adhoc

completed
2026-09-02T23:33:05.468828+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
268.7 s
total steps
74
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 00
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
agent noteThe left wrist camera shows the red block to the right of center and ahead; the right camera sees the bowl. Moving the left arm forward and to its right, lowering slightly, to get above the block.
move_to
left_x0.3800left_y-0.1000left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3882, -0.0196, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0265, 0.9997] state[eef_state]: left_x=0.2936 left_y=0.0015 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4034, -1.4701, 10.2632, 1.9658, -0.0611, 0.1685, -0.0904, -0.5812, -1.5795, 9.6479, 1.917, -0.0366, 0.1245, -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
move_to({"targets": {"left_x": 0.38, "left_y": -0.1, "left_z": 0.12, "left_gripper": 1.0}, "note": "The left wrist camera shows the red block to the right of center and ahead; the right camera sees the bowl. Moving the left arm forward and to its right, lowering slightly, to get above the block."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteLeft wrist camera shows the red block ahead and to the right of the gripper opening. Advancing forward and rightward while lowering toward table height to bracket the block.
move_to
left_x0.4300left_y-0.1300left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4114, 1.364, 0.6304, 0.0017, -0.3233, -0.2531, 0.9993, -0.0212, 0.8005, 0.6113, -0.4324, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3582 left_y=-0.0912 left_z=0.0923 left_yaw=-0.0178 left_pitch=-0.1104 left_roll=0.0349 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0389 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.3487, -5.7094, 8.9094, 1.9512, -0.3346, 0.0122, -0.0855, -0.1162, -1.6889, 6.7214, 2.0147, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.13, "left_z": 0.05, "left_gripper": 1.0}, "note": "Left wrist camera shows the red block ahead and to the right of the gripper opening. Advancing forward and rightward while lowering toward table height to bracket the block."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe block is just ahead and slightly right of the gripper center in the left wrist view. Advancing a few more centimeters and lowering to near table height so the jaws straddle the block.
move_to
left_x0.4550left_y-0.1350left_z0.0150left_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]: [-0.4255, 1.7599, 0.8078, 0.1318, -0.3378, -0.2726, 0.9993, -0.0212, 0.8043, 0.6094, -0.4549, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4101 left_y=-0.1177 left_z=0.0335 left_yaw=-0.0042 left_pitch=-0.187 left_roll=0.0651 left_gripper=0.9993 right_x=0.2855 right_y=0.0011 right_z=0.1645 right_yaw=0.0004 right_pitch=-0.0671 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.8, -8.335, 7.3368, 1.6679, -0.1832, -0.0122, -0.0904, -0.3487, -1.5385, 7.1316, 1.8974, -0.0122, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.135, "left_z": 0.015, "left_gripper": 1.0}, "note": "The block is just ahead and slightly right of the gripper center in the left wrist view. Advancing a few more centimeters and lowering to near table height so the jaws straddle the block."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm barely advanced last step; the block is still about 5 cm ahead of the jaws in the wrist view. Commanding a larger forward/downward step and leveling pitch so the fingers reach around the block.
move_to
left_x0.4800left_y-0.1300left_z0.0000left_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]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4717, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2829 right_y=0.0011 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.4855, -8.2667, 7.5966, 1.8339, -0.1636, -0.0024, -0.0904, -0.1983, -1.1282, 6.9538, 1.9365, -0.0366, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.13, "left_z": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm barely advanced last step; the block is still about 5 cm ahead of the jaws in the wrist view. Commanding a larger forward/downward step and leveling pitch so the fingers reach around the block."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe left arm did not move at all on the last command (likely an IK-unreachable target with z=0 and pitch 0). Trying a smaller forward step at the current height to bring the block between the fingers.
move_to
left_x0.4450left_y-0.1250left_z0.0300left_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]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4995, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2786 right_y=0.0012 right_z=0.1561 right_yaw=0.0001 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.4855, -8.0752, 7.9521, 1.8437, -0.2027, 0.0171, -0.0904, -0.0205, -1.2103, 7.0085, 1.9267, -0.0562, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.125, "left_z": 0.03, "left_gripper": 1.0}, "note": "The left arm did not move at all on the last command (likely an IK-unreachable target with z=0 and pitch 0). Trying a smaller forward step at the current height to bring the block between the fingers."})
tool
executing move_to over 3 steps (0.3s)
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 block now sits between the fingertips in the wrist view, slightly right of center. Nudging forward and a touch right so the block is centered in the jaws before closing.
move_to
left_x0.4450left_y-0.1300left_z0.0120left_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]: [-0.4129, 1.8702, 0.8703, 0.1585, -0.3344, -0.2707, 0.9993, -0.0212, 0.8055, 0.6094, -0.5083, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4265 left_y=-0.1197 left_z=0.014 left_yaw=0.0063 left_pitch=-0.2073 left_roll=0.0728 left_gripper=0.9993 right_x=0.2773 right_y=0.0012 right_z=0.1539 right_yaw=0.0004 right_pitch=-0.1217 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [0.4171, -9.6889, 8.3761, 1.8193, -0.0464, 0.1099, -0.0855, -0.1846, -1.0735, 6.9402, 1.7411, -0.0024, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.445, "left_y": -0.13, "left_z": 0.012, "left_gripper": 1.0}, "note": "The block now sits between the fingertips in the wrist view, slightly right of center. Nudging forward and a touch right so the block is centered in the jaws before closing."})
tool
executing move_to over 2 steps (0.2s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe block is near the right finger in the wrist view and the arm is at table height. Shifting the gripper about 2 cm to the arm's right (−y) so the block sits centered between the jaws.
move_to
left_x0.4450left_y-0.1450left_z0.0120left_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]: [-0.4095, 1.9133, 0.9245, 0.1261, -0.3363, -0.2749, 0.9993, -0.0212, 0.8051, 0.6094, -0.524, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4352 left_y=-0.1214 left_z=0.0092 left_yaw=0.0156 left_pitch=-0.226 left_roll=0.0801 left_gripper=0.9993 right_x=0.2747 right_y=0.0012 right_z=0.1511 right_yaw=0.0002 right_pitch=-0.1369 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.6222, -8.1026, 7.7744, 1.5018, -0.2173, 0.0073, -0.0855, -0.1709, -1.1419, 6.9265, 1.7265, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.145, "left_z": 0.012, "left_gripper": 1.0}, "note": "The block is near the right finger in the wrist view and the arm is at table height. Shifting the gripper about 2 cm to the arm's right (\u2212y) so the block sits centered between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm only shifted 4 mm in y; the block is still offset toward the right finger in the wrist view. Commanding a larger rightward (−y) target so the controller actually centers the jaws over the block.
