsnCN1gzXpCEc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01LoEwMyh4ZgsnCN1gzXpCEc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2836, 1.2591, 0.5026, 0.0452, -0.2127, -0.1684, 0.9992, -0.0212, 0.7979, 0.6125, -0.424, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3401 left_y=-0.0566 left_z=0.0804 left_yaw=-0.0304 left_pitch=-0.1179 left_roll=0.0233 left_gripper=0.9992 right_x=0.29 right_y=0.0009 right_z=0.1738 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.4496, 6.5299, 1.8291, -0.3053, -0.0513, -0.0952, -0.2256, -1.4017, 6.4889, 2.083, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:779793acde9e76e09d2bb460e273d17967f08b4746df93e015fae81a9e8918e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c518a8c29a1635565ef49942089f50f24c7d18e4f47a5a5bceeae31c832e35e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:712eb307e7519660f388f3e908e6f87a4a70b64d04e778babb788f8d0b1933df"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 779793acde9e
wire blob 6c518a8c29a1
wire blob 712eb307e751
call 2 attempt 0 · /chat/completions · status 200 · 15.76 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3859, -0.0223, -0.0338, 0.9992, -0.0212, 0.7944, 0.606, -0.3958, -0.0166, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0019 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9992 right_x=0.2929 right_y=0.0003 right_z=0.1775 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.2786, 10.2769, 1.9365, -0.0611, 0.1587, -0.0952, -0.5812, -1.5111, 9.7436, 1.8974, -0.0659, -0.0073, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.13, \"left_z\": 0.08, \"left_gripper\": 1.0}, \"note\": \"The block is still at the right edge of the left wrist camera, so the gripper needs to go further right (\\u2212y) and a bit forward. Shifting the left arm right and forward while staying at hover height.\"}",
        "name": "move_to"
      },
      "id": "toolu_017YsDCbm3TtXFVYPe6Q8AuZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_017YsDCbm3TtXFVYPe6Q8AuZ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 1.5909, 0.7555, 0.0444, -0.3256, -0.2855, 0.9992, -0.0212, 0.8013, 0.6075, -0.4416, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1233 left_z=0.0658 left_yaw=-0.0433 left_pitch=-0.1654 left_roll=0.034 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1671 right_yaw=0.0024 right_pitch=-0.0511 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.7624, 8.212, 1.7167, -0.3394, 0.0073, -0.0952, -0.1846, -1.5248, 7.5009, 1.8535, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7e93bca67fecbe62047e0ee62f641c47f5c2067cb825d79034cd41a2b00b77bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ce9d7c3306bdf8b6e830292289693bbaba35430847a0347adb416b17f4126bb2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27fa6a3d9dbf3808ccc2a05d71516e6387f4dba640cd31bf5da511d2753e3eef"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7e93bca67fec
wire blob ce9d7c3306bd
wire blob 27fa6a3d9dbf
call 3 attempt 0 · /chat/completions · status 200 · 26.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2836, 1.2591, 0.5026, 0.0452, -0.2127, -0.1684, 0.9992, -0.0212, 0.7979, 0.6125, -0.424, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3401 left_y=-0.0566 left_z=0.0804 left_yaw=-0.0304 left_pitch=-0.1179 left_roll=0.0233 left_gripper=0.9992 right_x=0.29 right_y=0.0009 right_z=0.1738 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.4496, 6.5299, 1.8291, -0.3053, -0.0513, -0.0952, -0.2256, -1.4017, 6.4889, 2.083, -0.0317, -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\": 0.415, \"left_y\": -0.155, \"left_z\": 0.035, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block now sits at the lower right of the left wrist view, next to the right finger, and the top camera shows the gripper just short of it. Nudging right and forward a few cm and descending to grasp height with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CFqSWUuxsEM6NfuzusPsze",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01CFqSWUuxsEM6NfuzusPsze"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5243, 1.8019, 0.7319, 0.411, -0.4145, -0.3012, 0.9992, -0.0212, 0.8043, 0.6075, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4132 left_y=-0.1526 left_z=0.0411 left_yaw=-0.0352 left_pitch=-0.0207 left_roll=0.0171 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1635 right_yaw=0.0024 right_pitch=-0.0678 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -6.2017, 4.9162, 1.0574, -0.1148, 0.1441, -0.0952, -0.0205, -1.4838, 6.9675, 1.7753, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e94065bc4466d992b226edd45c53f9eeb238ffc21f4864de3b45bc3e291e9a6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad44cfaebb704fb9f2738be9db0c692f6e86eb3cdb5926f7c7483960a4e24fd8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:840ebd71af5bf987168edc81b0d2a39794bb832f356a0980641d2fb0d63c857f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e94065bc4466
