adhoc

completed
2026-09-03T00:37:45.098942+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
424.5 s
total steps
115
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start by moving the left arm toward the red block to calibrate positions using the cameras.
agent noteI see the red block ahead and to the right of the left arm's wrist camera, with the bowl further right in the top view. Moving the left arm forward, right, and down to get closer to the block and calibrate.
move_to
left_x0.3500left_y-0.1000left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3885, -0.0193, -0.0299, 0.9993, -0.0212, 0.794, 0.606, -0.3965, -0.02, -0.0261, 0.9997] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4718, -1.4017, 10.1812, 1.9805, -0.0708, 0.1636, -0.0855, -0.5675, -1.5932, 9.7162, 1.9267, -0.0757, 0.0952, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start by moving the left arm toward the red block to calibrate positions using the cameras.
move_to({"targets": {"left_x": 0.35, "left_y": -0.1, "left_z": 0.1, "left_gripper": 1}, "note": "I see the red block ahead and to the right of the left arm's wrist camera, with the bowl further right in the top view. Moving the left arm forward, right, and down to get closer to the block and calibrate."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe block appears in the left wrist camera slightly right of center and ahead of the open fingers. Moving forward, a bit more to the right, and lower to line up above the block.
move_to
left_x0.3800left_y-0.1300left_z0.0400left_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]: [-0.4667, 1.2968, 0.5209, 0.0582, -0.3592, -0.2771, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3358 left_y=-0.0957 left_z=0.0827 left_yaw=-0.0289 left_pitch=-0.0872 left_roll=0.0298 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=-0.0001 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.2581, 7.1726, 1.9316, -0.4029, -0.0317, -0.0855, -0.0342, -1.6068, 7.0496, 2.044, -0.0415, -0.022, -0.0171] 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": 0.38, "left_y": -0.13, "left_z": 0.04, "left_gripper": 1}, "note": "The block appears in the left wrist camera slightly right of center and ahead of the open fingers. Moving forward, a bit more to the right, and lower to line up above the block."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe block is centered in the wrist camera just ahead of the open fingers. Moving forward a few centimeters and slightly right/down so the block sits between the jaws.
move_to
left_x0.3900left_y-0.1250left_z0.0050left_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]: [-0.5011, 1.6394, 0.5835, 0.2146, -0.3862, -0.3038, 0.9993, -0.0212, 0.8032, 0.6056, -0.4519, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3554 left_y=-0.1147 left_z=0.0176 left_yaw=-0.0192 left_pitch=-0.1887 left_roll=0.082 left_gripper=0.9993 right_x=0.2854 right_y=0.001 right_z=0.1637 right_yaw=0.0001 right_pitch=-0.0648 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.3487, -7.6376, 8.1573, 1.9853, -0.1685, -0.0073, -0.0855, -0.1162, -1.4564, 7.1726, 1.9267, -0.022, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.125, "left_z": 0.005, "left_gripper": 1}, "note": "The block is centered in the wrist camera just ahead of the open fingers. Moving forward a few centimeters and slightly right/down so the block sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe block is just ahead and slightly right of the fingertips in the wrist view. Advancing another ~3 cm forward, a bit right, and lowering so the jaws straddle the block.
move_to
left_x0.4000left_y-0.1300left_z0.0050left_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]: [-0.5037, 1.6699, 0.598, 0.271, -0.387, -0.3092, 0.9993, -0.0212, 0.8036, 0.6056, -0.4557, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3656 left_y=-0.1213 left_z=0.0206 left_yaw=-0.0216 left_pitch=-0.1524 left_roll=0.0595 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1628 right_yaw=0.0003 right_pitch=-0.069 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [-0.4171, -7.4325, 7.5556, 1.8437, -0.2125, -0.0122, -0.0904, -0.0615, -1.2376, 7.2137, 1.6777, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.13, "left_z": 0.005, "left_gripper": 1}, "note": "The block is just ahead and slightly right of the fingertips in the wrist view. Advancing another ~3 cm forward, a bit right, and lowering so the jaws straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm barely moved last step (stuck at x=0.366); the block still sits a few cm ahead between the open jaws. Commanding a larger forward step to get the block into the grasp point.
move_to
left_x0.4200left_y-0.1350left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3122, 0.9993, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0201 left_pitch=-0.1499 left_roll=0.0559 left_gripper=0.9993 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0912 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.5538, -7.4325, 7.5556, 1.8144, -0.1832, 0.0122, -0.0855, -0.0752, -1.1966, 6.9402, 1.8339, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.135, "left_z": 0.01, "left_gripper": 1}, "note": "The arm barely moved last step (stuck at x=0.366); the block still sits a few cm ahead between the open jaws. Commanding a larger forward step to get the block into the grasp point."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe left arm hasn't moved for two commands—likely an awkward IK pose with the sagging pitch. Raising the target a bit and commanding neutral pitch/roll to free the wrist before approaching the block again.
move_to
left_x0.4100left_y-0.1300left_z0.0500left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3126, 0.9993, -0.0212, 0.8036, 0.6056, -0.4999, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0199 left_pitch=-0.1499 left_roll=0.0556 left_gripper=0.9993 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0 right_pitch=-0.1133 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.5265, -7.4462, 7.706, 1.7851, -0.2271, 0.0366, -0.0855, -0.0752, -1.1966, 6.9265, 1.8193, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.13, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_gripper": 1}, "note": "The left arm hasn't moved for two commands\u2014likely an awkward IK pose with the sagging pitch. Raising the target a bit and commanding neutral pitch/roll to free the wrist before approaching the block again."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe wrist camera shows the block just ahead and slightly right of the open jaws. Advancing ~4 cm forward, slightly right, and down so the block sits between the fingers.
move_to
left_x0.4300left_y-0.1350left_z0.0200left_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]: [-0.4702, 1.7287, 0.6392, 0.3626, -0.3862, -0.2962, 0.9993, -0.0212, 0.8036, 0.6056, -0.5228, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3909 left_y=-0.12 left_z=0.0282 left_yaw=0.0002 left_pitch=-0.0872 left_roll=0.0349 left_gripper=0.9993 right_x=0.2743 right_y=0.0013 right_z=0.15 right_yaw=0.0004 right_pitch=-0.1362 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.3624, -6.7487, 7.4188, 1.9463, -0.0562, 0.2076, -0.0904, -0.0889, -1.0735, 6.8991, 1.8291, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.135, "left_z": 0.02, "left_gripper": 1}, "note": "The wrist camera shows the block just ahead and slightly right of the open jaws. Advancing ~4 cm forward, slightly right, and down so the block sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe block is ahead and slightly right of the gripper's center in the wrist view. Continuing forward and to the right so the block ends up between the jaws.
