adhoc - adhoc_5bc8330b.json

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: 1135 s
total steps: 149

operator

scenes

trials

errored

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

overheat

Operator judgements

partial

Grader notes

trial 02

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

user

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

step 0

assistant

agent noteTop camera shows the red block ahead of the left gripper, roughly 20 cm forward, with the bowl further beyond. Moving the left arm forward to get a better view of the block in the wrist camera before descending.

move_to

left_x0.4200left_y0.0000left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3874, -0.0196, -0.0338, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0265, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.4291, 10.1812, 1.956, -0.0806, 0.1978, -0.0904, -0.4171, -1.5932, 9.7846, 1.9121, -0.0708, 0.0855, -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": 0.42, "left_y": 0.0, "left_z": 0.15, "left_gripper": 1.0}, "note": "Top camera shows the red block ahead of the left gripper, roughly 20 cm forward, with the bowl further beyond. Moving the left arm forward to get a better view of the block in the wrist camera before descending."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteThe block dropped out of the left wrist camera view after moving forward; at start it was at the bottom-right of that view, so it's likely close and to the right (negative y). Shifting the left arm back and right to relocate it.

move_to

left_x0.3600left_y-0.0800left_z0.1200left_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]: [-0.0189, 1.3876, 0.762, -0.0517, -0.0193, -0.0383, 0.9993, -0.0212, 0.7986, 0.6075, -0.4305, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3981 left_y=-0.0005 left_z=0.1223 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0377 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [0.1162, -5.9282, 9.6889, 2.1026, -0.0366, 0.0415, -0.0855, -0.0752, -1.6068, 6.9949, 2.0391, -0.0317, -0.0659, -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": 0.36, "left_y": -0.08, "left_z": 0.12, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block dropped out of the left wrist camera view after moving forward; at start it was at the bottom-right of that view, so it's likely close and to the right (negative y). Shifting the left arm back and right to relocate it."})

tool

executing move_to over 8 steps (0.8s)

step 18

assistant

agent noteThe red block is now visible in the left wrist camera at the bottom-right, just beside the right finger; the top camera shows it slightly further forward of the fingertips. Shifting right (negative y) and a bit forward and lower to center it between the fingers.

move_to

left_x0.3850left_y-0.1300left_z0.0900left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3584, 1.2907, 0.5972, 0.028, -0.2638, -0.2119, 0.9993, -0.0212, 0.8005, 0.6056, -0.4545, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3575 left_y=-0.0809 left_z=0.1068 left_yaw=-0.0378 left_pitch=-0.0633 left_roll=0.0086 left_gripper=0.9993 right_x=0.2848 right_y=0.001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0656 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.1846, -6.2427, 6.0786, 1.9805, -0.3004, -0.0464, -0.0855, -0.0205, -1.0325, 7.1726, 1.8926, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.13, "left_z": 0.09, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The red block is now visible in the left wrist camera at the bottom-right, just beside the right finger; the top camera shows it slightly further forward of the fingertips. Shifting right (negative y) and a bit forward and lower to center it between the fingers."})

tool

executing move_to over 5 steps (0.5s)

step 23

assistant

agent noteThe block now sits between the two fingers in the left wrist camera, slightly right of center. Descending toward table height with a small rightward correction to get the jaws around the block.

move_to

left_x0.3750left_y-0.1400left_z0.0300left_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]: [-0.4908, 1.5082, 0.6128, 0.1566, -0.3599, -0.2752, 0.9993, -0.0212, 0.8043, 0.6056, -0.4797, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3641 left_y=-0.1199 left_z=0.0634 left_yaw=-0.0549 left_pitch=-0.1073 left_roll=0.0434 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.158 right_yaw=0.0017 right_pitch=-0.0946 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.294, -6.1607, 8.5812, 1.873, -0.3639, -0.0366, -0.0855, -0.1436, -1.5248, 7.0769, 1.8877, -0.0269, -0.0464, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.14, "left_z": 0.03, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block now sits between the two fingers in the left wrist camera, slightly right of center. Descending toward table height with a small rightward correction to get the jaws around the block."})

tool

executing move_to over 4 steps (0.4s)

step 27

assistant

agent noteThe block is between the fingertips in the wrist view, close to the right finger; the previous descent got clamped so z is still 7 cm. Descending again with a slight rightward shift so the block is centered between the jaws.

move_to

left_x0.3750left_y-0.1400left_z0.0350left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5026, 1.528, 0.6285, 0.2066, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.072 left_yaw=-0.0394 left_pitch=-0.0589 left_roll=0.0238 left_gripper=0.9993 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0021 right_pitch=-0.1151 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [-0.2803, -6.4752, 7.8838, 1.9805, -0.3004, 0.0806, -0.0855, -0.1709, -0.9504, 6.9265, 1.8339, -0.0806, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.14, "left_z": 0.035, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block is between the fingertips in the wrist view, close to the right finger; the previous descent got clamped so z is still 7 cm. Descending again with a slight rightward shift so the block is centered between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 30

assistant

agent noteThe arm did not move on the last command; the block appears at fingertip depth in the wrist camera, so the fingers may already be near the table. Shifting further right (-y) so the block is centered between the jaws before closing.

move_to

left_x0.3750left_y-0.1550left_z0.0300left_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]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5098, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0394 left_pitch=-0.0592 left_roll=0.024 left_gripper=0.9993 right_x=0.2764 right_y=0.0012 right_z=0.1522 right_yaw=0.002 right_pitch=-0.1247 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.1846, -6.5162, 8.0752, 1.9219, -0.3004, 0.0659, -0.0855, -0.0752, -1.0735, 6.9265, 1.7851, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.155, "left_z": 0.03, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm did not move on the last command; the block appears at fingertip depth in the wrist camera, so the fingers may already be near the table. Shifting further right (-y) so the block is centered between the jaws before closing."})

tool

executing move_to over 3 steps (0.3s)

step 33

assistant

agent noteThe left arm hasn't moved for three commands, suggesting the low-z target is blocked (fingertips may already be at table height ~0.07). Keeping z at the current height and only shifting right so the block sits centered between the jaws.

move_to

left_x0.3750left_y-0.1600left_z0.0750left_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]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2932, 0.9993, -0.0212, 0.8062, 0.6056, -0.5266, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0392 left_pitch=-0.0592 left_roll=0.0237 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1486 right_yaw=0.0021 right_pitch=-0.1434 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [-0.2667, -6.188, 7.9658, 1.9463, -0.3053, 0.0317, -0.0855, -0.1162, -1.3197, 7.1043, 1.7753, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.16, "left_z": 0.075, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm hasn't moved for three commands, suggesting the low-z target is blocked (fingertips may already be at table height ~0.07). Keeping z at the current height and only shifting right so the block sits centered between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 37

assistant

agent noteThe red block is now centered between the left gripper's jaws in the wrist camera, appearing large so it is near fingertip depth. Descending slightly and closing the gripper to grasp it.