wire blob ad44cfaebb70
wire blob 840ebd71af5b
call 4 attempt 0 · /chat/completions · status 200 · 14 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 1.5909, 0.7555, 0.0444, -0.3256, -0.2855, 0.9992, -0.0212, 0.8013, 0.6075, -0.4416, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1233 left_z=0.0658 left_yaw=-0.0433 left_pitch=-0.1654 left_roll=0.034 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1671 right_yaw=0.0024 right_pitch=-0.0511 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.7624, 8.212, 1.7167, -0.3394, 0.0073, -0.0952, -0.1846, -1.5248, 7.5009, 1.8535, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.175, \"left_z\": 0.025, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the block just beyond the left gripper's fingertips, and the wrist camera shows it hugging the right finger. Moving another ~3 cm forward and ~2 cm right while descending so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TaPiAytnooMARv4oXPNbwL",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TaPiAytnooMARv4oXPNbwL"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5362, 1.9213, 0.8276, 0.4953, -0.4389, -0.3195, 0.9992, -0.0212, 0.8082, 0.6071, -0.4721, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.1708 left_z=0.0405 left_yaw=-0.0171 left_pitch=0.0395 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2828 right_y=0.0011 right_z=0.1591 right_yaw=0.0024 right_pitch=-0.0888 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -7.4598, 5.3675, 1.1941, -0.1099, 0.188, -0.0952, -0.0752, -1.4701, 6.9675, 1.9756, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c6908dffc97815585f8891d47c825089861e2359b27a5e4fff69988ab1af856"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:264c837cf405a956b2a012e32892a9099bd66be482751f9f18b41a9a1205b25f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4600276286d399f905efc570e9eaadfda072613d4c3f8c8ef3eb12cb04902ad1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1c6908dffc97
wire blob 264c837cf405
wire blob 4600276286d3
call 5 attempt 0 · /chat/completions · status 200 · 20.36 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5243, 1.8019, 0.7319, 0.411, -0.4145, -0.3012, 0.9992, -0.0212, 0.8043, 0.6075, -0.4553, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4132 left_y=-0.1526 left_z=0.0411 left_yaw=-0.0352 left_pitch=-0.0207 left_roll=0.0171 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1635 right_yaw=0.0024 right_pitch=-0.0678 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -6.2017, 4.9162, 1.0574, -0.1148, 0.1441, -0.0952, -0.0205, -1.4838, 6.9675, 1.7753, -0.0611, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.195, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now close under the gripper but still offset toward the right finger in the wrist view, and z stalled at 0.04. Shifting 2.5 cm further right and lowering to 0.02 to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YFUtVwomvrhwvZEQQLB98t",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01YFUtVwomvrhwvZEQQLB98t"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5449, 1.9411, 0.8436, 0.5091, -0.4503, -0.3393, 0.9992, -0.0212, 0.8101, 0.6067, -0.4961, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.1755 left_z=0.0404 left_yaw=-0.0057 left_pitch=0.0512 left_roll=-0.0317 left_gripper=0.9992 right_x=0.279 right_y=0.0012 right_z=0.1538 right_yaw=0.0025 right_pitch=-0.1151 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.9915, -8.3077, 6.2154, 1.37, -0.1783, -0.0122, -0.0952, -0.1436, -1.2239, 7.2, 1.9902, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d6b8f9ea6341ceb7bde9dbbb6c2e0954425b628cf681d2065d9d9955a091d6b1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:86aff9ea1390ac0dac945fed4132b680e870c52ca10b7544f1dbb112abbbeda8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87efb9b4cd4479839b560e587be82119e70712b17729103af3df5930f98c1333"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d6b8f9ea6341