move_to
left_x0.4350left_y-0.1420left_z0.0200left_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]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2932, 0.9993, -0.0212, 0.8043, 0.6056, -0.5484, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0013 left_pitch=-0.0485 left_roll=0.0176 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1451 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.0342, -7.2137, 7.159, 1.9072, -0.0757, 0.105, -0.0855, -0.0342, -1.2103, 6.8718, 1.8584, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.142, "left_z": 0.02, "left_gripper": 1}, "note": "The block is ahead and slightly right of the gripper's center in the wrist view. Continuing forward and to the right so the block ends up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe arm stalled again at x=0.398; the block sits just ahead and right of the fingertips. Trying a slightly higher z with forward pitch to help the IK reach over the block.
move_to
left_x0.4400left_y-0.1400left_z0.0300left_pitch0.2000left_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]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0015 left_pitch=-0.0485 left_roll=0.0179 left_gripper=0.9993 right_x=0.2665 right_y=0.0014 right_z=0.1414 right_yaw=0.0003 right_pitch=-0.1835 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [0.0342, -7.2274, 7.2, 1.9414, -0.0464, 0.1587, -0.0855, -0.0205, -0.9915, 6.8581, 1.7558, -0.0415, -0.0513, -0.0122] 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": 0.44, "left_y": -0.14, "left_z": 0.03, "left_pitch": 0.2, "left_gripper": 1}, "note": "The arm stalled again at x=0.398; the block sits just ahead and right of the fingertips. Trying a slightly higher z with forward pitch to help the IK reach over the block."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteProgress: the block is now just ahead and slightly right of the jaws in the wrist view. Moving forward ~2.5 cm and right ~1.5 cm and down so the block sits between the fingers before closing.
move_to
left_x0.4500left_y-0.1480left_z0.0050left_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]: [-0.4839, 2.0003, 0.6441, 0.8215, -0.4484, -0.226, 0.9993, -0.0212, 0.8078, 0.6056, -0.6094, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4252 left_y=-0.1329 left_z=0.0088 left_yaw=-0.0012 left_pitch=0.0989 left_roll=0.0385 left_gripper=0.9993 right_x=0.2596 right_y=0.0016 right_z=0.1336 right_yaw=0.0008 right_pitch=-0.2269 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [-0.6085, -7.706, 6.1744, 2.2002, -0.2515, 0.1734, -0.0855, -0.0479, -1.4291, 7.0359, 1.917, -0.0366, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.148, "left_z": 0.005, "left_gripper": 1}, "note": "Progress: the block is now just ahead and slightly right of the jaws in the wrist view. Moving forward ~2.5 cm and right ~1.5 cm and down so the block sits between the fingers before closing."})
tool
executing move_to over 2 steps (0.2s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe block now sits mostly between the open jaws in the wrist view, slightly right. A small final advance forward and right to center it before closing the gripper.
move_to
left_x0.4550left_y-0.1450left_z0.0050left_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]: [-0.4847, 2.0525, 0.7055, 0.8402, -0.4664, -0.2241, 0.9993, -0.0212, 0.8078, 0.6056, -0.6174, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4409 left_y=-0.1383 left_z=0.01 left_yaw=0.0132 left_pitch=0.1276 left_roll=0.0349 left_gripper=0.9993 right_x=0.2581 right_y=0.0016 right_z=0.1322 right_yaw=0.0005 right_pitch=-0.2349 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [-0.6769, -8.759, 5.6137, 1.9707, -0.0366, -0.0269, -0.0904, -0.1573, -1.0735, 6.9265, 1.6386, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.145, "left_z": 0.005, "left_gripper": 1}, "note": "The block now sits mostly between the open jaws in the wrist view, slightly right. A small final advance forward and right to center it before closing the gripper."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe red block now sits between the two fingers in the wrist camera. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4847, 2.0754, 0.7486, 0.7887, -0.4652, -0.2363, 0.9993, -0.0212, 0.8116, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4465 left_y=-0.1415 left_z=0.0032 left_yaw=0.0172 left_pitch=0.1001 left_roll=0.0385 left_gripper=0.9993 right_x=0.2554 right_y=0.0017 right_z=0.1288 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.2256, -8.9915, 3.6718, 2.0293, -0.2125, 0.0855, -0.0904, -0.0615, -1.4017, 7.0222, 1.619, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The red block now sits between the two fingers in the wrist camera. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper closed on air—the wrist camera shows the block still ~5 cm ahead of the fingertips, centered. Reopening and advancing forward to put the block between the jaws.
move_to
left_x0.5000left_y-0.1410left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4839, 2.0754, 0.7441, 0.8074, -0.4686, -0.2325, 0.0131, -0.0212, 0.812, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4472 left_y=-0.1408 left_z=0.0056 left_yaw=0.0194 left_pitch=0.1132 left_roll=0.0366 left_gripper=0.0131 right_x=0.2508 right_y=0.0017 right_z=0.1247 right_yaw=0.0007 right_pitch=-0.2792 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.1573, -9.0462, 3.7402, 1.9512, -0.0757, 0.1001, 1.1697, -0.0889, -0.9368, 6.7624, 1.6581, -0.0366, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.141, "left_z": 0.01, "left_gripper": 1}, "note": "The gripper closed on air\u2014the wrist camera shows the block still ~5 cm ahead of the fingertips, centered. Reopening and advancing forward to put the block between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe block is now centered just ahead of the open fingertips in the wrist view. Advancing ~3 cm more so it sits deep between the jaws before closing.
move_to
left_x0.5200left_y-0.1380left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4229, 2.146, 0.9295, 0.6945, -0.4301, -0.2138, 0.995, -0.0212, 0.8116, 0.6056, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4922 left_y=-0.1368 left_z=0.0097 left_yaw=0.0388 left_pitch=0.1056 left_roll=0.0354 left_gripper=0.995 right_x=0.2473 right_y=0.0019 right_z=0.1218 right_yaw=0.0012 right_pitch=-0.2975 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [0.3761, -8.759, 6.3795, 1.8046, 0.0024, 0.1636, -0.1148, -0.0205, -1.0735, 6.8718, 1.5702, -0.0269, -0.0317, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.138, "left_z": 0.01, "left_gripper": 1}, "note": "The block is now centered just ahead of the open fingertips in the wrist view. Advancing ~3 cm more so it sits deep between the jaws before closing."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe block is centered between the fingertips but still a couple cm too far ahead. Advancing another ~3 cm forward so the block sits at the grasp point.