move_to

left_x0.3650left_y-0.1600left_z0.0450left_pitch0.0000left_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]: [-0.6098, 1.5913, 0.6296, 0.2295, -0.4519, -0.3367, 0.9993, -0.0212, 0.8097, 0.6056, -0.5583, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.362 left_y=-0.1544 left_z=0.0564 left_yaw=-0.0676 left_pitch=-0.0709 left_roll=0.0465 left_gripper=0.9993 right_x=0.2686 right_y=0.0014 right_z=0.142 right_yaw=0.0023 right_pitch=-0.1785 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [-0.2393, -6.2564, 8.6632, 1.9902, -0.4078, -0.0073, -0.0855, -0.1162, -1.4838, 6.8718, 1.9023, -0.0415, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.16, "left_z": 0.045, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The red block is now centered between the left gripper's jaws in the wrist camera, appearing large so it is near fingertip depth. Descending slightly and closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 47

assistant

agent noteThe gripper closed fully (0.01) so it missed the block; the wrist camera shows the block sitting just ahead of the closed fingertips. Reopening and moving about 4 cm forward and slightly lower to line the jaws up on the block.

move_to

left_x0.4000left_y-0.1600left_z0.0300left_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]: [-0.63, 1.66, 0.58, 0.3801, -0.4801, -0.3298, 0.0105, -0.0212, 0.8101, 0.6056, -0.5903, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3617 left_y=-0.1583 left_z=0.0413 left_yaw=-0.0703 left_pitch=-0.0338 left_roll=0.0509 left_gripper=0.0105 right_x=0.263 right_y=0.0015 right_z=0.1363 right_yaw=0.0021 right_pitch=-0.2109 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.6769, -5.7368, 4.6701, 1.8437, -0.3053, 0.0806, 0.8474, -0.0889, -1.1556, 7.1316, 1.8339, -0.0562, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.16, "left_z": 0.03, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The gripper closed fully (0.01) so it missed the block; the wrist camera shows the block sitting just ahead of the closed fingertips. Reopening and moving about 4 cm forward and slightly lower to line the jaws up on the block."})

tool

executing move_to over 10 steps (1.0s)

step 57

assistant

agent noteThe red block is now centered between the open jaws in the wrist camera, sitting right at fingertip depth. Nudging slightly forward and closing the gripper to grasp it.

move_to

left_x0.4050left_y-0.1520left_z0.0150left_pitch0.0000left_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]: [-0.5694, 1.8126, 0.6422, 0.4683, -0.4561, -0.2893, 0.9949, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3881 left_y=-0.1518 left_z=0.0186 left_yaw=-0.0504 left_pitch=-0.0452 left_roll=0.0718 left_gripper=0.9949 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2353 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.4171, -6.9675, 7.0222, 1.9121, -0.0122, 0.1245, -0.0024, -0.0479, -1.2786, 7.0085, 1.7656, -0.0122, -0.0122, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.152, "left_z": 0.015, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The red block is now centered between the open jaws in the wrist camera, sitting right at fingertip depth. Nudging slightly forward and closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe gripper closed on nothing and the top camera shows the red block was pushed far forward (top of the image, ~20 cm ahead of the fingertips). Reopening and moving forward at a safe height to relocate it in the wrist camera.

move_to

left_x0.5400left_y-0.1400left_z0.0900left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5537, 1.8801, 0.6434, 0.5285, -0.4538, -0.2661, 0.0097, -0.0212, 0.812, 0.6056, -0.635, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3924 left_y=-0.1474 left_z=0.003 left_yaw=-0.0491 left_pitch=-0.0524 left_roll=0.0924 left_gripper=0.0097 right_x=0.255 right_y=0.0017 right_z=0.1283 right_yaw=0.0024 right_pitch=-0.2574 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [0.3761, -7.0359, 6.188, 2.0781, -0.1294, 0.0562, 0.7839, -0.0479, -1.0051, 6.7761, 1.6484, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.54, "left_y": -0.14, "left_z": 0.09, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The gripper closed on nothing and the top camera shows the red block was pushed far forward (top of the image, ~20 cm ahead of the fingertips). Reopening and moving forward at a safe height to relocate it in the wrist camera."})

tool

executing move_to over 12 steps (1.2s)

step 79

assistant

agent noteThe red block is back in the left wrist camera, centered horizontally and a few cm ahead of the fingertips. Moving forward ~5 cm and descending to table height so the jaws straddle the block.

move_to

left_x0.5800left_y-0.1400left_z0.0200left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3637, 2.0178, 1.2396, 0.1623, -0.3321, -0.1486, 0.996, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5305 left_y=-0.1365 left_z=0.084 left_yaw=-0.0221 left_pitch=-0.005 left_roll=0.083 left_gripper=0.996 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=0.0025 right_pitch=-0.2845 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [0.4855, -10.0581, 7.8427, 1.6825, 0.0317, 0.2418, -0.0024, -0.0068, -1.1829, 6.7487, 1.6288, -0.0073, -0.022, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.14, "left_z": 0.02, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The red block is back in the left wrist camera, centered horizontally and a few cm ahead of the fingertips. Moving forward ~5 cm and descending to table height so the jaws straddle the block."})

tool

executing move_to over 5 steps (0.5s)

step 84

assistant

agent noteThe block is centered in the wrist camera and just ahead of the fingertips at table height. Nudging forward ~3 cm and closing the jaws to grasp it.

move_to

left_x0.5950left_y-0.1350left_z0.0100left_pitch0.0000left_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]: [-0.3386, 2.2772, 1.3758, 0.242, -0.3256, -0.1493, 0.9985, -0.0212, 0.8188, 0.6056, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5654 left_y=-0.1354 left_z=0.0126 left_yaw=-0.0014 left_pitch=-0.0472 left_roll=0.0932 left_gripper=0.9985 right_x=0.2473 right_y=0.0019 right_z=0.1201 right_yaw=0.003 right_pitch=-0.3054 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [0.6359, -11.3436, 7.2821, 1.8046, 0.0513, 0.1538, -0.1734, -0.2256, -1.306, 6.8581, 1.5653, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.595, "left_y": -0.135, "left_z": 0.01, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The block is centered in the wrist camera and just ahead of the fingertips at table height. Nudging forward ~3 cm and closing the jaws to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 94

assistant

agent noteThe jaws closed just short of the block again; the wrist camera shows it a few cm beyond the closed fingertips, near the arm's forward reach limit. Reopening and pushing to the x bound with a slight forward pitch and lower z to get the jaws around it.

move_to

left_x0.6000left_y-0.1350left_z0.0000left_pitch0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.334, 2.2917, 1.3891, 0.2546, -0.3202, -0.1383, 0.0103, -0.0212, 0.8192, 0.6056, -0.68, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.57 left_y=-0.1351 left_z=0.0119 left_yaw=-0.0073 left_pitch=-0.0381 left_roll=0.0955 left_gripper=0.0103 right_x=0.2466 right_y=0.0018 right_z=0.1195 right_yaw=0.0027 right_pitch=-0.3097 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.0752, -11.7265, 7.9385, 1.9707, -0.0024, 0.105, 0.7839, -0.1573, -1.0188, 6.735, 1.4139, -0.0513, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.6, "left_y": -0.135, "left_z": 0.0, "left_pitch": 0.1, "left_gripper": 1.0}, "note": "The jaws closed just short of the block again; the wrist camera shows it a few cm beyond the closed fingertips, near the arm's forward reach limit. Reopening and pushing to the x bound with a slight forward pitch and lower z to get the jaws around it."})

tool

executing move_to over 10 steps (1.0s)

step 104

assistant

agent noteThe block now sits squarely between the open jaws in the left wrist camera, filling the gap. Closing the gripper in place to grasp it.