wire blob 86aff9ea1390
wire blob 87efb9b4cd44
call 6 attempt 0 · /chat/completions · status 200 · 10.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5362, 1.9213, 0.8276, 0.4953, -0.4389, -0.3195, 0.9992, -0.0212, 0.8082, 0.6071, -0.4721, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.1708 left_z=0.0405 left_yaw=-0.0171 left_pitch=0.0395 left_roll=-0.0151 left_gripper=0.9992 right_x=0.2828 right_y=0.0011 right_z=0.1591 right_yaw=0.0024 right_pitch=-0.0888 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -7.4598, 5.3675, 1.1941, -0.1099, 0.188, -0.0952, -0.0752, -1.4701, 6.9675, 1.9756, -0.0317, -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\": 0.435, \"left_y\": -0.21, \"left_z\": 0.09, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper stalled at z\\u22480.04 (fingertips likely on the table) and y did not track, with the block still just outside the right finger in the wrist view. Lifting clear and shifting ~3.5 cm to the right and slightly back so the block will fall between the jaws on the next descent.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P2dw4pmBaS4czts4WssJe7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01P2dw4pmBaS4czts4WssJe7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5079, -0.4503, -0.3462, 0.9992, -0.0212, 0.8116, 0.606, -0.5011, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4442 left_y=-0.1772 left_z=0.0403 left_yaw=-0.0058 left_pitch=0.0504 left_roll=-0.0372 left_gripper=0.9992 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0025 right_pitch=-0.1224 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.253, 6.0376, 1.4188, -0.1734, 0.0122, -0.0952, -0.1026, -1.1419, 7.0085, 1.6728, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bfe512735cec23967d14c2dd0757d00ddd8992e147743ebe6c8d66e15ca1ad19"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e43ec1c875e825e234d9306d3a612fd1c8aae78dc29d9e8515b7bae663a7f814"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a92f640726f27e1428d66a676c38a199db817f516ff81f84a51d45d9a49edf04"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bfe512735cec
wire blob e43ec1c875e8
wire blob a92f640726f2
call 7 attempt 0 · /chat/completions · status 200 · 10.77 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5449, 1.9411, 0.8436, 0.5091, -0.4503, -0.3393, 0.9992, -0.0212, 0.8101, 0.6067, -0.4961, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4448 left_y=-0.1755 left_z=0.0404 left_yaw=-0.0057 left_pitch=0.0512 left_roll=-0.0317 left_gripper=0.9992 right_x=0.279 right_y=0.0012 right_z=0.1538 right_yaw=0.0025 right_pitch=-0.1151 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.9915, -8.3077, 6.2154, 1.37, -0.1783, -0.0122, -0.0952, -0.1436, -1.2239, 7.2, 1.9902, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.18, \"left_z\": 0.08, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm did not move at all on the last command (state unchanged), so the IK may be stuck. Trying a simple pure lift of 4 cm to free it before repositioning over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Vb1LAb6rgCxd5kwsD4BjiC",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Vb1LAb6rgCxd5kwsD4BjiC"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5076, -0.4503, -0.3462, 0.9992, -0.0212, 0.812, 0.606, -0.5156, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4441 left_y=-0.1772 left_z=0.0402 left_yaw=-0.0058 left_pitch=0.0501 left_roll=-0.037 left_gripper=0.9992 right_x=0.2758 right_y=0.0012 right_z=0.1494 right_yaw=0.0022 right_pitch=-0.1373 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.3214, 6.0239, 1.3748, -0.2027, 0.0366, -0.0952, -0.1026, -1.1692, 7.1726, 1.8144, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93551e313da68a789a42577117ab66681a6c5051faaf6c65ed9a0e3123ee7637"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a6146966fc8913c8ade834ba220818c2644980c86b5e55cdfd5e43dda8e0d14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b505446ea4162065ec16c944deda35e5c035c9034d810cd291d28e92d272ea7f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 93551e313da6
wire blob 1a6146966fc8
wire blob b505446ea416