move_to
left_x0.5450left_y-0.1320left_z0.0080left_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]: [-0.4038, 2.1933, 1.0176, 0.6468, -0.4263, -0.2138, 0.9985, -0.0212, 0.8116, 0.6056, -0.68, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5112 left_y=-0.1351 left_z=0.0071 left_yaw=0.0544 left_pitch=0.0986 left_roll=0.0367 left_gripper=0.9985 right_x=0.2465 right_y=0.0019 right_z=0.1212 right_yaw=0.0012 right_pitch=-0.3013 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [0.4171, -10.3316, 6.2701, 1.707, 0.0415, 0.1197, -0.1734, -0.0479, -1.0598, 6.7214, 1.4188, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.545, "left_y": -0.132, "left_z": 0.008, "left_gripper": 1}, "note": "The block is centered between the fingertips but still a couple cm too far ahead. Advancing another ~3 cm forward so the block sits at the grasp point."})
tool
executing move_to over 3 steps (0.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe arm stalled at x=0.514 while the block sits ~3 cm past the fingertips. Adding forward pitch and a larger x target to push the grasp point over the block.
move_to
left_x0.5550left_y-0.1300left_z0.0150left_pitch0.3000left_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]: [-0.3977, 2.1998, 1.0317, 0.6296, -0.4236, -0.2138, 0.9985, -0.0212, 0.812, 0.6056, -0.6815, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5136 left_y=-0.1331 left_z=0.0052 left_yaw=0.0579 left_pitch=0.0894 left_roll=0.0397 left_gripper=0.9985 right_x=0.2463 right_y=0.0019 right_z=0.1209 right_yaw=0.0012 right_pitch=-0.3032 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.1299, -10.2906, 6.6803, 1.7851, -0.0415, 0.0952, -0.1734, -0.0342, -1.0598, 6.9265, 1.409, -0.0806, -0.0269, -0.0073] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.555, "left_y": -0.13, "left_z": 0.015, "left_pitch": 0.3, "left_gripper": 1}, "note": "The arm stalled at x=0.514 while the block sits ~3 cm past the fingertips. Adding forward pitch and a larger x target to push the grasp point over the block."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe block fills the wrist view with the fingertips at its near corners—it's essentially at the jaws even though the arm stalls near its reach limit. Advancing while closing the gripper to capture the block.
move_to
left_x0.5600left_z0.0000left_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]: [-0.3977, 2.1998, 1.0332, 0.627, -0.4236, -0.2142, 0.9985, -0.0212, 0.812, 0.6056, -0.7017, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5138 left_y=-0.1332 left_z=0.0053 left_yaw=0.0581 left_pitch=0.0884 left_roll=0.0399 left_gripper=0.9985 right_x=0.2423 right_y=0.002 right_z=0.1178 right_yaw=0.0014 right_pitch=-0.3234 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.0068, -10.4957, 6.5162, 1.7851, 0.0122, 0.0806, -0.1734, -0.1846, -1.0051, 6.7077, 1.6044, -0.0855, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.56, "left_z": 0.0, "left_gripper": 0.0}, "note": "The block fills the wrist view with the fingertips at its near corners\u2014it's essentially at the jaws even though the arm stalls near its reach limit. Advancing while closing the gripper to capture the block."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper closed just short of the block again—the wrist view shows the block still ahead of the fingertip. Reopening and advancing ~3 cm so the block sits fully between the jaws.
move_to
left_x0.5850left_y-0.1330left_z0.0030left_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]: [-0.3656, 2.299, 1.219, 0.5507, -0.408, -0.2085, 0.0123, -0.0212, 0.8158, 0.6056, -0.7242, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5537 left_y=-0.1331 left_z=0.0042 left_yaw=0.0746 left_pitch=0.0941 left_roll=0.0333 left_gripper=0.0123 right_x=0.2379 right_y=0.0021 right_z=0.1136 right_yaw=0.0016 right_pitch=-0.3497 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [0.6906, -10.441, 7.1316, 1.6972, 0.0513, 0.1392, 1.1062, -0.1846, -1.306, 6.8308, 1.5702, -0.0708, -0.0317, -0.0122] 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": 0.585, "left_y": -0.133, "left_z": 0.003, "left_gripper": 1}, "note": "The gripper closed just short of the block again\u2014the wrist view shows the block still ahead of the fingertip. Reopening and advancing ~3 cm so the block sits fully between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteBoth fingertips now flank the block's near edge in the wrist view. Advancing the last ~2 cm while closing the gripper to finally capture the block.
move_to
left_x0.6000left_z0.0030left_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]: [-0.3458, 2.3554, 1.346, 0.49, -0.4061, -0.2134, 0.9949, -0.0212, 0.8173, 0.6056, -0.7368, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5796 left_y=-0.1308 left_z=0.0082 left_yaw=0.096 left_pitch=0.1028 left_roll=0.0237 left_gripper=0.9949 right_x=0.2354 right_y=0.0021 right_z=0.1114 right_yaw=0.0014 right_pitch=-0.3638 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [0.1846, -10.441, 8.1162, 1.7216, -0.0317, 0.1734, -0.0757, -0.1162, -1.0598, 6.6667, 1.4823, -0.0171, -0.0562, -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_z": 0.003, "left_gripper": 0.0}, "note": "Both fingertips now flank the block's near edge in the wrist view. Advancing the last ~2 cm while closing the gripper to finally capture the block."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteI ran out of my action budget before securing a grasp. The left arm repeatedly stalled short of commanded x targets near its reach limit (~0.55-0.6 m), and each gripper close ended up just behind the red block—the block kept sitting a few centimeters beyond the grasp point despite appearing between the fingers in the wrist camera.
give_up
hindsightKey facts for this rig: (1) The left wrist camera looks ahead of the grasp point—when the block appears large and 'between the fingertips' in the wrist view, it is actually still 3-5 cm beyond the grasp point; only close the gripper when the block fills the bottom of the frame and the fingertips visibly overlap its sides. (2) The red block sits roughly at left frame (x≈0.60+, y≈-0.13, z≈0.0), at or beyond the left arm's comfortable reach; the controller stalls (position stops tracking with delta_clamped approver messages) for x targets above ~0.51-0.55 unless you add forward pitch (~0.2-0.3 rad) to extend reach. Consider using the right arm or approaching from a different base angle instead. (3) IK stalls silently: commanded moves report success but eef_state doesn't change; always compare eef_state to the previous target before assuming progress. (4) Budget goes fast with small incremental approaches—commit to fewer, larger, well-aimed motions and verify with the top camera (bowl is at roughly center of the top view) early to plan the place location.