move_to
left_x0.4500left_y-0.1650left_z0.0100left_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]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5457, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1463 right_yaw=0.0005 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.3761, -8.7043, 7.4325, 1.5311, -0.2027, 0.0415, -0.0855, -0.0342, -0.9094, 6.9128, 1.8046, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.165, "left_z": 0.01, "left_gripper": 1.0}, "note": "The arm only shifted 4 mm in y; the block is still offset toward the right finger in the wrist view. Commanding a larger rightward (\u2212y) target so the controller actually centers the jaws over the block."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe left arm again did not move — likely the fingertips are resting on the table and the IK is stuck. Lifting a few centimeters first while shifting right so the jaws can be re-centered over the block.
move_to
left_x0.4400left_y-0.1600left_z0.0350left_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]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5686, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2674 right_y=0.0015 right_z=0.1422 right_yaw=0.0007 right_pitch=-0.1846 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.4581, -8.8684, 7.4735, 1.4774, -0.2271, 0.0562, -0.0904, -0.1299, -1.1009, 6.8718, 1.746, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.16, "left_z": 0.035, "left_gripper": 1.0}, "note": "The left arm again did not move \u2014 likely the fingertips are resting on the table and the IK is stuck. Lifting a few centimeters first while shifting right so the jaws can be re-centered over the block."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left arm is frozen at the same joint angles despite two commands — the IK seems stuck near the table. Backing up slightly and lifting to 5 cm with explicit orientation to free the solver before re-approaching the block.
move_to
left_x0.4200left_y-0.1300left_z0.0500left_yaw0.0000left_pitch-0.2000left_roll0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2829, 0.9993, -0.0212, 0.8082, 0.6094, -0.5941, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0137 left_pitch=-0.2329 left_roll=0.0788 left_gripper=0.9993 right_x=0.2629 right_y=0.0015 right_z=0.1377 right_yaw=0.0005 right_pitch=-0.2101 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [-0.3624, -8.9094, 7.3368, 1.5067, -0.1538, 0.022, -0.0904, -0.1436, -1.1145, 6.8444, 1.7851, -0.0171, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": -0.2, "left_roll": 0.05, "left_gripper": 1.0}, "note": "The left arm is frozen at the same joint angles despite two commands \u2014 the IK seems stuck near the table. Backing up slightly and lifting to 5 cm with explicit orientation to free the solver before re-approaching the block."})
tool
executing move_to over 3 steps (0.3s)
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 noteNow the block is clearly visible just ahead and slightly right of the jaw centerline in the left wrist camera. Moving forward ~3.5 cm, 1 cm right, and down to table height to straddle it.
move_to
left_x0.4550left_y-0.1400left_z0.0150left_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]: [-0.437, 1.8236, 0.9085, 0.0387, -0.3363, -0.2993, 0.9993, -0.0212, 0.8101, 0.6094, -0.6167, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4199 left_y=-0.1278 left_z=0.0281 left_yaw=0.0031 left_pitch=-0.2374 left_roll=0.0687 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.1334 right_yaw=0.0009 right_pitch=-0.2345 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.3214, -10.1538, 5.6684, 1.707, -0.1978, -0.0269, -0.0904, -0.1026, -1.1282, 6.8308, 1.7167, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.455, "left_y": -0.14, "left_z": 0.015, "left_gripper": 1.0}, "note": "Now the block is clearly visible just ahead and slightly right of the jaw centerline in the left wrist camera. Moving forward ~3.5 cm, 1 cm right, and down to table height to straddle it."})
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 drifted up to 4.5 cm instead of descending; the block is now centered between the jaws in the wrist view, a few cm ahead. Re-commanding forward and down to table height so the fingers straddle the block.
move_to
left_x0.4600left_y-0.1350left_z0.0100left_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]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3374, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6296, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4184 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.214 left_roll=0.0544 left_gripper=0.9993 right_x=0.2566 right_y=0.0017 right_z=0.1311 right_yaw=0.0012 right_pitch=-0.2483 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [-0.2803, -8.9231, 5.9829, 1.5116, -0.1783, -0.0317, -0.0855, -0.0205, -1.0462, 7.0085, 1.7118, -0.0562, -0.0757, -0.0073] 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": 0.46, "left_y": -0.135, "left_z": 0.01, "left_gripper": 1.0}, "note": "The arm drifted up to 4.5 cm instead of descending; the block is now centered between the jaws in the wrist view, a few cm ahead. Re-commanding forward and down to table height so the fingers straddle the block."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe arm froze again on a larger step; smaller steps have worked. Block is centered between the jaws in the wrist view, so descending ~3 cm and forward ~2.5 cm in a modest step to get the fingers around it.
move_to
left_x0.4420left_y-0.1300left_z0.0150left_pitch-0.2400left_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]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6445, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2539 right_y=0.0018 right_z=0.1286 right_yaw=0.0011 right_pitch=-0.2632 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [-0.2803, -9.1145, 5.8872, 1.5067, -0.1734, -0.0415, -0.0855, -0.0479, -1.1282, 6.8034, 1.663, -0.0562, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.442, "left_y": -0.13, "left_z": 0.015, "left_pitch": -0.24, "left_gripper": 1.0}, "note": "The arm froze again on a larger step; smaller steps have worked. Block is centered between the jaws in the wrist view, so descending ~3 cm and forward ~2.5 cm in a modest step to get the fingers around it."})
tool
executing move_to over 2 steps (0.2s)
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 noteLeft arm is frozen again at identical joint angles; previously specifying full orientation freed it. Re-issuing a small step down/forward with explicit yaw/pitch/roll to get the solver moving toward the block, which is centered ahead in the wrist view.