move_to

left_x0.6000left_y-0.1350left_z0.0050left_pitch0.1000left_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]: [-0.3256, 2.3917, 1.4174, 0.4774, -0.3408, -0.1169, 0.9949, -0.0212, 0.8219, 0.6056, -0.6937, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5966 left_y=-0.1353 left_z=0.0104 left_yaw=0.0081 left_pitch=0.1074 left_roll=0.0754 left_gripper=0.9949 right_x=0.244 right_y=0.002 right_z=0.1168 right_yaw=0.0032 right_pitch=-0.326 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [0.4444, -10.5641, 7.6239, 1.5165, -0.0317, 0.1978, -0.0317, -0.1573, -1.3333, 6.7214, 1.536, -0.0562, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.6, "left_y": -0.135, "left_z": 0.005, "left_pitch": 0.1, "left_gripper": 0.0}, "note": "The block now sits squarely between the open jaws in the left wrist camera, filling the gap. Closing the gripper in place to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 114

assistant

agent noteGripper stopped at 0.44 with rising effort, so the block is grasped (wrist cam shows it held between the jaws). Lifting it up and moving toward the bowl, which in the top camera lies to the right (further -y) of the gripper.

move_to

left_x0.5800left_y-0.2200left_z0.1800left_pitch0.0000left_gripper0.4400

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3264, 2.402, 1.4212, 0.4927, -0.3412, -0.1276, 0.4403, -0.0212, 0.823, 0.6056, -0.7025, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5982 left_y=-0.1363 left_z=0.009 left_yaw=0.0138 left_pitch=0.1162 left_roll=0.063 left_gripper=0.4403 right_x=0.2422 right_y=0.0019 right_z=0.1152 right_yaw=0.0029 right_pitch=-0.336 right_roll=0.009 right_gripper=0.9996 state[joint_eff]: [0.2803, -12.4513, 7.2137, 1.4921, -0.1001, 0.0464, 1.033, -0.1983, -1.2103, 6.7624, 1.4628, -0.0513, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.22, "left_z": 0.18, "left_pitch": 0.0, "left_gripper": 0.44}, "note": "Gripper stopped at 0.44 with rising effort, so the block is grasped (wrist cam shows it held between the jaws). Lifting it up and moving toward the bowl, which in the top camera lies to the right (further -y) of the gripper."})

tool

executing move_to over 12 steps (1.2s)

step 126

assistant

agent noteBlock is lifted and held; in the top camera the bowl sits about 15 cm to the image-right of the gripper, which corresponds to further -y in the left arm frame. Carrying the block sideways over the bowl.

move_to

left_x0.5800left_y-0.3500left_z0.1300left_pitch0.0000left_gripper0.4400

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4862, 2.262, 1.9087, -0.3302, -0.4419, -0.2684, 0.4408, -0.0212, 0.823, 0.6056, -0.7238, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5826 left_y=-0.2184 left_z=0.142 left_yaw=0.0098 left_pitch=-0.0341 left_roll=0.072 left_gripper=0.4408 right_x=0.238 right_y=0.0021 right_z=0.112 right_yaw=0.0035 right_pitch=-0.3573 right_roll=0.0099 right_gripper=0.9996 state[joint_eff]: [-0.4991, -16.5538, 9.347, 1.7607, -0.3004, 0.1099, 1.033, -0.1436, -0.8684, 6.6803, 1.5702, -0.0317, -0.0122, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.35, "left_z": 0.13, "left_pitch": 0.0, "left_gripper": 0.44}, "note": "Block is lifted and held; in the top camera the bowl sits about 15 cm to the image-right of the gripper, which corresponds to further -y in the left arm frame. Carrying the block sideways over the bowl."})

tool

executing move_to over 12 steps (1.2s)

step 138

assistant

agent noteTop camera shows the held block hovering just at the bowl's left rim; the bowl center is a few cm further in -y. Shifting the block over the bowl center and lowering slightly before releasing.

move_to

left_x0.5850left_y-0.3900left_z0.1000left_pitch0.0000left_gripper0.4400

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6888, 2.7174, 2.6549, -0.6693, -0.593, -0.4099, 0.4406, -0.0212, 0.8284, 0.6056, -0.7429, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5824 left_y=-0.3469 left_z=0.1206 left_yaw=0.0016 left_pitch=-0.0136 left_roll=0.0635 left_gripper=0.4406 right_x=0.2342 right_y=0.0022 right_z=0.1082 right_yaw=0.0037 right_pitch=-0.3817 right_roll=0.0105 right_gripper=0.9996 state[joint_eff]: [-0.6769, -16.4991, 8.4991, 1.1013, -0.5006, 0.0171, 1.0281, -0.1026, -1.4564, 6.653, 1.4725, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.585, "left_y": -0.39, "left_z": 0.1, "left_pitch": 0.0, "left_gripper": 0.44}, "note": "Top camera shows the held block hovering just at the bowl's left rim; the bowl center is a few cm further in -y. Shifting the block over the bowl center and lowering slightly before releasing."})

tool

executing move_to over 4 steps (0.4s)

step 142

assistant

agent noteThe left wrist camera now shows the bowl's white interior directly below the held block, and the top camera shows the gripper over the bowl. Opening the gripper to drop the block into the bowl.

move_to

left_x0.5750left_y-0.3700left_z0.0900left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7261, 2.9631, 3.0383, -0.8303, -0.6151, -0.4366, 0.4408, -0.0212, 0.8295, 0.6056, -0.7475, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5754 left_y=-0.3698 left_z=0.0903 left_yaw=-0.0045 left_pitch=-0.0206 left_roll=0.0678 left_gripper=0.4408 right_x=0.2332 right_y=0.0021 right_z=0.1073 right_yaw=0.0034 right_pitch=-0.3875 right_roll=0.0103 right_gripper=0.9996 state[joint_eff]: [-1.0462, -15.4598, 10.1675, 1.6093, -0.4762, -0.1148, 1.0183, -0.0752, -0.8, 6.7624, 1.3455, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.575, "left_y": -0.37, "left_z": 0.09, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left wrist camera now shows the bowl's white interior directly below the held block, and the top camera shows the gripper over the bowl. Opening the gripper to drop the block into the bowl."})

tool

executing move_to over 6 steps (0.6s)

step 148

assistant

agent noteOut of LLM budget. The block was grasped and carried but released next to the bowl rather than inside it: the wrist camera after release shows wood grain and the block at the bottom of the frame, and the top camera shows the gripper still to the left of the bowl. The earlier "white interior" I saw was a misjudgment of position.

give_up

hindsightRig facts: table surface is at about left_z ≈ 0.0–0.01 in the left arm frame (grasp point must be at z≈0.005–0.01 to close on a ~4 cm block; z targets of 0.03–0.07 hover above it). The left wrist camera looks along the fingers with the fingertips at the bottom of the image; a block that looks "between the jaws" but appears near the bottom edge is still ~3 cm short of the grasp point — advance until it fills the space between the finger silhouettes before closing, otherwise the closing fingertips push it forward. Approver clamps per-step deltas hard (~1–2 cm), so combined move+close commands close the gripper before reaching the target; move first, then close in a separate call. Gripper stalling around 0.44 with effort ~1.0 in the gripper slot = successful grasp of the block. In the top camera, image-right ≈ left-arm -y and image-up ≈ +x; the bowl was at roughly left_x≈0.58, left_y≈-0.42 to -0.45 (beyond the left_y bound of -0.4 in my final position), so the bowl is at the edge of/outside the left arm's y range — consider approaching with yaw or using the right arm if the bowl is on that side. Verify the bowl is fully centered in the wrist camera (white rim all around) before releasing; don't release when only wood grain is visible. Budget is tight (20 calls): locate the block once from the top camera, then use at most 3–4 moves to grasp.