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, 2.4031, 1.4277, 0.4595, -0.4088, -0.2176, 0.012, -0.0212, 0.8173, 0.6056, -0.7471, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5946 left_y=-0.1311 left_z=0.0061 left_yaw=0.1079 left_pitch=0.1065 left_roll=0.0197 left_gripper=0.012 right_x=0.2333 right_y=0.0022 right_z=0.1099 right_yaw=0.0018 right_pitch=-0.3741 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [0.6085, -11.5487, 7.6923, 1.6825, 0.022, 0.0904, 1.0427, -0.1983, -1.0325, 6.6393, 1.4042, -0.0513, -0.0366, -0.0122] 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
give_up({"reason": "I ran out of my action budget before securing a grasp. The left arm repeatedly stalled short of commanded x targets near its reach limit (~0.55-0.6 m), and each gripper close ended up just behind the red block\u2014the block kept sitting a few centimeters beyond the grasp point despite appearing between the fingers in the wrist camera.", "hindsight": "Key facts for this rig: (1) The left wrist camera looks ahead of the grasp point\u2014when the block appears large and 'between the fingertips' in the wrist view, it is actually still 3-5 cm beyond the grasp point; only close the gripper when the block fills the bottom of the frame and the fingertips visibly overlap its sides. (2) The red block sits roughly at left frame (x\u22480.60+, y\u2248-0.13, z\u22480.0), at or beyond the left arm's comfortable reach; the controller stalls (position stops tracking with delta_clamped approver messages) for x targets above ~0.51-0.55 unless you add forward pitch (~0.2-0.3 rad) to extend reach. Consider using the right arm or approaching from a different base angle instead. (3) IK stalls silently: commanded moves report success but eef_state doesn't change; always compare eef_state to the previous target before assuming progress. (4) Budget goes fast with small incremental approaches\u2014commit to fewer, larger, well-aimed motions and verify with the top camera (bowl is at roughly center of the top view) early to plan the place location."})
tool
give_up: I ran out of my action budget before securing a grasp. The left arm repeatedly stalled short of commanded x targets near its reach limit (~0.55-0.6 m), and each gripper close ended up just behind the red block—the block kept sitting a few centimeters beyond the grasp point despite appearing between the fingers in the wrist camera.
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 · 16.93 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3885, -0.0193, -0.0299, 0.9993, -0.0212, 0.794, 0.606, -0.3965, -0.02, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -1.4017, 10.1812, 1.9805, -0.0708, 0.1636, -0.0855, -0.5675, -1.5932, 9.7162, 1.9267, -0.0757, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6db12b1ba684b2ad1c00d54dfbc90b9892c0d232d84180573e782188a2c2893"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a3abd2bd49285de67ca04e5efb359f75f60658d394a086c34eab57f8ca87dfe3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6e5f28bd3399bec06e835840cb02f00941ce50a43d24bcdb243d7cba84db9f01"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a6db12b1ba68
wire blob a3abd2bd4928
wire blob 6e5f28bd3399
call 1 attempt 0 · /chat/completions · status 200 · 10.31 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the left arm toward the red block to calibrate positions using the cameras.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.1, \"left_z\": 0.1, \"left_gripper\": 1}, \"note\": \"I see the red block ahead and to the right of the left arm's wrist camera, with the bowl further right in the top view. Moving the left arm forward, right, and down to get closer to the block and calibrate.\"}",
        "name": "move_to"
      },
      "id": "toolu_01St4jW6Wkkna93Li4SrGPcV",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01St4jW6Wkkna93Li4SrGPcV"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4667, 1.2968, 0.5209, 0.0582, -0.3592, -0.2771, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0957 left_z=0.0827 left_yaw=-0.0289 left_pitch=-0.0872 left_roll=0.0298 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=-0.0001 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.2581, 7.1726, 1.9316, -0.4029, -0.0317, -0.0855, -0.0342, -1.6068, 7.0496, 2.044, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1817df0f6df66fde41b4c678d6229cd23066760babcf63c7807276fe4cd507c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:932cc550a9d56caee19852d7a023add6d5bf17e988a1ab79c66df45d0b054abf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cfbfbb9045487afa81870d8b72e3a12aab88ea3ca890fa04e2ce493f8cb0f03a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f1817df0f6df
wire blob 932cc550a9d5
wire blob cfbfbb904548
call 2 attempt 0 · /chat/completions · status 200 · 10.39 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3885, -0.0193, -0.0299, 0.9993, -0.0212, 0.794, 0.606, -0.3965, -0.02, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -1.4017, 10.1812, 1.9805, -0.0708, 0.1636, -0.0855, -0.5675, -1.5932, 9.7162, 1.9267, -0.0757, 0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.13, \"left_z\": 0.04, \"left_gripper\": 1}, \"note\": \"The block appears in the left wrist camera slightly right of center and ahead of the open fingers. Moving forward, a bit more to the right, and lower to line up above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0116E8WE4sjNEtC9EVMwgE4b",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_0116E8WE4sjNEtC9EVMwgE4b"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5011, 1.6394, 0.5835, 0.2146, -0.3862, -0.3038, 0.9993, -0.0212, 0.8032, 0.6056, -0.4519, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3554 left_y=-0.1147 left_z=0.0176 left_yaw=-0.0192 left_pitch=-0.1887 left_roll=0.082 left_gripper=0.9993 right_x=0.2854 right_y=0.001 right_z=0.1637 right_yaw=0.0001 right_pitch=-0.0648 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.6376, 8.1573, 1.9853, -0.1685, -0.0073, -0.0855, -0.1162, -1.4564, 7.1726, 1.9267, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9364a656b65de3df8edc3c790fb19eb66ceeebe401b03165e60ad56ec7edcfbd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03559889b8fb7511cbfa19e4fb795c882c1797cb4a3916a985964463b8b28ca1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ddf522bb09e09f3fe3c95bce0f3ce9844deee88351986c1fd9e9f20e19471b68"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9364a656b65d
wire blob 03559889b8fb
wire blob ddf522bb09e0