call 8 attempt 0 · /chat/completions · status 200 · 19.13 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5079, -0.4503, -0.3462, 0.9992, -0.0212, 0.8116, 0.606, -0.5011, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4442 left_y=-0.1772 left_z=0.0403 left_yaw=-0.0058 left_pitch=0.0504 left_roll=-0.0372 left_gripper=0.9992 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0025 right_pitch=-0.1224 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.253, 6.0376, 1.4188, -0.1734, 0.0122, -0.0952, -0.1026, -1.1419, 7.0085, 1.6728, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.15, \"left_z\": 0.07, \"left_pitch\": -0.1, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm is still frozen at the same pose despite two commands, so the IK seems stuck near this configuration. Retreating toward the earlier pose that it reached fine (back, left, up, slight negative pitch) to unstick it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Mh4xZcjzTESKoCUqMRRJ3o",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Mh4xZcjzTESKoCUqMRRJ3o"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.522, 1.7332, 0.8341, 0.1936, -0.4152, -0.358, 0.9992, -0.0212, 0.8139, 0.606, -0.5457, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.1538 left_z=0.068 left_yaw=-0.0005 left_pitch=-0.0606 left_roll=-0.0064 left_gripper=0.9992 right_x=0.2709 right_y=0.0013 right_z=0.1434 right_yaw=0.0027 right_pitch=-0.1693 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.4291, 6.3111, 1.7118, -0.0073, -0.0855, -0.0952, -0.0752, -0.8137, 7.0906, 1.8828, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d50238b2150351cc21dfd095ddc3f240545ff1898ed6dadcb1c5d24f45f8c1c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83aa648afdf93f456ec013885ab61a61f8aed94ddf1e0c3ce5001cfa20de491b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b54e0814ecc154b7ee96605718cf61e8a50ee6d6b1aaf9fb70d8074c17cd5341"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7d50238b2150
wire blob 83aa648afdf9
wire blob b54e0814ecc1
call 9 attempt 0 · /chat/completions · status 200 · 11.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5488, 1.9415, 0.8444, 0.5076, -0.4503, -0.3462, 0.9992, -0.0212, 0.812, 0.606, -0.5156, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4441 left_y=-0.1772 left_z=0.0402 left_yaw=-0.0058 left_pitch=0.0501 left_roll=-0.037 left_gripper=0.9992 right_x=0.2758 right_y=0.0012 right_z=0.1494 right_yaw=0.0022 right_pitch=-0.1373 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.3214, 6.0239, 1.3748, -0.2027, 0.0366, -0.0952, -0.1026, -1.1692, 7.1726, 1.8144, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.185, \"left_z\": 0.04, \"left_pitch\": -0.1, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm is free again; the block now sits just inside the right finger in the wrist view, about 3 cm right of the jaw center. Moving 3 cm right (\\u2212y) and descending to 4 cm with slight negative pitch, keeping x moderate to avoid the earlier IK stall.\"}",
        "name": "move_to"
      },
      "id": "toolu_016bP6mPKrhZcGd1ARGk6t5d",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_016bP6mPKrhZcGd1ARGk6t5d"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5793, 1.8469, 0.8787, 0.1505, -0.4358, -0.4042, 0.9992, -0.0212, 0.8173, 0.6056, -0.5694, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4091 left_y=-0.1742 left_z=0.0303 left_yaw=-0.0101 left_pitch=-0.1486 left_roll=0.0282 left_gripper=0.9992 right_x=0.2669 right_y=0.0014 right_z=0.1382 right_yaw=0.0028 right_pitch=-0.1967 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.2103, 8.212, 1.7265, -0.4469, -0.0513, -0.0952, -0.0889, -1.4701, 6.8718, 1.7802, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a5a9a07e0fd00b11b0ba9821f657929edccfbd3646753d4141ff2faaacbc15e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:22e69295c55575c746248b2884b5faf7bda01f2562633942e199ad24e9981165"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bb96504081281af0b5a8bf4c2e9032192fdeda30a45eceee32f8444c88f9810"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6a5a9a07e0fd
wire blob 22e69295c555
wire blob 1bb965040812