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7452, 2.9868, 3.0463, -0.8505, -0.6258, -0.4507, 0.9953, -0.0212, 0.8295, 0.6056, -0.7486, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5664 left_y=-0.3769 left_z=0.0757 left_yaw=-0.0074 left_pitch=-0.0417 left_roll=0.0857 left_gripper=0.9953 right_x=0.233 right_y=0.0022 right_z=0.1071 right_yaw=0.0038 right_pitch=-0.3886 right_roll=0.0107 right_gripper=0.9996 state[joint_eff]: [0.0205, -16.8137, 8.9641, 1.5995, -0.3883, -0.0024, -0.1245, -0.1846, -1.0735, 6.6393, 1.2869, -0.0562, -0.0317, -0.0073] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM budget. The block was grasped and carried but released next to the bowl rather than inside it: the wrist camera after release shows wood grain and the block at the bottom of the frame, and the top camera shows the gripper still to the left of the bowl. The earlier \"white interior\" I saw was a misjudgment of position.", "hindsight": "Rig facts: table surface is at about left_z \u2248 0.0\u20130.01 in the left arm frame (grasp point must be at z\u22480.005\u20130.01 to close on a ~4 cm block; z targets of 0.03\u20130.07 hover above it). The left wrist camera looks along the fingers with the fingertips at the bottom of the image; a block that looks \"between the jaws\" but appears near the bottom edge is still ~3 cm short of the grasp point \u2014 advance until it fills the space between the finger silhouettes before closing, otherwise the closing fingertips push it forward. Approver clamps per-step deltas hard (~1\u20132 cm), so combined move+close commands close the gripper before reaching the target; move first, then close in a separate call. Gripper stalling around 0.44 with effort ~1.0 in the gripper slot = successful grasp of the block. In the top camera, image-right \u2248 left-arm -y and image-up \u2248 +x; the bowl was at roughly left_x\u22480.58, left_y\u2248-0.42 to -0.45 (beyond the left_y bound of -0.4 in my final position), so the bowl is at the edge of/outside the left arm's y range \u2014 consider approaching with yaw or using the right arm if the bowl is on that side. Verify the bowl is fully centered in the wrist camera (white rim all around) before releasing; don't release when only wood grain is visible. Budget is tight (20 calls): locate the block once from the top camera, then use at most 3\u20134 moves to grasp."})

tool

give_up: Out of LLM budget. The block was grasped and carried but released next to the bowl rather than inside it: the wrist camera after release shows wood grain and the block at the bottom of the frame, and the top camera shows the gripper still to the left of the bowl. The earlier "white interior" I saw was a misjudgment of position.