call 3 attempt 0 · /chat/completions · status 200 · 13.04 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4667, 1.2968, 0.5209, 0.0582, -0.3592, -0.2771, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0957 left_z=0.0827 left_yaw=-0.0289 left_pitch=-0.0872 left_roll=0.0298 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=-0.0001 right_pitch=-0.0397 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.2581, 7.1726, 1.9316, -0.4029, -0.0317, -0.0855, -0.0342, -1.6068, 7.0496, 2.044, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.125, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is centered in the wrist camera just ahead of the open fingers. Moving forward a few centimeters and slightly right/down so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PZFfC3mcQt9gnSN2EFGCoV",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PZFfC3mcQt9gnSN2EFGCoV"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.598, 0.271, -0.387, -0.3092, 0.9993, -0.0212, 0.8036, 0.6056, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3656 left_y=-0.1213 left_z=0.0206 left_yaw=-0.0216 left_pitch=-0.1524 left_roll=0.0595 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1628 right_yaw=0.0003 right_pitch=-0.069 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.4325, 7.5556, 1.8437, -0.2125, -0.0122, -0.0904, -0.0615, -1.2376, 7.2137, 1.6777, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4ef15f1b8eb0c53e593d46c3f5fa1e903919e17d3bca65ebe732a23ede3eada"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f304b97cddb306873e3d859fbbc949feb0719388aaf3a08916beae00fc3bbbc5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e848299dff483e9d07c1325112020c0cc049ef5cd7e7a55bb6906302b97b8b7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e4ef15f1b8eb
wire blob f304b97cddb3
wire blob 0e848299dff4
call 4 attempt 0 · /chat/completions · status 200 · 11.14 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5011, 1.6394, 0.5835, 0.2146, -0.3862, -0.3038, 0.9993, -0.0212, 0.8032, 0.6056, -0.4519, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3554 left_y=-0.1147 left_z=0.0176 left_yaw=-0.0192 left_pitch=-0.1887 left_roll=0.082 left_gripper=0.9993 right_x=0.2854 right_y=0.001 right_z=0.1637 right_yaw=0.0001 right_pitch=-0.0648 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.6376, 8.1573, 1.9853, -0.1685, -0.0073, -0.0855, -0.1162, -1.4564, 7.1726, 1.9267, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.13, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is just ahead and slightly right of the fingertips in the wrist view. Advancing another ~3 cm forward, a bit right, and lowering so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EieKTh5pZqBGFyY55nbz4H",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01EieKTh5pZqBGFyY55nbz4H"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3122, 0.9993, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0201 left_pitch=-0.1499 left_roll=0.0559 left_gripper=0.9993 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0912 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.4325, 7.5556, 1.8144, -0.1832, 0.0122, -0.0855, -0.0752, -1.1966, 6.9402, 1.8339, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f0ec7a5a03f8a4225d16e337674acf6530b37a657e9715c6ed7d94a91348a84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a30c2f0c5c3dee97c0202f99633d56db2118d499340008659d676755d037bd99"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b9e8881109ea34341c30b3148bd32237e336302d8d177fa15f161ea4275bdde"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3f0ec7a5a03f
wire blob a30c2f0c5c3d
wire blob 3b9e8881109e
call 5 attempt 0 · /chat/completions · status 200 · 13.49 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.598, 0.271, -0.387, -0.3092, 0.9993, -0.0212, 0.8036, 0.6056, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3656 left_y=-0.1213 left_z=0.0206 left_yaw=-0.0216 left_pitch=-0.1524 left_roll=0.0595 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1628 right_yaw=0.0003 right_pitch=-0.069 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.4325, 7.5556, 1.8437, -0.2125, -0.0122, -0.0904, -0.0615, -1.2376, 7.2137, 1.6777, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.135, \"left_z\": 0.01, \"left_gripper\": 1}, \"note\": \"The arm barely moved last step (stuck at x=0.366); the block still sits a few cm ahead between the open jaws. Commanding a larger forward step to get the block into the grasp point.\"}",
        "name": "move_to"
      },
      "id": "toolu_013jsTTcaAs3YEBAHSeic65a",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_013jsTTcaAs3YEBAHSeic65a"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3126, 0.9993, -0.0212, 0.8036, 0.6056, -0.4999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0199 left_pitch=-0.1499 left_roll=0.0556 left_gripper=0.9993 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0 right_pitch=-0.1133 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.4462, 7.706, 1.7851, -0.2271, 0.0366, -0.0855, -0.0752, -1.1966, 6.9265, 1.8193, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a41dd5d09baa9a4c8d72132f165da7e0f5a9754c16980777e0ffd415804954c7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6e2c3957d28f1da43f91eecb35b730c16f8fbbd3e88c8aa981efaf057c38e3a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7cead4aad1c00efbd8381a73e3458a9a0952ce882d1cb32f669a27738726a547"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a41dd5d09baa
wire blob a6e2c3957d28
wire blob 7cead4aad1c0
call 6 attempt 0 · /chat/completions · status 200 · 11.44 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3122, 0.9993, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0201 left_pitch=-0.1499 left_roll=0.0559 left_gripper=0.9993 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0912 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.4325, 7.5556, 1.8144, -0.1832, 0.0122, -0.0855, -0.0752, -1.1966, 6.9402, 1.8339, -0.0366, -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\": 0.41, \"left_y\": -0.13, \"left_z\": 0.05, \"left_pitch\": 0, \"left_roll\": 0, \"left_gripper\": 1}, \"note\": \"The left arm hasn't moved for two commands\\u2014likely an awkward IK pose with the sagging pitch. Raising the target a bit and commanding neutral pitch/roll to free the wrist before approaching the block again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CetCAnestQrgBko3AAJjUT",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01CetCAnestQrgBko3AAJjUT"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4702, 1.7287, 0.6392, 0.3626, -0.3862, -0.2962, 0.9993, -0.0212, 0.8036, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.12 left_z=0.0282 left_yaw=0.0002 left_pitch=-0.0872 left_roll=0.0349 left_gripper=0.9993 right_x=0.2743 right_y=0.0013 right_z=0.15 right_yaw=0.0004 right_pitch=-0.1362 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.7487, 7.4188, 1.9463, -0.0562, 0.2076, -0.0904, -0.0889, -1.0735, 6.8991, 1.8291, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b594646ae853cf6a16f85759e33b20d22d26876d19e90481fef4fbd22527697c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:893f60d5d31d9485cb089c3bdcc9ae15b73d007bf9b8f9e2340a13ace7726b98"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b3626da9fd3ada39e935995270504328948fc8d0751ce31540be41b69ac0ea9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b594646ae853
wire blob 893f60d5d31d
wire blob 1b3626da9fd3