call 10 attempt 0 · /chat/completions · status 200 · 13.29 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.522, 1.7332, 0.8341, 0.1936, -0.4152, -0.358, 0.9992, -0.0212, 0.8139, 0.606, -0.5457, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.1538 left_z=0.068 left_yaw=-0.0005 left_pitch=-0.0606 left_roll=-0.0064 left_gripper=0.9992 right_x=0.2709 right_y=0.0013 right_z=0.1434 right_yaw=0.0027 right_pitch=-0.1693 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.4291, 6.3111, 1.7118, -0.0073, -0.0855, -0.0952, -0.0752, -0.8137, 7.0906, 1.8828, -0.0269, -0.0708, -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\": -0.21, \"left_z\": 0.02, \"left_pitch\": -0.1, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is still about 3 cm to the right of jaw center and slightly forward in the wrist view, and y undershot the command. Moving further right to y=-0.21, a bit forward, and down to 2 cm so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SLe7HHWre69hY71d63kr3y",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01SLe7HHWre69hY71d63kr3y"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1558, -0.4427, -0.4255, 0.9992, -0.0212, 0.8173, 0.6056, -0.5949, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0073 left_pitch=-0.163 left_roll=0.028 left_gripper=0.9992 right_x=0.2624 right_y=0.0015 right_z=0.1338 right_yaw=0.0029 right_pitch=-0.2223 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 7.0359, 1.5653, -0.2906, 0.0659, -0.0904, -0.212, -1.1419, 6.8034, 1.7558, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6e239e38fb05fd109d3b0a8a757ba2458a0f4a41c9d7b847681f2da7ddc834e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:299ec0e927741d52494e6d49d0ac798b59aec0ae6a4ef5056e818e1dc1457de5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9d32d99d74d28f320266e13b7f64f19c90553fe2d111ce3092f20f38f16e23e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f6e239e38fb0
wire blob 299ec0e92774
wire blob c9d32d99d74d
call 11 attempt 0 · /chat/completions · status 200 · 12.52 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5793, 1.8469, 0.8787, 0.1505, -0.4358, -0.4042, 0.9992, -0.0212, 0.8173, 0.6056, -0.5694, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4091 left_y=-0.1742 left_z=0.0303 left_yaw=-0.0101 left_pitch=-0.1486 left_roll=0.0282 left_gripper=0.9992 right_x=0.2669 right_y=0.0014 right_z=0.1382 right_yaw=0.0028 right_pitch=-0.1967 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.2103, 8.212, 1.7265, -0.4469, -0.0513, -0.0952, -0.0889, -1.4701, 6.8718, 1.7802, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.2, \"left_z\": 0.02, \"left_pitch\": -0.1, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now ahead of the fingertips and slightly right in the wrist view; the arm undershot x and y. Re-commanding forward ~4 cm and right ~2 cm at grasp height so the block ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Du8oKzKqg6KmxKW4jepouz",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Du8oKzKqg6KmxKW4jepouz"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4248, 0.9992, -0.0212, 0.8173, 0.6056, -0.6128, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0076 left_pitch=-0.1633 left_roll=0.0288 left_gripper=0.9992 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=0.003 right_pitch=-0.2402 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.6085, 7.0906, 1.5556, -0.3053, 0.0366, -0.0952, -0.0205, -1.1556, 6.8581, 1.6581, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93a9f6722205d0227a3dfbbdf34661169400ed1a15a4baf3ab5c7e7df95492f9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db199351637f4a7d642be85f6e19c7fb8dbb43c32ff656868263862e68be8f1b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0db3fd091825857d47ed247720882d44e4c1c759a5fca28d2d5fa5ec6163cf37"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 93a9f6722205
wire blob db199351637f
wire blob 0db3fd091825
call 12 attempt 0 · /chat/completions · status 200 · 9.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1558, -0.4427, -0.4255, 0.9992, -0.0212, 0.8173, 0.6056, -0.5949, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0073 left_pitch=-0.163 left_roll=0.028 left_gripper=0.9992 right_x=0.2624 right_y=0.0015 right_z=0.1338 right_yaw=0.0029 right_pitch=-0.2223 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 7.0359, 1.5653, -0.2906, 0.0659, -0.0904, -0.212, -1.1419, 6.8034, 1.7558, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.2, \"left_z\": 0.055, \"left_pitch\": -0.1, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm froze again when asked to move forward at 2 cm height \\u2014 this low, forward pose seems unreachable for the IK. Lifting to 5.5 cm while moving forward and right so I can then descend straight onto the block, which is just ahead of the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_018dE5V4kVr9ZAHgsQ3oQ3yD",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_018dE5V4kVr9ZAHgsQ3oQ3yD"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4244, 