move_to
left_x0.4320left_y-0.1300left_z0.0300left_yaw0.0000left_pitch-0.2100left_roll0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6579, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2514 right_y=0.0018 right_z=0.1264 right_yaw=0.0012 right_pitch=-0.2765 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [-0.2803, -9.0735, 5.8462, 1.4969, -0.188, -0.0366, -0.0904, -0.1436, -0.9641, 6.7761, 1.5409, -0.0269, -0.022, -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": 0.432, "left_y": -0.13, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": -0.21, "left_roll": 0.05, "left_gripper": 1.0}, "note": "Left arm is frozen again at identical joint angles; previously specifying full orientation freed it. Re-issuing a small step down/forward with explicit yaw/pitch/roll to get the solver moving toward the block, which is centered ahead in the wrist view."})
tool
executing move_to over 2 steps (0.2s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteLeft arm remains locked at the same joint angles for three consecutive commands; block is centered ahead in the wrist view. Retreating up and back (the only direction that has worked when frozen) to reset the IK before a fresh descent.
move_to
left_x0.4100left_y-0.1300left_z0.0650left_yaw0.0000left_pitch-0.1000left_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]: [-0.4438, 1.7729, 0.9085, 0.0135, -0.3378, -0.3046, 0.9993, -0.0212, 0.8108, 0.6094, -0.6643, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4185 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.2136 left_roll=0.0548 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1254 right_yaw=0.0011 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.0615, -8.9094, 5.8462, 1.4969, -0.2173, -0.0171, -0.0904, -0.0479, -1.0735, 6.7761, 1.6288, -0.0513, -0.0513, -0.0073] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.13, "left_z": 0.065, "left_yaw": 0.0, "left_pitch": -0.1, "left_roll": 0.03, "left_gripper": 1.0}, "note": "Left arm remains locked at the same joint angles for three consecutive commands; block is centered ahead in the wrist view. Retreating up and back (the only direction that has worked when frozen) to reset the IK before a fresh descent."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe arm freed up slightly; the block is centered ahead of the jaws about 4 cm in the wrist view. Descending to table height and advancing 4 cm so the fingers straddle the block.
move_to
left_x0.4400left_y-0.1300left_z0.0120left_yaw0.0000left_pitch-0.1900left_roll0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4637, 1.7229, 0.8089, 0.0822, -0.3576, -0.305, 0.9993, -0.0212, 0.812, 0.6094, -0.6765, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4012 left_y=-0.1275 left_z=0.0416 left_yaw=-0.0075 left_pitch=-0.1899 left_roll=0.0596 left_gripper=0.9993 right_x=0.2479 right_y=0.0018 right_z=0.1232 right_yaw=0.001 right_pitch=-0.2963 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.4581, -10.0855, 5.7368, 1.873, -0.3785, -0.0806, -0.0904, -0.1846, -0.9641, 6.7761, 1.5165, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.13, "left_z": 0.012, "left_yaw": 0.0, "left_pitch": -0.19, "left_roll": 0.06, "left_gripper": 1.0}, "note": "The arm freed up slightly; the block is centered ahead of the jaws about 4 cm in the wrist view. Descending to table height and advancing 4 cm so the fingers straddle the block."})
tool
executing move_to over 3 steps (0.3s)
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 red block is now between the two fingertips at table height in the left wrist view, and the top camera shows the gripper over the block. 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]: [-0.4305, 1.9026, 0.8864, 0.1432, -0.3489, -0.3012, 0.9991, -0.0212, 0.815, 0.6094, -0.6811, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4245 left_y=-0.1246 left_z=0.0041 left_yaw=0.0204 left_pitch=-0.23 left_roll=0.0748 left_gripper=0.9991 right_x=0.2471 right_y=0.0019 right_z=0.1218 right_yaw=0.0014 right_pitch=-0.304 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [0.1846, -10.3726, 7.665, 1.4921, -0.0708, 0.5397, -0.1392, -0.1436, -0.7863, 6.8034, 1.4823, -0.0269, -0.0415, -0.0073] 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_gripper": 0.0}, "note": "The red block is now between the two fingertips at table height in the left wrist view, and the top camera shows the gripper over the block. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe gripper closed fully without capturing the block — the block was still ~3 cm ahead of the fingertips (wrist camera showed it just beyond the closed jaws). Out of LLM-call budget to re-open, re-approach, grasp, lift and place in the bowl.
give_up
hindsightRig facts: top_cam looks down on the table; left arm base is at image-left, bowl is at image top-center (~right arm's side), red block is near left arm at about left_x≈0.46, left_y≈-0.125, table height left_z≈0.0. The left wrist camera looks along the fingers: objects appearing 'between the jaw tips' at the bottom of the image are actually still ~3-4 cm beyond the fingertips — advance further (x ≈ +0.03) until the block is visibly in the lower third of the image overlapping the jaws before closing. IK controller: near table height (z<0.05) with x≥0.43 the left arm frequently freezes completely (joint angles identical after command); steps >2.5 cm in x or any z≤0.01 target get clamped/ignored. What works: retreat up/back ~2-3 cm with explicit yaw/pitch/roll, then re-descend in ≤2 cm steps; pitch drifts to ≈-0.23 near the table and cannot be forced to 0. Budget is tight (20 calls) — plan 1 approach, 1 descend, 1 grasp, 1 lift, 2 transfer, 1 release; don't spend >6 calls on approach.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4202, 1.9152, 0.8978, 0.1566, -0.337, -0.2893, 0.0104, -0.0212, 0.8165, 0.6094, -0.7017, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4301 left_y=-0.1242 left_z=0.0042 left_yaw=0.0134 left_pitch=-0.2234 left_roll=0.0695 left_gripper=0.0104 right_x=0.2431 right_y=0.0019 right_z=0.1183 right_yaw=0.0012 right_pitch=-0.3261 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.2803, -8.4718, 7.0359, 1.6484, -0.1148, 0.1245, 0.7888, -0.1436, -1.1966, 6.7214, 1.5556, -0.0464, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The gripper closed fully without capturing the block \u2014 the block was still ~3 cm ahead of the fingertips (wrist camera showed it just beyond the closed jaws). Out of LLM-call budget to re-open, re-approach, grasp, lift and place in the bowl.", "hindsight": "Rig facts: top_cam looks down on the table; left arm base is at image-left, bowl is at image top-center (~right arm's side), red block is near left arm at about left_x\u22480.46, left_y\u2248-0.125, table height left_z\u22480.0. The left wrist camera looks along the fingers: objects appearing 'between the jaw tips' at the bottom of the image are actually still ~3-4 cm beyond the fingertips \u2014 advance further (x \u2248 +0.03) until the block is visibly in the lower third of the image overlapping the jaws before closing. IK controller: near table height (z<0.05) with x\u22650.43 the left arm frequently freezes completely (joint angles identical after command); steps >2.5 cm in x or any z\u22640.01 target get clamped/ignored. What works: retreat up/back ~2-3 cm with explicit yaw/pitch/roll, then re-descend in \u22642 cm steps; pitch drifts to \u2248-0.23 near the table and cannot be forced to 0. Budget is tight (20 calls) \u2014 plan 1 approach, 1 descend, 1 grasp, 1 lift, 2 transfer, 1 release; don't spend >6 calls on approach."})