call 7 attempt 0 · /chat/completions · status 200 · 6.854 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5037, 1.6699, 0.5983, 0.2733, -0.387, -0.3126, 0.9993, -0.0212, 0.8036, 0.6056, -0.4999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3661 left_y=-0.1215 left_z=0.0211 left_yaw=-0.0199 left_pitch=-0.1499 left_roll=0.0556 left_gripper=0.9993 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0 right_pitch=-0.1133 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.4462, 7.706, 1.7851, -0.2271, 0.0366, -0.0855, -0.0752, -1.1966, 6.9265, 1.8193, -0.0513, -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\": 0.43, \"left_y\": -0.135, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The wrist camera shows the block just ahead and slightly right of the open jaws. Advancing ~4 cm forward, slightly right, and down so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XdVydPcd4MRTPt8aGfLbmu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01XdVydPcd4MRTPt8aGfLbmu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2932, 0.9993, -0.0212, 0.8043, 0.6056, -0.5484, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0013 left_pitch=-0.0485 left_roll=0.0176 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1451 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.2137, 7.159, 1.9072, -0.0757, 0.105, -0.0855, -0.0342, -1.2103, 6.8718, 1.8584, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aca3c4711ad9d54005de320210dc2e08f354f4d04e59250f96391f312bf9885f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6e32ccacbd5c2850b0b498beace781ded8f75f7b6e80a7e5c10b6c74b6e2f325"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17ed92d3e853720e12f3845de4a0e4f73ee084a2ff5a2279ee07a7ff4c77b5f2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob aca3c4711ad9
wire blob 6e32ccacbd5c
wire blob 17ed92d3e853
call 8 attempt 0 · /chat/completions · status 200 · 14.62 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4702, 1.7287, 0.6392, 0.3626, -0.3862, -0.2962, 0.9993, -0.0212, 0.8036, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.12 left_z=0.0282 left_yaw=0.0002 left_pitch=-0.0872 left_roll=0.0349 left_gripper=0.9993 right_x=0.2743 right_y=0.0013 right_z=0.15 right_yaw=0.0004 right_pitch=-0.1362 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -6.7487, 7.4188, 1.9463, -0.0562, 0.2076, -0.0904, -0.0889, -1.0735, 6.8991, 1.8291, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.435, \"left_y\": -0.142, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block is ahead and slightly right of the gripper's center in the wrist view. Continuing forward and to the right so the block ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CMbkVizKDwX82tpQMpwHxo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CMbkVizKDwX82tpQMpwHxo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0015 left_pitch=-0.0485 left_roll=0.0179 left_gripper=0.9993 right_x=0.2665 right_y=0.0014 right_z=0.1414 right_yaw=0.0003 right_pitch=-0.1835 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.2274, 7.2, 1.9414, -0.0464, 0.1587, -0.0855, -0.0205, -0.9915, 6.8581, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80f203115834e569a85f4b0ca8268551df2d3a65c5334401c8ea1bf893063a05"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aa060a98b21d09a7d1eec9b1fd474cd288e527db76479098d31f59c5d0b5f7f7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1c1b5be7868c0bdcd6eb978520c24397c7c25483b08da65af022569ff1e8784"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 80f203115834
wire blob aa060a98b21d
wire blob a1c1b5be7868
call 9 attempt 0 · /chat/completions · status 200 · 14.7 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2932, 0.9993, -0.0212, 0.8043, 0.6056, -0.5484, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0013 left_pitch=-0.0485 left_roll=0.0176 left_gripper=0.9993 right_x=0.2701 right_y=0.0013 right_z=0.1451 right_yaw=0.0002 right_pitch=-0.1625 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.2137, 7.159, 1.9072, -0.0757, 0.105, -0.0855, -0.0342, -1.2103, 6.8718, 1.8584, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.14, \"left_z\": 0.03, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The arm stalled again at x=0.398; the block sits just ahead and right of the fingertips. Trying a slightly higher z with forward pitch to help the IK reach over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VHzuQ22q4kHWdg4WBwuPsK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01VHzuQ22q4kHWdg4WBwuPsK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4839, 2.0003, 0.6441, 0.8215, -0.4484, -0.226, 0.9993, -0.0212, 0.8078, 0.6056, -0.6094, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4252 left_y=-0.1329 left_z=0.0088 left_yaw=-0.0012 left_pitch=0.0989 left_roll=0.0385 left_gripper=0.9993 right_x=0.2596 right_y=0.0016 right_z=0.1336 right_yaw=0.0008 right_pitch=-0.2269 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -7.706, 6.1744, 2.2002, -0.2515, 0.1734, -0.0855, -0.0479, -1.4291, 7.0359, 1.917, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c019988b9dae8ab6d4dbccb1172906a24ac0146fafb695679f7120d5e597192f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7229367bcc5ac11799fba160538115bfe79f0fe4a152f27d15afd2a329e0a9b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17e700c66c8ee77e1d193755339a516df1e30e23203bfb74ea0f035a527f75f2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c019988b9dae
wire blob 7229367bcc5a
wire blob 17e700c66c8e
call 10 attempt 0 · /chat/completions · status 200 · 6.171 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4686, 1.7336, 0.6445, 0.4057, -0.3862, -0.2928, 0.9993, -0.0212, 0.8043, 0.6056, -0.5694, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.123 left_z=0.0358 left_yaw=-0.0015 left_pitch=-0.0485 left_roll=0.0179 left_gripper=0.9993 right_x=0.2665 right_y=0.0014 right_z=0.1414 right_yaw=0.0003 right_pitch=-0.1835 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -7.2274, 7.2, 1.9414, -0.0464, 0.1587, -0.0855, -0.0205, -0.9915, 6.8581, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.148, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"Progress: the block is now just ahead and slightly right of the jaws in the wrist view. Moving forward ~2.5 cm and right ~1.5 cm and down so the block sits between the fingers before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ER24k4nBWvRDUm4DKt6XFL",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01ER24k4nBWvRDUm4DKt6XFL"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4847, 2.0525, 0.7055, 0.8402, -0.4664, -0.2241, 0.9993, -0.0212, 0.8078, 0.6056, -0.6174, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4409 left_y=-0.1383 left_z=0.01 left_yaw=0.0132 left_pitch=0.1276 left_roll=0.0349 left_gripper=0.9993 right_x=0.2581 right_y=0.0016 right_z=0.1322 right_yaw=0.0005 right_pitch=-0.2349 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -8.759, 5.6137, 1.9707, -0.0366, -0.0269, -0.0904, -0.1573, -1.0735, 6.9265, 1.6386, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ec50343c324a827a1ce091d354dcda0bb03f255beee9425596571844fd24529d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11bf3801591d1dfaed034c00aafaa55930292001da1c6cec90b4f9774d934ae0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72cf9ded2b40cf4447a4d253a13b26710f672b88ea01a3f8ee3d84db7e8af8ae"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ec50343c324a
wire blob 11bf3801591d
wire blob 72cf9ded2b40