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 · 28.3 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3874, -0.0196, -0.0338, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4291, 10.1812, 1.956, -0.0806, 0.1978, -0.0904, -0.4171, -1.5932, 9.7846, 1.9121, -0.0708, 0.0855, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7707ec395e3a12b669456891fa12b6c2cf1d961d813699035c71ceb375bc2ef3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04b828798a370840dffe418eb6de62e5fb248a168be7ebc11c86cddbaa4bc715"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efde200a4b6d1ec16e04d0e70ca1d9725234bbb047b6e05d4f52a60866d08bb7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 20.34 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": 0.0, \"left_z\": 0.15, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block ahead of the left gripper, roughly 20 cm forward, with the bowl further beyond. Moving the left arm forward to get a better view of the block in the wrist camera before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UkPQpSht5mGhrCD8zesXzC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01UkPQpSht5mGhrCD8zesXzC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.3876, 0.762, -0.0517, -0.0193, -0.0383, 0.9993, -0.0212, 0.7986, 0.6075, -0.4305, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3981 left_y=-0.0005 left_z=0.1223 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0377 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.9282, 9.6889, 2.1026, -0.0366, 0.0415, -0.0855, -0.0752, -1.6068, 6.9949, 2.0391, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9478ab9c36984b24baf3aaea669ec31ac8447cbfe7d4c4dd5d1e292bddcba94c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f596e5ad9cbadf7046dc376fb5a724d0737ab0bce8059ab2c6f722b69af162e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4ae890c768ce5c6a0171173af738c30135d2eff1b8d629083d1577da959d330c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 15.77 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3874, -0.0196, -0.0338, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4291, 10.1812, 1.956, -0.0806, 0.1978, -0.0904, -0.4171, -1.5932, 9.7846, 1.9121, -0.0708, 0.0855, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.08, \"left_z\": 0.12, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block dropped out of the left wrist camera view after moving forward; at start it was at the bottom-right of that view, so it's likely close and to the right (negative y). Shifting the left arm back and right to relocate it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BYZyv3UQKCr4L9JRhvti4Q",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01BYZyv3UQKCr4L9JRhvti4Q"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3584, 1.2907, 0.5972, 0.028, -0.2638, -0.2119, 0.9993, -0.0212, 0.8005, 0.6056, -0.4545, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3575 left_y=-0.0809 left_z=0.1068 left_yaw=-0.0378 left_pitch=-0.0633 left_roll=0.0086 left_gripper=0.9993 right_x=0.2848 right_y=0.001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0656 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.2427, 6.0786, 1.9805, -0.3004, -0.0464, -0.0855, -0.0205, -1.0325, 7.1726, 1.8926, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2519683a5408d3d7ae04e2c6051ddd50cfcfc9a4bbc85a8bdce16a0414eb73a5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1426eac4c9c34ba02c0908558f567cc34a12f95b59ab9146d6b16c814dd3af91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f61386a8ffa4b365815ee225168c1f1f02747a26be15fada2ccd191b23b6bf4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 10.61 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]: [-0.0189, 1.3876, 0.762, -0.0517, -0.0193, -0.0383, 0.9993, -0.0212, 0.7986, 0.6075, -0.4305, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3981 left_y=-0.0005 left_z=0.1223 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2885 right_y=0.001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0377 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.9282, 9.6889, 2.1026, -0.0366, 0.0415, -0.0855, -0.0752, -1.6068, 6.9949, 2.0391, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.13, \"left_z\": 0.09, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The red block is now visible in the left wrist camera at the bottom-right, just beside the right finger; the top camera shows it slightly further forward of the fingertips. Shifting right (negative y) and a bit forward and lower to center it between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_016pUzkZM5HvMvXpkjw5FGLv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_016pUzkZM5HvMvXpkjw5FGLv"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4908, 1.5082, 0.6128, 0.1566, -0.3599, -0.2752, 0.9993, -0.0212, 0.8043, 0.6056, -0.4797, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3641 left_y=-0.1199 left_z=0.0634 left_yaw=-0.0549 left_pitch=-0.1073 left_roll=0.0434 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.158 right_yaw=0.0017 right_pitch=-0.0946 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.1607, 8.5812, 1.873, -0.3639, -0.0366, -0.0855, -0.1436, -1.5248, 7.0769, 1.8877, -0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6df21107bfd56c5a003463d4841c87d56707fd12a13f23c90ff39813a54105ea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c9930ec0e04c6f118287d77189e02b906aa7f2c2f8262f54857e2f63fde459c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05757fa49a6daedbb0876d59943c247f40d24213be1f2889bc1a79bc59d0bffb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.974 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]: [-0.3584, 1.2907, 0.5972, 0.028, -0.2638, -0.2119, 0.9993, -0.0212, 0.8005, 0.6056, -0.4545, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3575 left_y=-0.0809 left_z=0.1068 left_yaw=-0.0378 left_pitch=-0.0633 left_roll=0.0086 left_gripper=0.9993 right_x=0.2848 right_y=0.001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0656 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.2427, 6.0786, 1.9805, -0.3004, -0.0464, -0.0855, -0.0205, -1.0325, 7.1726, 1.8926, -0.0513, -0.0415, -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\": 0.375, \"left_y\": -0.14, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block now sits between the two fingers in the left wrist camera, slightly right of center. Descending toward table height with a small rightward correction to get the jaws around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_018qC1UHEMVA8fZqVzZSmCjV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018qC1UHEMVA8fZqVzZSmCjV"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5026, 1.528, 0.6285, 0.2066, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.072 left_yaw=-0.0394 left_pitch=-0.0589 left_roll=0.0238 left_gripper=0.9993 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0021 right_pitch=-0.1151 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.4752, 7.8838, 1.9805, -0.3004, 0.0806, -0.0855, -0.1709, -0.9504, 6.9265, 1.8339, -0.0806, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b6895d97247d3eaea0623082f9950ae28321381c18a6aaff3c3844b91588b91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:67058abca584b56d27556d31e3c1a3ad4d5980c56698055d00aa6a55471b76a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb0e97fe74f7ee64efb8e6047c697544c1c5aa554d3c6590d48661f878bec8be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 24.24 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]: [-0.4908, 1.5082, 0.6128, 0.1566, -0.3599, -0.2752, 0.9993, -0.0212, 0.8043, 0.6056, -0.4797, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3641 left_y=-0.1199 left_z=0.0634 left_yaw=-0.0549 left_pitch=-0.1073 left_roll=0.0434 left_gripper=0.9993 right_x=0.2812 right_y=0.0011 right_z=0.158 right_yaw=0.0017 right_pitch=-0.0946 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.1607, 8.5812, 1.873, -0.3639, -0.0366, -0.0855, -0.1436, -1.5248, 7.0769, 1.8877, -0.0269, -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\": 0.375, \"left_y\": -0.14, \"left_z\": 0.035, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is between the fingertips in the wrist view, close to the right finger; the previous descent got clamped so z is still 7 cm. Descending again with a slight rightward shift so the block is centered between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DtLWMpEbCoRKKcJe9YdS19",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01DtLWMpEbCoRKKcJe9YdS19"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5098, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0394 left_pitch=-0.0592 left_roll=0.024 left_gripper=0.9993 right_x=0.2764 right_y=0.0012 right_z=0.1522 right_yaw=0.002 right_pitch=-0.1247 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5162, 8.0752, 1.9219, -0.3004, 0.0659, -0.0855, -0.0752, -1.0735, 6.9265, 