tool
give_up: The gripper closed fully without capturing the block — the block was still ~3 cm ahead of the fingertips (wrist camera showed it just beyond the closed jaws). Out of LLM-call budget to re-open, re-approach, grasp, lift and place in 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 · 17.85 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3882, -0.0196, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2936 left_y=0.0015 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.4701, 10.2632, 1.9658, -0.0611, 0.1685, -0.0904, -0.5812, -1.5795, 9.6479, 1.917, -0.0366, 0.1245, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:09e09fb78b574c56d45d4e89a70305e65a81684cd0be96c1fc4f84a763f0aa5c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7eb964716fa38d863232cfecc3321c5b8697312a0720b5e8d6b80a6fb704293b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:279fdd081de2c41f7bee284c6f717f30b00db68aa4f58b0209e872bc1daa678f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 09e09fb78b57
wire blob 7eb964716fa3
wire blob 279fdd081de2
call 1 attempt 0 · /chat/completions · status 200 · 13.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.1, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block to the right of center and ahead; the right camera sees the bowl. Moving the left arm forward and to its right, lowering slightly, to get above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_014nVVABkvupEicRFz9Cjnzr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014nVVABkvupEicRFz9Cjnzr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4114, 1.364, 0.6304, 0.0017, -0.3233, -0.2531, 0.9993, -0.0212, 0.8005, 0.6113, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3582 left_y=-0.0912 left_z=0.0923 left_yaw=-0.0178 left_pitch=-0.1104 left_roll=0.0349 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0389 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -5.7094, 8.9094, 1.9512, -0.3346, 0.0122, -0.0855, -0.1162, -1.6889, 6.7214, 2.0147, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:951861a1dff83b22d025e3c756b5a2e2dfcb76910e50487d540ebd6b30695bcb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d87b751280688c9d1d94b57fa849390bce96f1a436fab5678e48bf20704be69a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f88c383e3c26c4eb12982e2f8b6ad37aae4bb92b835fa781171038165b608ed3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 951861a1dff8
wire blob d87b75128068
wire blob f88c383e3c26
call 2 attempt 0 · /chat/completions · status 200 · 7.563 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3882, -0.0196, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2936 left_y=0.0015 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.4701, 10.2632, 1.9658, -0.0611, 0.1685, -0.0904, -0.5812, -1.5795, 9.6479, 1.917, -0.0366, 0.1245, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.13, \"left_z\": 0.05, \"left_gripper\": 1.0}, \"note\": \"Left wrist camera shows the red block ahead and to the right of the gripper opening. Advancing forward and rightward while lowering toward table height to bracket the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01183fznN99rSLxouQ2eRDC8",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01183fznN99rSLxouQ2eRDC8"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4255, 1.7599, 0.8078, 0.1318, -0.3378, -0.2726, 0.9993, -0.0212, 0.8043, 0.6094, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4101 left_y=-0.1177 left_z=0.0335 left_yaw=-0.0042 left_pitch=-0.187 left_roll=0.0651 left_gripper=0.9993 right_x=0.2855 right_y=0.0011 right_z=0.1645 right_yaw=0.0004 right_pitch=-0.0671 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.8, -8.335, 7.3368, 1.6679, -0.1832, -0.0122, -0.0904, -0.3487, -1.5385, 7.1316, 1.8974, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93ab70680e543a17871b2fabb44f67584a5a4cf6cdaad1dd2960b3ebb4ae40af"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a97584a27a92cc40652f2d54cafdbdfe1b1cf0b769efa2a20f3deb3c2d2d77a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e8f253ed69aad1c3bca39f7394fac0db257fdb9b795bd865e96cff1156e23190"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 93ab70680e54
wire blob 6a97584a27a9
wire blob e8f253ed69aa
call 3 attempt 0 · /chat/completions · status 200 · 8.272 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]: [-0.4114, 1.364, 0.6304, 0.0017, -0.3233, -0.2531, 0.9993, -0.0212, 0.8005, 0.6113, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3582 left_y=-0.0912 left_z=0.0923 left_yaw=-0.0178 left_pitch=-0.1104 left_roll=0.0349 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0389 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -5.7094, 8.9094, 1.9512, -0.3346, 0.0122, -0.0855, -0.1162, -1.6889, 6.7214, 2.0147, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.135, \"left_z\": 0.015, \"left_gripper\": 1.0}, \"note\": \"The block is just ahead and slightly right of the gripper center in the left wrist view. Advancing a few more centimeters and lowering to near table height so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0128Zt7odSn7SmnjQNBiVnWY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_0128Zt7odSn7SmnjQNBiVnWY"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4717, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2829 right_y=0.0011 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 7.5966, 1.8339, -0.1636, -0.0024, -0.0904, -0.1983, -1.1282, 6.9538, 1.9365, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24cc08caadece15ef3b5165cf7e40260ff26bb5f4224edc1dee6c47acbef5a14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:507541e693e0f6e2fc993d175117fa7c978de25aecfa385dbe4034f8c398043c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd1289eb2ab171cdc7a3c9ca683ebcc10e3fd8a2277cca2cb8d4c4aed573b60b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 24cc08caadec