call 11 attempt 0 · /chat/completions · status 200 · 4.997 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4839, 2.0003, 0.6441, 0.8215, -0.4484, -0.226, 0.9993, -0.0212, 0.8078, 0.6056, -0.6094, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4252 left_y=-0.1329 left_z=0.0088 left_yaw=-0.0012 left_pitch=0.0989 left_roll=0.0385 left_gripper=0.9993 right_x=0.2596 right_y=0.0016 right_z=0.1336 right_yaw=0.0008 right_pitch=-0.2269 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -7.706, 6.1744, 2.2002, -0.2515, 0.1734, -0.0855, -0.0479, -1.4291, 7.0359, 1.917, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.145, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block now sits mostly between the open jaws in the wrist view, slightly right. A small final advance forward and right to center it before closing the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CYinQA8NgWmVT92LAx7bqh",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01CYinQA8NgWmVT92LAx7bqh"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4847, 2.0754, 0.7486, 0.7887, -0.4652, -0.2363, 0.9993, -0.0212, 0.8116, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4465 left_y=-0.1415 left_z=0.0032 left_yaw=0.0172 left_pitch=0.1001 left_roll=0.0385 left_gripper=0.9993 right_x=0.2554 right_y=0.0017 right_z=0.1288 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.9915, 3.6718, 2.0293, -0.2125, 0.0855, -0.0904, -0.0615, -1.4017, 7.0222, 1.619, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72a3e2df113d8aaaefc01cf67cc891638c10a2e373dad1d27f59ef567e3c2992"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9979e3badbe07afdb53cdc92cdd430d3e2e8a478e46e9d91e058d644a643f1a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07f1c1c8647752f37985e5a4f464e54bd728d7d68fdfbeb2914c28cb8c0000bb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 72a3e2df113d
wire blob 9979e3badbe0
wire blob 07f1c1c86477
call 12 attempt 0 · /chat/completions · status 200 · 9.252 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4847, 2.0525, 0.7055, 0.8402, -0.4664, -0.2241, 0.9993, -0.0212, 0.8078, 0.6056, -0.6174, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4409 left_y=-0.1383 left_z=0.01 left_yaw=0.0132 left_pitch=0.1276 left_roll=0.0349 left_gripper=0.9993 right_x=0.2581 right_y=0.0016 right_z=0.1322 right_yaw=0.0005 right_pitch=-0.2349 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -8.759, 5.6137, 1.9707, -0.0366, -0.0269, -0.0904, -0.1573, -1.0735, 6.9265, 1.6386, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block now sits between the two fingers in the wrist camera. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_0162Kys3v7eVJPJa5o4s2KLK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0162Kys3v7eVJPJa5o4s2KLK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4839, 2.0754, 0.7441, 0.8074, -0.4686, -0.2325, 0.0131, -0.0212, 0.812, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4472 left_y=-0.1408 left_z=0.0056 left_yaw=0.0194 left_pitch=0.1132 left_roll=0.0366 left_gripper=0.0131 right_x=0.2508 right_y=0.0017 right_z=0.1247 right_yaw=0.0007 right_pitch=-0.2792 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0462, 3.7402, 1.9512, -0.0757, 0.1001, 1.1697, -0.0889, -0.9368, 6.7624, 1.6581, -0.0366, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b90d67b4708f880c2778e93916c01d9c0613d591aa349308c18f77c9c18d8e31"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7320a57cf64d6484f43b2a41cfd793351aa8f2e3cd7f921f6bd56b82e018445d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:109294b1ad649ba399adb168058c6db8a53792bc9caf6a81263d54e0890d8203"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b90d67b4708f
wire blob 7320a57cf64d
wire blob 109294b1ad64
call 13 attempt 0 · /chat/completions · status 200 · 6.317 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4847, 2.0754, 0.7486, 0.7887, -0.4652, -0.2363, 0.9993, -0.0212, 0.8116, 0.6056, -0.6327, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4465 left_y=-0.1415 left_z=0.0032 left_yaw=0.0172 left_pitch=0.1001 left_roll=0.0385 left_gripper=0.9993 right_x=0.2554 right_y=0.0017 right_z=0.1288 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.9915, 3.6718, 2.0293, -0.2125, 0.0855, -0.0904, -0.0615, -1.4017, 7.0222, 1.619, -0.0464, -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\": 0.5, \"left_y\": -0.141, \"left_z\": 0.01, \"left_gripper\": 1}, \"note\": \"The gripper closed on air\\u2014the wrist camera shows the block still ~5 cm ahead of the fingertips, centered. Reopening and advancing forward to put the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011Dp2oCbENG3zAYN5MxuxWg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011Dp2oCbENG3zAYN5MxuxWg"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4229, 2.146, 0.9295, 0.6945, -0.4301, -0.2138, 0.995, -0.0212, 0.8116, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4922 left_y=-0.1368 left_z=0.0097 left_yaw=0.0388 left_pitch=0.1056 left_roll=0.0354 left_gripper=0.995 right_x=0.2473 right_y=0.0019 right_z=0.1218 right_yaw=0.0012 right_pitch=-0.2975 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -8.759, 6.3795, 1.8046, 0.0024, 0.1636, -0.1148, -0.0205, -1.0735, 6.8718, 1.5702, -0.0269, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:714eb6339c99743e832c37ee807964df2ee8d9476387ed3c9e702c0c0acced88"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a4c8b97c31bcb7af478db03487a488718e14f49bfd6ec2b1ce5d61565b5ee0f9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb5623cc39cf8d6a709698aecc06f7117f799f1c4a0849bfb14d61407d5f4405"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 714eb6339c99
wire blob a4c8b97c31bc
wire blob bb5623cc39cf
call 14 attempt 0 · /chat/completions · status 200 · 6.844 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4839, 2.0754, 0.7441, 0.8074, -0.4686, -0.2325, 0.0131, -0.0212, 0.812, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4472 left_y=-0.1408 left_z=0.0056 left_yaw=0.0194 left_pitch=0.1132 left_roll=0.0366 left_gripper=0.0131 right_x=0.2508 right_y=0.0017 right_z=0.1247 right_yaw=0.0007 right_pitch=-0.2792 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0462, 3.7402, 1.9512, -0.0757, 0.1001, 1.1697, -0.0889, -0.9368, 6.7624, 1.6581, -0.0366, -0.0171, -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\": 0.52, \"left_y\": -0.138, \"left_z\": 0.01, \"left_gripper\": 1}, \"note\": \"The block is now centered just ahead of the open fingertips in the wrist view. Advancing ~3 cm more so it sits deep between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_012VnUKh6QcuqiriAPYdgAxQ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_012VnUKh6QcuqiriAPYdgAxQ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4038, 2.1933, 1.0176, 0.6468, -0.4263, -0.2138, 0.9985, -0.0212, 0.8116, 0.6056, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5112 left_y=-0.1351 left_z=0.0071 left_yaw=0.0544 left_pitch=0.0986 left_roll=0.0367 left_gripper=0.9985 right_x=0.2465 right_y=0.0019 right_z=0.1212 right_yaw=0.0012 right_pitch=-0.3013 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -10.3316, 6.2701, 1.707, 0.0415, 0.1197, -0.1734, -0.0479, -1.0598, 6.7214, 1.4188, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a077ef62495ca329d3b3ad37a465372db2e4bde019d40fe35cd2495f7f53969a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c4ad17ab9116e9e53145f1be0256f8221dc8f0e65e92aeee06199196802a1198"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75ddeabcab68e203aa25b877ecf039b490e14357687a376f2e6686d33dcb70ca"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a077ef62495c