1.7851, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8884a1b50dbfa56a860b18b883c293456682514343f0fb40a1a528737befbe42"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2904134abf60938bfe8a41e4645e00805bfc9dc432ef05f91d290110d7d23bb2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:025b93497feae1948cb7a20e9498c9929d60ac6b6a1ab60a246e1f30744d0c64"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 12.36 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]: [-0.5026, 1.528, 0.6285, 0.2066, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.072 left_yaw=-0.0394 left_pitch=-0.0589 left_roll=0.0238 left_gripper=0.9993 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0021 right_pitch=-0.1151 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.4752, 7.8838, 1.9805, -0.3004, 0.0806, -0.0855, -0.1709, -0.9504, 6.9265, 1.8339, -0.0806, -0.0122, -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\": 0.375, \"left_y\": -0.155, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm did not move on the last command; the block appears at fingertip depth in the wrist camera, so the fingers may already be near the table. Shifting further right (-y) so the block is centered between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BtWwhJWdesu8q7fWE1E6LP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BtWwhJWdesu8q7fWE1E6LP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2932, 0.9993, -0.0212, 0.8062, 0.6056, -0.5266, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0392 left_pitch=-0.0592 left_roll=0.0237 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1486 right_yaw=0.0021 right_pitch=-0.1434 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.188, 7.9658, 1.9463, -0.3053, 0.0317, -0.0855, -0.1162, -1.3197, 7.1043, 1.7753, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7b85738c697932bd42b0acd59b6625a69b2e36be1f24c4d99b3218d11af08a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efc06bdcfefc124f6f6a44f4041f8e18ac28972ba4a493d1488b1d1d94478bfa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03bb4880f973c55e350527efb29a274fa96e81fab5ba20938d5dec3ee6c52744"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 9.992 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]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5098, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0394 left_pitch=-0.0592 left_roll=0.024 left_gripper=0.9993 right_x=0.2764 right_y=0.0012 right_z=0.1522 right_yaw=0.002 right_pitch=-0.1247 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5162, 8.0752, 1.9219, -0.3004, 0.0659, -0.0855, -0.0752, -1.0735, 6.9265, 1.7851, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.375, \"left_y\": -0.16, \"left_z\": 0.075, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm hasn't moved for three commands, suggesting the low-z target is blocked (fingertips may already be at table height ~0.07). Keeping z at the current height and only shifting right so the block sits centered between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UgNQaNL6bYPT1egmqfPRZe",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01UgNQaNL6bYPT1egmqfPRZe"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6098, 1.5913, 0.6296, 0.2295, -0.4519, -0.3367, 0.9993, -0.0212, 0.8097, 0.6056, -0.5583, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.362 left_y=-0.1544 left_z=0.0564 left_yaw=-0.0676 left_pitch=-0.0709 left_roll=0.0465 left_gripper=0.9993 right_x=0.2686 right_y=0.0014 right_z=0.142 right_yaw=0.0023 right_pitch=-0.1785 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.2564, 8.6632, 1.9902, -0.4078, -0.0073, -0.0855, -0.1162, -1.4838, 6.8718, 1.9023, -0.0415, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:172a9e8efb3fe117217b15382c9ede56a01cf4c44f877708772ed288522513db"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa6ff13933fbab06ec413c777ab13a61d822c21837a677411df5650d4f6e7501"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e75b9bdae7d196ef1c8af890843e76f30e418c43af8472b1a3a9b5aeeea8e41e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 10.36 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]: [-0.5026, 1.528, 0.6285, 0.2062, -0.384, -0.2932, 0.9993, -0.0212, 0.8062, 0.6056, -0.5266, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.1258 left_z=0.0719 left_yaw=-0.0392 left_pitch=-0.0592 left_roll=0.0237 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1486 right_yaw=0.0021 right_pitch=-0.1434 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.188, 7.9658, 1.9463, -0.3053, 0.0317, -0.0855, -0.1162, -1.3197, 7.1043, 1.7753, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.365, \"left_y\": -0.16, \"left_z\": 0.045, \"left_pitch\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The red block is now centered between the left gripper's jaws in the wrist camera, appearing large so it is near fingertip depth. Descending slightly and closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SC73z2tSEdLHdef8QhejND",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01SC73z2tSEdLHdef8QhejND"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.63, 1.66, 0.58, 0.3801, -0.4801, -0.3298, 0.0105, -0.0212, 0.8101, 0.6056, -0.5903, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1583 left_z=0.0413 left_yaw=-0.0703 left_pitch=-0.0338 left_roll=0.0509 left_gripper=0.0105 right_x=0.263 right_y=0.0015 right_z=0.1363 right_yaw=0.0021 right_pitch=-0.2109 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -5.7368, 4.6701, 1.8437, -0.3053, 0.0806, 0.8474, -0.0889, -1.1556, 7.1316, 1.8339, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d2b4ebc154f55a29cac58281e9c63d17e161d1dbcbd6fe0105a96ec60b87eda"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:614d0c8f15dbbebe43b2b27a41042b54d311f67da115b6feb717ea0823b34ed7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3bfe8870b15937b48c80dacd03570d43528e5a543ef1d4efecbf413f5b974f3b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 7.353 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]: [-0.6098, 1.5913, 0.6296, 0.2295, -0.4519, -0.3367, 0.9993, -0.0212, 0.8097, 0.6056, -0.5583, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.362 left_y=-0.1544 left_z=0.0564 left_yaw=-0.0676 left_pitch=-0.0709 left_roll=0.0465 left_gripper=0.9993 right_x=0.2686 right_y=0.0014 right_z=0.142 right_yaw=0.0023 right_pitch=-0.1785 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.2564, 8.6632, 1.9902, -0.4078, -0.0073, -0.0855, -0.1162, -1.4838, 6.8718, 1.9023, -0.0415, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.16, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.01) so it missed the block; the wrist camera shows the block sitting just ahead of the closed fingertips. Reopening and moving about 4 cm forward and slightly lower to line the jaws up on the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CQDXHrh95p46XBjYDZGcic",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01CQDXHrh95p46XBjYDZGcic"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5694, 1.8126, 0.6422, 0.4683, -0.4561, -0.2893, 0.9949, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3881 left_y=-0.1518 left_z=0.0186 left_yaw=-0.0504 left_pitch=-0.0452 left_roll=0.0718 left_gripper=0.9949 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2353 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.9675, 7.0222, 1.9121, -0.0122, 0.1245, -0.0024, -0.0479, -1.2786, 7.0085, 1.7656, -0.0122, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fba911c734db0e6d9f4e458880091c3b42f871100eea916a9bca9dcab08eee26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:540688eb345b6f9f992fcec196b16f5de0d4fea55bc0492789a25cff767e3d49"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43a4b8fd9a0aceaee63b1997be222f1c29f681e8cd819a83659edbba016024c7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 17.55 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]: [-0.63, 1.66, 0.58, 0.3801, -0.4801, -0.3298, 0.0105, -0.0212, 0.8101, 0.6056, -0.5903, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1583 left_z=0.0413 left_yaw=-0.0703 left_pitch=-0.0338 left_roll=0.0509 left_gripper=0.0105 right_x=0.263 right_y=0.0015 right_z=0.1363 right_yaw=0.0021 right_pitch=-0.2109 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -5.7368, 4.6701, 1.8437, -0.3053, 0.0806, 0.8474, -0.0889, -1.1556, 7.1316, 1.8339, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.152, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The red block is now centered between the open jaws in the wrist camera, sitting right at fingertip depth. Nudging slightly forward and closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GMjPM5Syz7NCY5GcNKhdTk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01GMjPM5Syz7NCY5GcNKhdTk"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5537, 1.8801, 0.6434, 0.5285, -0.4538, -0.2661, 0.0097, -0.0212, 0.812, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3924 left_y=-0.1474 left_z=0.003 left_yaw=-0.0491 left_pitch=-0.0524 