wire blob 507541e693e0
wire blob bd1289eb2ab1
call 4 attempt 0 · /chat/completions · status 200 · 9.706 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]: [-0.4255, 1.7599, 0.8078, 0.1318, -0.3378, -0.2726, 0.9993, -0.0212, 0.8043, 0.6094, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4101 left_y=-0.1177 left_z=0.0335 left_yaw=-0.0042 left_pitch=-0.187 left_roll=0.0651 left_gripper=0.9993 right_x=0.2855 right_y=0.0011 right_z=0.1645 right_yaw=0.0004 right_pitch=-0.0671 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.8, -8.335, 7.3368, 1.6679, -0.1832, -0.0122, -0.0904, -0.3487, -1.5385, 7.1316, 1.8974, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": -0.13, \"left_z\": 0.0, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm barely advanced last step; the block is still about 5 cm ahead of the jaws in the wrist view. Commanding a larger forward/downward step and leveling pitch so the fingers reach around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016oB3t4NThpAsXPKctB4cJe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_016oB3t4NThpAsXPKctB4cJe"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4995, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2786 right_y=0.0012 right_z=0.1561 right_yaw=0.0001 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.0752, 7.9521, 1.8437, -0.2027, 0.0171, -0.0904, -0.0205, -1.2103, 7.0085, 1.9267, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04d846f075f2f33b24925c9bcccd3225ff9ff04a43dad9e76854bd3b996fe257"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7522367b76664975d4b115f7eee38fd0ca2d7271b9144843d27862112a701778"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3980d6f6ab6f4570d8fdfa49e9c5e9c6b35a95288d3d00ab025c8e9040e5b4be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 04d846f075f2
wire blob 7522367b7666
wire blob 3980d6f6ab6f
call 5 attempt 0 · /chat/completions · status 200 · 7.871 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]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4717, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2829 right_y=0.0011 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 7.5966, 1.8339, -0.1636, -0.0024, -0.0904, -0.1983, -1.1282, 6.9538, 1.9365, -0.0366, -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\": 0.445, \"left_y\": -0.125, \"left_z\": 0.03, \"left_gripper\": 1.0}, \"note\": \"The left arm did not move at all on the last command (likely an IK-unreachable target with z=0 and pitch 0). Trying a smaller forward step at the current height to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HcJx68CzaT25Aumkpbrmgd",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01HcJx68CzaT25Aumkpbrmgd"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4129, 1.8702, 0.8703, 0.1585, -0.3344, -0.2707, 0.9993, -0.0212, 0.8055, 0.6094, -0.5083, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=-0.1197 left_z=0.014 left_yaw=0.0063 left_pitch=-0.2073 left_roll=0.0728 left_gripper=0.9993 right_x=0.2773 right_y=0.0012 right_z=0.1539 right_yaw=0.0004 right_pitch=-0.1217 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.6889, 8.3761, 1.8193, -0.0464, 0.1099, -0.0855, -0.1846, -1.0735, 6.9402, 1.7411, -0.0024, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ac9a28bee239ff4ddfca2e5f96b4021bca7e0ed34c8dffa8772dcaa0a959780"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b31a0a7bb121740dd125776f635793dce0e22207b1e9ed02176962d85b30ad1c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:424f10c7e2eeec85f58bd623ce515316f0cd1483deca797169d9ba42247edefd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5ac9a28bee23
wire blob b31a0a7bb121
wire blob 424f10c7e2ee
call 6 attempt 0 · /chat/completions · status 200 · 10.29 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]: [-0.4271, 1.7832, 0.8238, 0.1585, -0.3382, -0.2749, 0.9993, -0.0212, 0.8036, 0.6094, -0.4995, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4174 left_y=-0.1216 left_z=0.0341 left_yaw=-0.0055 left_pitch=-0.1691 left_roll=0.0555 left_gripper=0.9993 right_x=0.2786 right_y=0.0012 right_z=0.1561 right_yaw=0.0001 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.0752, 7.9521, 1.8437, -0.2027, 0.0171, -0.0904, -0.0205, -1.2103, 7.0085, 1.9267, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.13, \"left_z\": 0.012, \"left_gripper\": 1.0}, \"note\": \"The block now sits between the fingertips in the wrist view, slightly right of center. Nudging forward and a touch right so the block is centered in the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XLwwM2vPr7iqEUnpnk8ndM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01XLwwM2vPr7iqEUnpnk8ndM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4095, 1.9133, 0.9245, 0.1261, -0.3363, -0.2749, 0.9993, -0.0212, 0.8051, 0.6094, -0.524, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4352 left_y=-0.1214 left_z=0.0092 left_yaw=0.0156 left_pitch=-0.226 left_roll=0.0801 left_gripper=0.9993 right_x=0.2747 right_y=0.0012 right_z=0.1511 right_yaw=0.0002 right_pitch=-0.1369 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.1026, 7.7744, 1.5018, -0.2173, 0.0073, -0.0855, -0.1709, -1.1419, 6.9265, 1.7265, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7dff492068e355bfb601a2c380cdb1c45e37fa26fec9d097225ecbf8eb287a16"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb511c0707466d59ab3cde5bc50be493e1afcb0b5be323b969c03ec510ff7d5c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72611d13888af400e6e39b2755adbad884a909f5f9277c7f2c124435afa5aa8f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7dff492068e3
wire blob fb511c070746
wire blob 72611d13888a
call 7 attempt 0 · /chat/completions · status 200 · 13.94 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]: [-0.4129, 1.8702, 0.8703, 0.1585, -0.3344, -0.2707, 0.9993, -0.0212, 0.8055, 0.6094, -0.5083, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=-0.1197 left_z=0.014 left_yaw=0.0063 left_pitch=-0.2073 left_roll=0.0728 left_gripper=0.9993 right_x=0.2773 right_y=0.0012 right_z=0.1539 right_yaw=0.0004 right_pitch=-0.1217 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.6889, 8.3761, 1.8193, -0.0464, 0.1099, -0.0855, -0.1846, -1.0735, 6.9402, 1.7411, -0.0024, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.145, \"left_z\": 0.012, \"left_gripper\": 1.0}, \"note\": \"The block is near the right finger in the wrist view and the arm is at table height. Shifting the gripper about 2 cm to the arm's right (\\u2212y) so the block sits centered between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011BGzbAtezeUmXMzubcjG8M",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011BGzbAtezeUmXMzubcjG8M"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5457, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1463 right_yaw=0.0005 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -8.7043, 7.4325, 1.5311, -0.2027, 0.0415, -0.0855, -0.0342, -0.9094, 6.9128, 1.8046, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9132f73e8d5e10a9d0cf65b092367c5f5881fa9f5822e6269c4e63e0b71f5611"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a07b934c5bce85a70fe0b5952fe213a8fd3d6aba0ac4c9ed316e65a78f66ec3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1d3006823f4e2e086a7bc2a729f21909d714d3c421e6032538b53793afb108d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9132f73e8d5e