0.9992, -0.0212, 0.8173, 0.6056, -0.6247, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0079 left_pitch=-0.1633 left_roll=0.0291 left_gripper=0.9992 right_x=0.257 right_y=0.0016 right_z=0.1288 right_yaw=0.0029 right_pitch=-0.252 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -8.6222, 6.9265, 1.5897, -0.3101, 0.0904, -0.0952, -0.0205, -0.8, 6.8444, 1.6288, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40ec9a4e288fc5185213eff23aacc1b7ac30fd61616652da47b7af0454a76f54"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e2df1ff9f20bb264061777d77149ff7a399997d6050b3f3fce0f980bc7f24ccb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f501e767ad020763099d7d3d224456425a30f641f77e32a869e3d5722f718ca9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 40ec9a4e288f
wire blob e2df1ff9f20b
wire blob f501e767ad02
call 13 attempt 0 · /chat/completions · status 200 · 25.89 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4248, 0.9992, -0.0212, 0.8173, 0.6056, -0.6128, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0076 left_pitch=-0.1633 left_roll=0.0288 left_gripper=0.9992 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=0.003 right_pitch=-0.2402 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.6085, 7.0906, 1.5556, -0.3053, 0.0366, -0.0952, -0.0205, -1.1556, 6.8581, 1.6581, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.17, \"left_z\": 0.06, \"left_pitch\": -0.16, \"left_roll\": 0.03, \"left_gripper\": 1.0}, \"note\": \"The left arm is frozen again in this stretched low pose; the block sits directly ahead of the open fingertips in the wrist camera. Retreating slightly back/up with orientation matched to the current one to free the IK, then I'll come down onto the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EG3E5CqHMLPeKM9M3optQH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01EG3E5CqHMLPeKM9M3optQH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5911, 1.8317, 0.8837, 0.0711, -0.4347, -0.4236, 0.9992, -0.0212, 0.8196, 0.6056, -0.6357, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3981 left_y=-0.1733 left_z=0.0262 left_yaw=-0.0064 left_pitch=-0.1982 left_roll=0.0458 left_gripper=0.9992 right_x=0.255 right_y=0.0017 right_z=0.1264 right_yaw=0.0032 right_pitch=-0.2654 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -13.1077, 6.6667, 2.0635, -0.1978, 0.1197, -0.0952, -0.1846, -0.841, 6.7624, 1.619, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8bf0a1cf71e69375fb47037a4c67b691b7d63412d20efb90367dd7e15e5580a0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:491e81529c91f3d2a2d27630eaf4d9e6c6693ef2da553114d5ccbc9fc293308e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:50e3044c118aab1208f606ef97f5a0ece41a34958bc1c444bb215ced29dee6b5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8bf0a1cf71e6
wire blob 491e81529c91
wire blob 50e3044c118a
call 14 attempt 0 · /chat/completions · status 200 · 11.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5953, 1.879, 0.8845, 0.1555, -0.4427, -0.4244, 0.9992, -0.0212, 0.8173, 0.6056, -0.6247, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4066 left_y=-0.1797 left_z=0.0201 left_yaw=-0.0079 left_pitch=-0.1633 left_roll=0.0291 left_gripper=0.9992 right_x=0.257 right_y=0.0016 right_z=0.1288 right_yaw=0.0029 right_pitch=-0.252 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -8.6222, 6.9265, 1.5897, -0.3101, 0.0904, -0.0952, -0.0205, -0.8, 6.8444, 1.6288, -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\": 0.445, \"left_y\": -0.18, \"left_z\": 0.035, \"left_pitch\": 0.05, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block sits directly ahead of the open fingertips in the left wrist camera. Returning to the earlier reachable pose (x\\u22480.44, pitch slightly positive) which should put the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_012omsC28xpyreARUtBSbnFn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_012omsC28xpyreARUtBSbnFn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5686, 1.9564, 0.8616, 0.4179, -0.4709, -0.3546, 0.9992, -0.0212, 0.823, 0.6056, -0.6571, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4347 left_y=-0.1784 left_z=0.024 left_yaw=-0.0053 left_pitch=-0.0178 left_roll=0.0121 left_gripper=0.9992 right_x=0.251 right_y=0.0017 right_z=0.1222 right_yaw=0.0031 right_pitch=-0.2902 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.8, 4.9846, 1.9658, -0.3101, 0.0855, -0.0952, -0.1846, -1.4291, 6.7487, 1.619, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec033cc976f0f83ab7a1c4b034aa82f5ed96ac53565afd18ad8c1b42c0350785"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b24b699b410fc5306e372d555ae366ecac0ba61285dd0e54468e52b319622cb2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42ff658c5225e90ffc1fdcc16d5eaf7f5b2a08a4c1723e1e820216a3b0ec7a06"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ec033cc976f0