left_roll=0.0924 left_gripper=0.0097 right_x=0.255 right_y=0.0017 right_z=0.1283 right_yaw=0.0024 right_pitch=-0.2574 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -7.0359, 6.188, 2.0781, -0.1294, 0.0562, 0.7839, -0.0479, -1.0051, 6.7761, 1.6484, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:049f6158e04f8623014314131dbae50440d60b618c8a9d0c2cc1f0ffaccbdd2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73b203ab792752628da8c6aeba1283fd7d366eb44534958fd40569de5ae0425f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:875b2ccfaf0a457dbb154b38a734e6782d65c536244f0cb7c3c4905d7f8645ae"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 8.493 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]: [-0.5694, 1.8126, 0.6422, 0.4683, -0.4561, -0.2893, 0.9949, -0.0212, 0.8116, 0.6056, -0.6132, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3881 left_y=-0.1518 left_z=0.0186 left_yaw=-0.0504 left_pitch=-0.0452 left_roll=0.0718 left_gripper=0.9949 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=0.0022 right_pitch=-0.2353 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.9675, 7.0222, 1.9121, -0.0122, 0.1245, -0.0024, -0.0479, -1.2786, 7.0085, 1.7656, -0.0122, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.54, \"left_y\": -0.14, \"left_z\": 0.09, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper closed on nothing and the top camera shows the red block was pushed far forward (top of the image, ~20 cm ahead of the fingertips). Reopening and moving forward at a safe height to relocate it in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_011W8VHzoGNnwiJc4HDuCqAA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_011W8VHzoGNnwiJc4HDuCqAA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3637, 2.0178, 1.2396, 0.1623, -0.3321, -0.1486, 0.996, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5305 left_y=-0.1365 left_z=0.084 left_yaw=-0.0221 left_pitch=-0.005 left_roll=0.083 left_gripper=0.996 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=0.0025 right_pitch=-0.2845 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.0581, 7.8427, 1.6825, 0.0317, 0.2418, -0.0024, -0.0068, -1.1829, 6.7487, 1.6288, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d993a2c1f610d10d9f9bce8bcca764acfda803d6a3c6264fc597c25da27a29c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:81ebcb4d4f2f1b38a7f2ac6cbf68c2ea0d9288cbdcdeb8ccd8fedd3658c5eb11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:823a3e174887076b67c59d128cac370d0f679c89a638a60a898d02144f2d5cbe"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 6.722 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]: [-0.5537, 1.8801, 0.6434, 0.5285, -0.4538, -0.2661, 0.0097, -0.0212, 0.812, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3924 left_y=-0.1474 left_z=0.003 left_yaw=-0.0491 left_pitch=-0.0524 left_roll=0.0924 left_gripper=0.0097 right_x=0.255 right_y=0.0017 right_z=0.1283 right_yaw=0.0024 right_pitch=-0.2574 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -7.0359, 6.188, 2.0781, -0.1294, 0.0562, 0.7839, -0.0479, -1.0051, 6.7761, 1.6484, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.14, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The red block is back in the left wrist camera, centered horizontally and a few cm ahead of the fingertips. Moving forward ~5 cm and descending to table height so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_011TQopdN2CigP8qsTvZRTZF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_011TQopdN2CigP8qsTvZRTZF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3386, 2.2772, 1.3758, 0.242, -0.3256, -0.1493, 0.9985, -0.0212, 0.8188, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5654 left_y=-0.1354 left_z=0.0126 left_yaw=-0.0014 left_pitch=-0.0472 left_roll=0.0932 left_gripper=0.9985 right_x=0.2473 right_y=0.0019 right_z=0.1201 right_yaw=0.003 right_pitch=-0.3054 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -11.3436, 7.2821, 1.8046, 0.0513, 0.1538, -0.1734, -0.2256, -1.306, 6.8581, 1.5653, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:532d5c921446cb65e2c72903b783a97279124f789b8c1c39e91b0515a411393f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05ec4c217f01aba2b0a9c66d7cf8fb6118f2853ce431df3a56e184996b67eb23"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bd9a85493754ee67fd4a5c5d324d67c277c18011deb25ca339a48c9f331b8b0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 23.36 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]: [-0.3637, 2.0178, 1.2396, 0.1623, -0.3321, -0.1486, 0.996, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5305 left_y=-0.1365 left_z=0.084 left_yaw=-0.0221 left_pitch=-0.005 left_roll=0.083 left_gripper=0.996 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=0.0025 right_pitch=-0.2845 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.0581, 7.8427, 1.6825, 0.0317, 0.2418, -0.0024, -0.0068, -1.1829, 6.7487, 1.6288, -0.0073, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.595, \"left_y\": -0.135, \"left_z\": 0.01, \"left_pitch\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The block is centered in the wrist camera and just ahead of the fingertips at table height. Nudging forward ~3 cm and closing the jaws to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CgBu8M5ny9zUMEs94dfvxi",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01CgBu8M5ny9zUMEs94dfvxi"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.334, 2.2917, 1.3891, 0.2546, -0.3202, -0.1383, 0.0103, -0.0212, 0.8192, 0.6056, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.57 left_y=-0.1351 left_z=0.0119 left_yaw=-0.0073 left_pitch=-0.0381 left_roll=0.0955 left_gripper=0.0103 right_x=0.2466 right_y=0.0018 right_z=0.1195 right_yaw=0.0027 right_pitch=-0.3097 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -11.7265, 7.9385, 1.9707, -0.0024, 0.105, 0.7839, -0.1573, -1.0188, 6.735, 1.4139, -0.0513, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd650fdcf13b4316e70408e18ebf760f942c9fdc6eb18645c5723d1804c12100"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a3ea3a2defbe15a3ef8c2764fef1aa6e57a965666863362042aca9c75703632"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:343a5253b039b0b6a92dc70056b49dfbaf32e03e2273e75dfa04342cec079b66"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 5.795 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]: [-0.3386, 2.2772, 1.3758, 0.242, -0.3256, -0.1493, 0.9985, -0.0212, 0.8188, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5654 left_y=-0.1354 left_z=0.0126 left_yaw=-0.0014 left_pitch=-0.0472 left_roll=0.0932 left_gripper=0.9985 right_x=0.2473 right_y=0.0019 right_z=0.1201 right_yaw=0.003 right_pitch=-0.3054 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -11.3436, 7.2821, 1.8046, 0.0513, 0.1538, -0.1734, -0.2256, -1.306, 6.8581, 1.5653, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.135, \"left_z\": 0.0, \"left_pitch\": 0.1, \"left_gripper\": 1.0}, \"note\": \"The jaws closed just short of the block again; the wrist camera shows it a few cm beyond the closed fingertips, near the arm's forward reach limit. Reopening and pushing to the x bound with a slight forward pitch and lower z to get the jaws around it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TsB7NfkFcK7CoT2jAWqxpN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01TsB7NfkFcK7CoT2jAWqxpN"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3256, 2.3917, 1.4174, 0.4774, -0.3408, -0.1169, 0.9949, -0.0212, 0.8219, 0.6056, -0.6937, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5966 left_y=-0.1353 left_z=0.0104 left_yaw=0.0081 left_pitch=0.1074 left_roll=0.0754 left_gripper=0.9949 right_x=0.244 right_y=0.002 right_z=0.1168 right_yaw=0.0032 right_pitch=-0.326 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -10.5641, 7.6239, 1.5165, -0.0317, 0.1978, -0.0317, -0.1573, -1.3333, 6.7214, 1.536, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:944172210882a0adc39d0ce7fe2746e5cd6f6120e907def6acb2d7b2b524fe3c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:047cd311072248716480aee483ff5b5303b32107dcb8c4941b930fb09412654e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:06b2c8eb244310991ae41dbac983aaf352b6bbac1dba27217f28e03ac77dbafc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 14.3 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]: [-0.334, 2.2917, 1.3891, 0.2546, -0.3202, -0.1383, 0.0103, -0.0212, 0.8192, 0.6056, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.57 left_y=-0.1351 left_z=0.0119 left_yaw=-0.0073 left_pitch=-0.0381 left_roll=0.0955 left_gripper=0.0103 right_x=0.2466 right_y=0.0018 right_z=0.1195 right_yaw=0.0027 right_pitch=-0.3097 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -11.7265, 7.9385, 1.9707, -0.0024, 0.105, 0.7839, -0.1573, -1.0188, 6.735, 1.4139, -0.0513, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.135, \"left_z\": 0.005, \"left_pitch\": 0.1, \"left_gripper\": 0.0}, \"note\": \"The block