wire blob 1a07b934c5bc
wire blob f1d3006823f4
call 8 attempt 0 · /chat/completions · status 200 · 7.881 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]: [-0.4095, 1.9133, 0.9245, 0.1261, -0.3363, -0.2749, 0.9993, -0.0212, 0.8051, 0.6094, -0.524, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4352 left_y=-0.1214 left_z=0.0092 left_yaw=0.0156 left_pitch=-0.226 left_roll=0.0801 left_gripper=0.9993 right_x=0.2747 right_y=0.0012 right_z=0.1511 right_yaw=0.0002 right_pitch=-0.1369 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -8.1026, 7.7744, 1.5018, -0.2173, 0.0073, -0.0855, -0.1709, -1.1419, 6.9265, 1.7265, -0.0317, -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\": 0.45, \"left_y\": -0.165, \"left_z\": 0.01, \"left_gripper\": 1.0}, \"note\": \"The arm only shifted 4 mm in y; the block is still offset toward the right finger in the wrist view. Commanding a larger rightward (\\u2212y) target so the controller actually centers the jaws over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_018DbZedFGksB6z8y9zPPvWE",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018DbZedFGksB6z8y9zPPvWE"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2674 right_y=0.0015 right_z=0.1422 right_yaw=0.0007 right_pitch=-0.1846 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.8684, 7.4735, 1.4774, -0.2271, 0.0562, -0.0904, -0.1299, -1.1009, 6.8718, 1.746, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ad2b966e36dc706d1a71f4f201c81fcf28bb8a0a8f91e304aee62eb5286e6c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e297189ea50b680715f7ad0849ccc2e7b7db1df391d08b22316f0925b329afe9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42e42596fedcb58193504e864ed5cfa93f4aa31066aae617067e9a44881ff8ef"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8ad2b966e36d
wire blob e297189ea50b
wire blob 42e42596fedc
call 9 attempt 0 · /chat/completions · status 200 · 8.293 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]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5457, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2713 right_y=0.0013 right_z=0.1463 right_yaw=0.0005 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -8.7043, 7.4325, 1.5311, -0.2027, 0.0415, -0.0855, -0.0342, -0.9094, 6.9128, 1.8046, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.16, \"left_z\": 0.035, \"left_gripper\": 1.0}, \"note\": \"The left arm again did not move \\u2014 likely the fingertips are resting on the table and the IK is stuck. Lifting a few centimeters first while shifting right so the jaws can be re-centered over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_019SEPda18B59MoKcuhqJKwQ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019SEPda18B59MoKcuhqJKwQ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2829, 0.9993, -0.0212, 0.8082, 0.6094, -0.5941, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0137 left_pitch=-0.2329 left_roll=0.0788 left_gripper=0.9993 right_x=0.2629 right_y=0.0015 right_z=0.1377 right_yaw=0.0005 right_pitch=-0.2101 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -8.9094, 7.3368, 1.5067, -0.1538, 0.022, -0.0904, -0.1436, -1.1145, 6.8444, 1.7851, -0.0171, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b7228d888b9624aa5427a70e735e88b6b7ce70ab78dd8aa6540d9921ae47414"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4fe14028092001d6b0b85a9a7a5d36ffe96485d7a0dd8e1058507febe1fbef63"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:584a18232fed8d1c8fb89bf5b1264545e3ca612ff2022aa19c7dad81cf92f611"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0b7228d888b9
wire blob 4fe140280920
wire blob 584a18232fed
call 10 attempt 0 · /chat/completions · status 200 · 7.262 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]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2825, 0.9993, -0.0212, 0.8082, 0.6094, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0135 left_pitch=-0.2329 left_roll=0.0791 left_gripper=0.9993 right_x=0.2674 right_y=0.0015 right_z=0.1422 right_yaw=0.0007 right_pitch=-0.1846 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.8684, 7.4735, 1.4774, -0.2271, 0.0562, -0.0904, -0.1299, -1.1009, 6.8718, 1.746, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.13, \"left_z\": 0.05, \"left_yaw\": 0.0, \"left_pitch\": -0.2, \"left_roll\": 0.05, \"left_gripper\": 1.0}, \"note\": \"The left arm is frozen at the same joint angles despite two commands \\u2014 the IK seems stuck near the table. Backing up slightly and lifting to 5 cm with explicit orientation to free the solver before re-approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Rhsas4xRY4xHhTLFHjx8PR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Rhsas4xRY4xHhTLFHjx8PR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.437, 1.8236, 0.9085, 0.0387, -0.3363, -0.2993, 0.9993, -0.0212, 0.8101, 0.6094, -0.6167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4199 left_y=-0.1278 left_z=0.0281 left_yaw=0.0031 left_pitch=-0.2374 left_roll=0.0687 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.1334 right_yaw=0.0009 right_pitch=-0.2345 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.1538, 5.6684, 1.707, -0.1978, -0.0269, -0.0904, -0.1026, -1.1282, 6.8308, 1.7167, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f9f7ae6e9a31e30689eaa5aa5208422d5a2888cc69607480bbd87a87d085e10"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a6e0a4f6ec36de5995001d5fb527881ecf904b094d01138ca5c68e1b2333ea7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:629b01632758a46b9e504b3edc0e653c6a16addc7789dd2d7d25e18a545a4766"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0f9f7ae6e9a3
wire blob 3a6e0a4f6ec3
wire blob 629b01632758