wire blob b24b699b410f
wire blob 42ff658c5225
call 15 attempt 0 · /chat/completions · status 200 · 5.883 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5911, 1.8317, 0.8837, 0.0711, -0.4347, -0.4236, 0.9992, -0.0212, 0.8196, 0.6056, -0.6357, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3981 left_y=-0.1733 left_z=0.0262 left_yaw=-0.0064 left_pitch=-0.1982 left_roll=0.0458 left_gripper=0.9992 right_x=0.255 right_y=0.0017 right_z=0.1264 right_yaw=0.0032 right_pitch=-0.2654 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -13.1077, 6.6667, 2.0635, -0.1978, 0.1197, -0.0952, -0.1846, -0.841, 6.7624, 1.619, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.21, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is right at the fingertips, about 3 cm to the right of jaw center in the wrist view. Moving 2 cm forward and 3 cm right at grasp height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0171hbwaubY6YfPDtuH1HMq6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0171hbwaubY6YfPDtuH1HMq6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5999, 2.048, 0.9592, 0.4141, -0.4946, -0.3786, 0.9992, -0.0208, 0.8249, 0.6022, -0.6754, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4491 left_y=-0.2012 left_z=0.0165 left_yaw=-0.005 left_pitch=-0.0076 left_roll=0.0032 left_gripper=0.9992 right_x=0.2469 right_y=0.0019 right_z=0.1175 right_yaw=0.0039 right_pitch=-0.3138 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.853, 7.1179, 1.6532, -0.3101, -0.0073, -0.0952, -0.0752, -1.2513, 7.0222, 1.6239, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:caadca223b9261fc4dafd445bc17939e8cee1e5e1b4505be38091900f0396bfd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5642c240d6b601c57594eb05332c051c44de4e25e97c6a014da713102b60eb2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6548c88651d7064a315b84ff8526a21b43ec5a17bb72ac126f822468f8c54bd1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob caadca223b92
wire blob b5642c240d6b
wire blob 6548c88651d7
call 16 attempt 0 · /chat/completions · status 200 · 13.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5686, 1.9564, 0.8616, 0.4179, -0.4709, -0.3546, 0.9992, -0.0212, 0.823, 0.6056, -0.6571, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4347 left_y=-0.1784 left_z=0.024 left_yaw=-0.0053 left_pitch=-0.0178 left_roll=0.0121 left_gripper=0.9992 right_x=0.251 right_y=0.0017 right_z=0.1222 right_yaw=0.0031 right_pitch=-0.2902 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -8.8, 4.9846, 1.9658, -0.3101, 0.0855, -0.0952, -0.1846, -1.4291, 6.7487, 1.619, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now between the jaws (slightly right of center but within the 9.5 cm opening). Closing the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block is now between the open fingers in the left wrist camera, slightly right of center but within the jaw span. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P12p7cZutt1gXurQ2N5YGS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01P12p7cZutt1gXurQ2N5YGS"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6018, 2.0609, 0.9627, 0.3882, -0.4942, -0.3832, 0.01, -0.0212, 0.8249, 0.6018, -0.68, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4454 left_y=-0.1999 left_z=0.0072 left_yaw=-0.0042 left_pitch=-0.037 left_roll=0.0192 left_gripper=0.01 right_x=0.2459 right_y=0.0019 right_z=0.1166 right_yaw=0.0036 right_pitch=-0.3188 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -11.0701, 4.8068, 1.79, -0.1734, 0.022, 0.779, -0.0205, -0.9778, 6.7214, 1.4042, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd73f2e4a58c41742902f793493a7b6c11e614d85beedf88cbb0659f2b8df23e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85117be208fda3b41581627ecef8dc41c8da712fe853adea061e8890f3bda889"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:393ef169706027d8acde5ec9f48c5a27142f0ac7441b362675d2d8dcfd5bf268"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob dd73f2e4a58c
wire blob 85117be208fd
wire blob 393ef1697060