now sits squarely between the open jaws in the left wrist camera, filling the gap. Closing the gripper in place to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01C197RkxNaXVLvrthuu8W6d",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01C197RkxNaXVLvrthuu8W6d"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3264, 2.402, 1.4212, 0.4927, -0.3412, -0.1276, 0.4403, -0.0212, 0.823, 0.6056, -0.7025, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5982 left_y=-0.1363 left_z=0.009 left_yaw=0.0138 left_pitch=0.1162 left_roll=0.063 left_gripper=0.4403 right_x=0.2422 right_y=0.0019 right_z=0.1152 right_yaw=0.0029 right_pitch=-0.336 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -12.4513, 7.2137, 1.4921, -0.1001, 0.0464, 1.033, -0.1983, -1.2103, 6.7624, 1.4628, -0.0513, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30a568243a71bf3afd3d16088a687573ca00562fdb3dd26391acea6c028c8fc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a8430d76c8ee8f2ac7f38cca7186f4fa9d490022c6b6bf387dc5e26773a8377a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:530df0a8eed3b6e41bd670d360eea6f0730b11bf5872fb122a223cfa2a180cf4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 26.59 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]: [-0.3256, 2.3917, 1.4174, 0.4774, -0.3408, -0.1169, 0.9949, -0.0212, 0.8219, 0.6056, -0.6937, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5966 left_y=-0.1353 left_z=0.0104 left_yaw=0.0081 left_pitch=0.1074 left_roll=0.0754 left_gripper=0.9949 right_x=0.244 right_y=0.002 right_z=0.1168 right_yaw=0.0032 right_pitch=-0.326 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -10.5641, 7.6239, 1.5165, -0.0317, 0.1978, -0.0317, -0.1573, -1.3333, 6.7214, 1.536, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.22, \"left_z\": 0.18, \"left_pitch\": 0.0, \"left_gripper\": 0.44}, \"note\": \"Gripper stopped at 0.44 with rising effort, so the block is grasped (wrist cam shows it held between the jaws). Lifting it up and moving toward the bowl, which in the top camera lies to the right (further -y) of the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01T9nz921TgKwQkVA44eD4aY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01T9nz921TgKwQkVA44eD4aY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4862, 2.262, 1.9087, -0.3302, -0.4419, -0.2684, 0.4408, -0.0212, 0.823, 0.6056, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5826 left_y=-0.2184 left_z=0.142 left_yaw=0.0098 left_pitch=-0.0341 left_roll=0.072 left_gripper=0.4408 right_x=0.238 right_y=0.0021 right_z=0.112 right_yaw=0.0035 right_pitch=-0.3573 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -16.5538, 9.347, 1.7607, -0.3004, 0.1099, 1.033, -0.1436, -0.8684, 6.6803, 1.5702, -0.0317, -0.0122, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9e770a85dcb31688336eaaf2461cb157257fe9c0c4967bbbea3e7bd220b1f3c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:71e57930dbcc3b4fbf4ec893f677ce86c11892da603dae2e2ffc4be043af171b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:acf957fefda78e9b7dd852687157c60f4c81b01206e7e2c355078028e77a27cc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 9.21 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]: [-0.3264, 2.402, 1.4212, 0.4927, -0.3412, -0.1276, 0.4403, -0.0212, 0.823, 0.6056, -0.7025, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5982 left_y=-0.1363 left_z=0.009 left_yaw=0.0138 left_pitch=0.1162 left_roll=0.063 left_gripper=0.4403 right_x=0.2422 right_y=0.0019 right_z=0.1152 right_yaw=0.0029 right_pitch=-0.336 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -12.4513, 7.2137, 1.4921, -0.1001, 0.0464, 1.033, -0.1983, -1.2103, 6.7624, 1.4628, -0.0513, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.35, \"left_z\": 0.13, \"left_pitch\": 0.0, \"left_gripper\": 0.44}, \"note\": \"Block is lifted and held; in the top camera the bowl sits about 15 cm to the image-right of the gripper, which corresponds to further -y in the left arm frame. Carrying the block sideways over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YB2qSk3dn1oDjdKAA8o6kZ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01YB2qSk3dn1oDjdKAA8o6kZ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6888, 2.7174, 2.6549, -0.6693, -0.593, -0.4099, 0.4406, -0.0212, 0.8284, 0.6056, -0.7429, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5824 left_y=-0.3469 left_z=0.1206 left_yaw=0.0016 left_pitch=-0.0136 left_roll=0.0635 left_gripper=0.4406 right_x=0.2342 right_y=0.0022 right_z=0.1082 right_yaw=0.0037 right_pitch=-0.3817 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -16.4991, 8.4991, 1.1013, -0.5006, 0.0171, 1.0281, -0.1026, -1.4564, 6.653, 1.4725, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:695560e0d6b577c3bc49b9a83f5404759505bfdff4933a3a247e9c98bee4461f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed66efad47b500e93dfb712458b25da68435a5ca92e9fdbebc687f464f6d94d1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db88448adc40b96c1e4afcf6bf406d5cc44b0b92d477a839122ddec12846c44b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 5.688 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4862, 2.262, 1.9087, -0.3302, -0.4419, -0.2684, 0.4408, -0.0212, 0.823, 0.6056, -0.7238, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5826 left_y=-0.2184 left_z=0.142 left_yaw=0.0098 left_pitch=-0.0341 left_roll=0.072 left_gripper=0.4408 right_x=0.238 right_y=0.0021 right_z=0.112 right_yaw=0.0035 right_pitch=-0.3573 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -16.5538, 9.347, 1.7607, -0.3004, 0.1099, 1.033, -0.1436, -0.8684, 6.6803, 1.5702, -0.0317, -0.0122, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.585, \"left_y\": -0.39, \"left_z\": 0.1, \"left_pitch\": 0.0, \"left_gripper\": 0.44}, \"note\": \"Top camera shows the held block hovering just at the bowl's left rim; the bowl center is a few cm further in -y. Shifting the block over the bowl center and lowering slightly before releasing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01G3mHAp6fKZSJ8ngDseG6nK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01G3mHAp6fKZSJ8ngDseG6nK"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7261, 2.9631, 3.0383, -0.8303, -0.6151, -0.4366, 0.4408, -0.0212, 0.8295, 0.6056, -0.7475, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5754 left_y=-0.3698 left_z=0.0903 left_yaw=-0.0045 left_pitch=-0.0206 left_roll=0.0678 left_gripper=0.4408 right_x=0.2332 right_y=0.0021 right_z=0.1073 right_yaw=0.0034 right_pitch=-0.3875 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [-1.0462, -15.4598, 10.1675, 1.6093, -0.4762, -0.1148, 1.0183, -0.0752, -0.8, 6.7624, 1.3455, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae19236368dcfc8f6dde6bcc741c48bbe922ab78489c6fb874bfa69ac5cb7845"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:314d3f46c42afd218ea910131f147fca5ba35638fe5db0ecfd9e9670aaddd166"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee7f1a467045bdfaee0dab7ef97bbddbf922e58e6b58fe08d6e5044759d61d72"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 17.51 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6888, 2.7174, 2.6549, -0.6693, -0.593, -0.4099, 0.4406, -0.0212, 0.8284, 0.6056, -0.7429, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5824 left_y=-0.3469 left_z=0.1206 left_yaw=0.0016 left_pitch=-0.0136 left_roll=0.0635 left_gripper=0.4406 right_x=0.2342 right_y=0.0022 right_z=0.1082 right_yaw=0.0037 right_pitch=-0.3817 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -16.4991, 8.4991, 1.1013, -0.5006, 0.0171, 1.0281, -0.1026, -1.4564, 6.653, 1.4725, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.575, \"left_y\": -0.37, \"left_z\": 0.09, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera now shows the bowl's white interior directly below the held block, and the top camera shows the gripper over the bowl. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GqYqt6rL6msyndafGj4qp4",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01GqYqt6rL6msyndafGj4qp4"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7452, 2.9868, 3.0463, -0.8505, -0.6258, -0.4507, 0.9953, -0.0212, 0.8295, 0.6056, -0.7486, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5664 left_y=-0.3769 left_z=0.0757 left_yaw=-0.0074 left_pitch=-0.0417 left_roll=0.0857 left_gripper=0.9953 right_x=0.233 right_y=0.0022 right_z=0.1071 right_yaw=0.0038 right_pitch=-0.3886 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -16.8137, 8.9641, 1.5995, -0.3883, -0.0024, -0.1245, -0.1846, -1.0735, 6.6393, 1.2869, -0.0562, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90271332e9836171eeb80278b79ad30754849380fca2bb95f3ac38a9addb7dac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c90d60dc8bcb705144cfa534ae63fc096120974266130da153152f39a86894ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ed568a9d4042ff1ea939cda45bc4ffab45591f68ffbbbced834dce5d70e3e25"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}