call 11 attempt 0 · /chat/completions · status 200 · 7.512 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]: [-0.4175, 1.9343, 0.9371, 0.1261, -0.3374, -0.2829, 0.9993, -0.0212, 0.8082, 0.6094, -0.5941, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1256 left_z=0.0045 left_yaw=0.0137 left_pitch=-0.2329 left_roll=0.0788 left_gripper=0.9993 right_x=0.2629 right_y=0.0015 right_z=0.1377 right_yaw=0.0005 right_pitch=-0.2101 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -8.9094, 7.3368, 1.5067, -0.1538, 0.022, -0.0904, -0.1436, -1.1145, 6.8444, 1.7851, -0.0171, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.14, \"left_z\": 0.015, \"left_gripper\": 1.0}, \"note\": \"Now the block is clearly visible just ahead and slightly right of the jaw centerline in the left wrist camera. Moving forward ~3.5 cm, 1 cm right, and down to table height to straddle it.\"}",
        "name": "move_to"
      },
      "id": "toolu_014HvcLB4v3BbL1erkvrdvzK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_014HvcLB4v3BbL1erkvrdvzK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3374, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6296, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.214 left_roll=0.0544 left_gripper=0.9993 right_x=0.2566 right_y=0.0017 right_z=0.1311 right_yaw=0.0012 right_pitch=-0.2483 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.9231, 5.9829, 1.5116, -0.1783, -0.0317, -0.0855, -0.0205, -1.0462, 7.0085, 1.7118, -0.0562, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b0abb36d5f18667290b8f72929a7643469f032d43b869cfeaf02eb6fbbe0bcba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:59408ff9eabb84d5238475a9bc1158077fafafee38995df7eb594f142c963127"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eccc0c10294b31d40b2bcda466bb8a54ee2f0070a928658757f2b6d95996cd7d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b0abb36d5f18
wire blob 59408ff9eabb
wire blob eccc0c10294b
call 12 attempt 0 · /chat/completions · status 200 · 12.38 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]: [-0.437, 1.8236, 0.9085, 0.0387, -0.3363, -0.2993, 0.9993, -0.0212, 0.8101, 0.6094, -0.6167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4199 left_y=-0.1278 left_z=0.0281 left_yaw=0.0031 left_pitch=-0.2374 left_roll=0.0687 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.1334 right_yaw=0.0009 right_pitch=-0.2345 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.1538, 5.6684, 1.707, -0.1978, -0.0269, -0.0904, -0.1026, -1.1282, 6.8308, 1.7167, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.135, \"left_z\": 0.01, \"left_gripper\": 1.0}, \"note\": \"The arm drifted up to 4.5 cm instead of descending; the block is now centered between the jaws in the wrist view, a few cm ahead. Re-commanding forward and down to table height so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_017fEJWs8JKLMuntq9FF2AHR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_017fEJWs8JKLMuntq9FF2AHR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6445, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2539 right_y=0.0018 right_z=0.1286 right_yaw=0.0011 right_pitch=-0.2632 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.1145, 5.8872, 1.5067, -0.1734, -0.0415, -0.0855, -0.0479, -1.1282, 6.8034, 1.663, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6caaf40ea888c7f85dd8fe1cb8675cde840c4b051932d769541515b884401b06"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a7ab052571367397bfb116a402fe5df11536ea69434857615e91bf3346067ab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db28ba28f59078dd4f776a9e8ec772d6765455c31104751aa4b23e16fa63be0f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6caaf40ea888
wire blob 1a7ab0525713
wire blob db28ba28f590
call 13 attempt 0 · /chat/completions · status 200 · 8.7 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]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3374, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6296, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.214 left_roll=0.0544 left_gripper=0.9993 right_x=0.2566 right_y=0.0017 right_z=0.1311 right_yaw=0.0012 right_pitch=-0.2483 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.9231, 5.9829, 1.5116, -0.1783, -0.0317, -0.0855, -0.0205, -1.0462, 7.0085, 1.7118, -0.0562, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.442, \"left_y\": -0.13, \"left_z\": 0.015, \"left_pitch\": -0.24, \"left_gripper\": 1.0}, \"note\": \"The arm froze again on a larger step; smaller steps have worked. Block is centered between the jaws in the wrist view, so descending ~3 cm and forward ~2.5 cm in a modest step to get the fingers around it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XRGZKjz7L3DCCUs6gkMHKW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01XRGZKjz7L3DCCUs6gkMHKW"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6579, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2514 right_y=0.0018 right_z=0.1264 right_yaw=0.0012 right_pitch=-0.2765 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.0735, 5.8462, 1.4969, -0.188, -0.0366, -0.0904, -0.1436, -0.9641, 6.7761, 1.5409, -0.0269, -0.022, -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,$blob:1d3fa38d391caf1a5179be0b24ab69c6d0351760a0bf853daf23dddeb2849537"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d584596a31e451bb4a23aec695a1817582ecb7c4d60784be97b8cd90388ccfe8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:932800f96869c6c2bb0c74cbf2cb8ecc7cb7c68c86c8b72cd0b8a14f82e982fc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1d3fa38d391c
wire blob d584596a31e4
wire blob 932800f96869
call 14 attempt 0 · /chat/completions · status 200 · 12.76 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]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6445, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2539 right_y=0.0018 right_z=0.1286 right_yaw=0.0011 right_pitch=-0.2632 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.1145, 5.8872, 1.5067, -0.1734, -0.0415, -0.0855, -0.0479, -1.1282, 6.8034, 1.663, -0.0562, -0.022, -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\": 0.432, \"left_y\": -0.13, \"left_z\": 0.03, \"left_yaw\": 0.0, \"left_pitch\": -0.21, \"left_roll\": 0.05, \"left_gripper\": 1.0}, \"note\": \"Left arm is frozen again at identical joint angles; previously specifying full orientation freed it. Re-issuing a small step down/forward with explicit yaw/pitch/roll to get the solver moving toward the block, which is centered ahead in the wrist view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VN9yXBceeBmJWHJxdC44Y6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01VN9yXBceeBmJWHJxdC44Y6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4438, 1.7729, 0.9085, 0.0135, -0.3378, -0.3046, 0.9993, -0.0212, 0.8108, 0.6094, -0.6643, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4185 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.2136 left_roll=0.0548 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1254 right_yaw=0.0011 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.9094, 5.8462, 1.4969, -0.2173, -0.0171, -0.0904, -0.0479, -1.0735, 6.7761, 1.6288, -0.0513, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbb58b7b6ba504689241b5a37b52ec1d3cec2a5899b2cfaf9226d65193e6cbbf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23eb9b39047e7be6be2ba20deb6ff9cf0c3c2338b06ab6d9787b29a7241e9bbd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:218a89f5a5e934e7a0958b4a515b5c45db8cee77fb2adbefb61654e542b62917"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob cbb58b7b6ba5
wire blob 23eb9b39047e
wire blob 218a89f5a5e9
call 15 attempt 0 · /chat/completions · status 200 · 9.461 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]: [-0.4438, 1.7729, 0.9085, 0.0132, -0.3378, -0.305, 0.9993, -0.0212, 0.8108, 0.6094, -0.6579, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.1301 left_z=0.0453 left_yaw=-0.0018 left_pitch=-0.2139 left_roll=0.0547 left_gripper=0.9993 right_x=0.2514 right_y=0.0018 right_z=0.1264 right_yaw=0.0012 right_pitch=-0.2765 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.0735, 5.8462, 1.4969, -0.188, -0.0366, -0.0904, -0.1436, -0.9641, 6.7761, 1.5409, -0.0269, -0.022, -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\": -0.13, \"left_z\": 0.065, \"left_yaw\": 0.0, \"left_pitch\": -0.1, \"left_roll\": 0.03, \"left_gripper\": 1.0}, \"note\": \"Left arm remains locked at the same joint angles for three consecutive commands; block is centered ahead in the wrist view. Retreating up and back (the only direction that has worked when frozen) to reset the IK before a fresh descent.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KdUs3XcWVLUr9Qd47eujfL",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01KdUs3XcWVLUr9Qd47eujfL"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4637, 1.7229, 0.8089, 0.0822, -0.3576, -0.305, 0.9993, -0.0212, 0.812, 0.6094, -0.6765, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4012 left_y=-0.1275 left_z=0.0416 left_yaw=-0.0075 left_pitch=-0.1899 left_roll=0.0596 left_gripper=0.9993 right_x=0.2479 right_y=0.0018 right_z=0.1232 right_yaw=0.001 right_pitch=-0.2963 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -10.0855, 5.7368, 1.873, -0.3785, -0.0806, -0.0904, -0.1846, -0.9641, 6.7761, 1.5165, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:96d131beacf74864a7b564aaf50034936bc4ae508d6c3d060a79f02d709680ae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3c6ec7d46186030cbefafb21013b4b2def9bed9ced3b769691d4fe48975bb216"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ff7385536ce01b0ea3e200a2c70809dabb31dca10b4e87cc30d1e2aaa5cf2df"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 96d131beacf7
wire blob 3c6ec7d46186
wire blob 8ff7385536ce
call 16 attempt 0 · /chat/completions · status 200 · 16.42 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]: [-0.4438, 1.7729, 0.9085, 0.0135, -0.3378, -0.3046, 0.9993, -0.0212, 0.8108, 0.6094, -0.6643, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4185 left_y=-0.1302 left_z=0.0453 left_yaw=-0.0021 left_pitch=-0.2136 left_roll=0.0548 left_gripper=0.9993 right_x=0.2502 right_y=0.0018 right_z=0.1254 right_yaw=0.0011 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.9094, 5.8462, 1.4969, -0.2173, -0.0171, -0.0904, -0.0479, -1.0735, 6.7761, 1.6288, -0.0513, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.13, \"left_z\": 0.012, \"left_yaw\": 0.0, \"left_pitch\": -0.19, \"left_roll\": 0.06, \"left_gripper\": 1.0}, \"note\": \"The arm freed up slightly; the block is centered ahead of the jaws about 4 cm in the wrist view. Descending to table height and advancing 4 cm so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BTJwyvbMhFM5yQAnuoQyYu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BTJwyvbMhFM5yQAnuoQyYu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.9026, 0.8864, 0.1432, -0.3489, -0.3012, 0.9991, -0.0212, 0.815, 0.6094, -0.6811, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4245 left_y=-0.1246 left_z=0.0041 left_yaw=0.0204 left_pitch=-0.23 left_roll=0.0748 left_gripper=0.9991 right_x=0.2471 right_y=0.0019 right_z=0.1218 right_yaw=0.0014 right_pitch=-0.304 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.3726, 7.665, 1.4921, -0.0708, 0.5397, -0.1392, -0.1436, -0.7863, 6.8034, 1.4823, -0.0269, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8f1176133624d881c51a9f9c46d3109d64df91920cbddc8d10a1c12291520584"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69c1749cca448df3b319d8e3d7ec4670c5d36847949539c51972b7d67f77604a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c9763b53f8256524f5ebb77b95e09409db65d58744de7288bfbdd63b2dd6c0a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8f1176133624
wire blob 69c1749cca44
wire blob 1c9763b53f82
call 17 attempt 0 · /chat/completions · status 200 · 14.05 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4637, 1.7229, 0.8089, 0.0822, -0.3576, -0.305, 0.9993, -0.0212, 0.812, 0.6094, -0.6765, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4012 left_y=-0.1275 left_z=0.0416 left_yaw=-0.0075 left_pitch=-0.1899 left_roll=0.0596 left_gripper=0.9993 right_x=0.2479 right_y=0.0018 right_z=0.1232 right_yaw=0.001 right_pitch=-0.2963 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -10.0855, 5.7368, 1.873, -0.3785, -0.0806, -0.0904, -0.1846, -0.9641, 6.7761, 1.5165, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block is now between the two fingertips at table height in the left wrist view, and the top camera shows the gripper over the block. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BSeLvixJYCh9EpcDJCbN6c",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01BSeLvixJYCh9EpcDJCbN6c"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4202, 1.9152, 0.8978, 0.1566, -0.337, -0.2893, 0.0104, -0.0212, 0.8165, 0.6094, -0.7017, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.1242 left_z=0.0042 left_yaw=0.0134 left_pitch=-0.2234 left_roll=0.0695 left_gripper=0.0104 right_x=0.2431 right_y=0.0019 right_z=0.1183 right_yaw=0.0012 right_pitch=-0.3261 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.4718, 7.0359, 1.6484, -0.1148, 0.1245, 0.7888, -0.1436, -1.1966, 6.7214, 1.5556, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e60141140818e16fb9e79beb53b17d1f0e5b805c97d435959baa7b178ba0c556"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0755ac078b90c92c3f95a368f89dee05bb8299954adc35e8ad1eed21f6ea2d95"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a844bbceea5a82d2cc522f2788ca3c07c0f17c729fa33a7134c3a4bb72b45b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e60141140818
wire blob 0755ac078b90
wire blob 8a844bbceea5