wire blob c4ad17ab9116
wire blob 75ddeabcab68
call 15 attempt 0 · /chat/completions · status 200 · 8.07 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4229, 2.146, 0.9295, 0.6945, -0.4301, -0.2138, 0.995, -0.0212, 0.8116, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4922 left_y=-0.1368 left_z=0.0097 left_yaw=0.0388 left_pitch=0.1056 left_roll=0.0354 left_gripper=0.995 right_x=0.2473 right_y=0.0019 right_z=0.1218 right_yaw=0.0012 right_pitch=-0.2975 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -8.759, 6.3795, 1.8046, 0.0024, 0.1636, -0.1148, -0.0205, -1.0735, 6.8718, 1.5702, -0.0269, -0.0317, -0.0073]\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\": 0.545, \"left_y\": -0.132, \"left_z\": 0.008, \"left_gripper\": 1}, \"note\": \"The block is centered between the fingertips but still a couple cm too far ahead. Advancing another ~3 cm forward so the block sits at the grasp point.\"}",
        "name": "move_to"
      },
      "id": "toolu_0154o98LgQQujCMAjnd6qxc4",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0154o98LgQQujCMAjnd6qxc4"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3977, 2.1998, 1.0317, 0.6296, -0.4236, -0.2138, 0.9985, -0.0212, 0.812, 0.6056, -0.6815, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5136 left_y=-0.1331 left_z=0.0052 left_yaw=0.0579 left_pitch=0.0894 left_roll=0.0397 left_gripper=0.9985 right_x=0.2463 right_y=0.0019 right_z=0.1209 right_yaw=0.0012 right_pitch=-0.3032 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -10.2906, 6.6803, 1.7851, -0.0415, 0.0952, -0.1734, -0.0342, -1.0598, 6.9265, 1.409, -0.0806, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2eb0cf2b0af5feab05d433f6c8416129248ac16b0d1fb080f78faad52d027453"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:046987054dee8506393c35901cea9c6c43a98550a02e0c48e9977aa6b92e5101"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29958d9f92c5e4e2f56f61c180d8be4f2be20511b2955eebc315e69b37e5d97f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2eb0cf2b0af5
wire blob 046987054dee
wire blob 29958d9f92c5
call 16 attempt 0 · /chat/completions · status 200 · 40.27 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4038, 2.1933, 1.0176, 0.6468, -0.4263, -0.2138, 0.9985, -0.0212, 0.8116, 0.6056, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5112 left_y=-0.1351 left_z=0.0071 left_yaw=0.0544 left_pitch=0.0986 left_roll=0.0367 left_gripper=0.9985 right_x=0.2465 right_y=0.0019 right_z=0.1212 right_yaw=0.0012 right_pitch=-0.3013 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -10.3316, 6.2701, 1.707, 0.0415, 0.1197, -0.1734, -0.0479, -1.0598, 6.7214, 1.4188, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.555, \"left_y\": -0.13, \"left_z\": 0.015, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"The arm stalled at x=0.514 while the block sits ~3 cm past the fingertips. Adding forward pitch and a larger x target to push the grasp point over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XQBBosWVPkFp7EMhRerDyR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01XQBBosWVPkFp7EMhRerDyR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3977, 2.1998, 1.0332, 0.627, -0.4236, -0.2142, 0.9985, -0.0212, 0.812, 0.6056, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.1332 left_z=0.0053 left_yaw=0.0581 left_pitch=0.0884 left_roll=0.0399 left_gripper=0.9985 right_x=0.2423 right_y=0.002 right_z=0.1178 right_yaw=0.0014 right_pitch=-0.3234 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.4957, 6.5162, 1.7851, 0.0122, 0.0806, -0.1734, -0.1846, -1.0051, 6.7077, 1.6044, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94dc072b55bdae22b7aae20a9e574cf2f6a8f6f599a2fa232e25b6894acd035a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c04f2c7d03cdcdf48f9085c16b7a334d5f4c67536d783f485621207063b21177"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aea973e74372316016fc17ae057bcef7ca83fd98849237a548a9f3d50036fe92"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 94dc072b55bd
wire blob c04f2c7d03cd
wire blob aea973e74372
call 17 attempt 0 · /chat/completions · status 200 · 114.7 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3977, 2.1998, 1.0317, 0.6296, -0.4236, -0.2138, 0.9985, -0.0212, 0.812, 0.6056, -0.6815, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5136 left_y=-0.1331 left_z=0.0052 left_yaw=0.0579 left_pitch=0.0894 left_roll=0.0397 left_gripper=0.9985 right_x=0.2463 right_y=0.0019 right_z=0.1209 right_yaw=0.0012 right_pitch=-0.3032 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -10.2906, 6.6803, 1.7851, -0.0415, 0.0952, -0.1734, -0.0342, -1.0598, 6.9265, 1.409, -0.0806, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.56, \"left_z\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The block fills the wrist view with the fingertips at its near corners\\u2014it's essentially at the jaws even though the arm stalls near its reach limit. Advancing while closing the gripper to capture the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016EknRv9DDMkxRHpt5rc1E2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_016EknRv9DDMkxRHpt5rc1E2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3656, 2.299, 1.219, 0.5507, -0.408, -0.2085, 0.0123, -0.0212, 0.8158, 0.6056, -0.7242, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5537 left_y=-0.1331 left_z=0.0042 left_yaw=0.0746 left_pitch=0.0941 left_roll=0.0333 left_gripper=0.0123 right_x=0.2379 right_y=0.0021 right_z=0.1136 right_yaw=0.0016 right_pitch=-0.3497 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -10.441, 7.1316, 1.6972, 0.0513, 0.1392, 1.1062, -0.1846, -1.306, 6.8308, 1.5702, -0.0708, -0.0317, -0.0122]\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,$blob:7b6d881ecba29b2a6823c455384c36a769733af55e0c0ab109dee19d20cecb94"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a2950dc644ce7d3172eb8dd4d3945e4772fc3bcce8cbded0d6b1f777ee64901"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db6ba2b42f366314fad091dd2b9df1143efb396b03ee6c5313013f3bdb21255b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7b6d881ecba2
wire blob 6a2950dc644c
wire blob db6ba2b42f36
call 18 attempt 0 · /chat/completions · status 200 · 7.859 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3977, 2.1998, 1.0332, 0.627, -0.4236, -0.2142, 0.9985, -0.0212, 0.812, 0.6056, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.1332 left_z=0.0053 left_yaw=0.0581 left_pitch=0.0884 left_roll=0.0399 left_gripper=0.9985 right_x=0.2423 right_y=0.002 right_z=0.1178 right_yaw=0.0014 right_pitch=-0.3234 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.4957, 6.5162, 1.7851, 0.0122, 0.0806, -0.1734, -0.1846, -1.0051, 6.7077, 1.6044, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.585, \"left_y\": -0.133, \"left_z\": 0.003, \"left_gripper\": 1}, \"note\": \"The gripper closed just short of the block again\\u2014the wrist view shows the block still ahead of the fingertip. Reopening and advancing ~3 cm so the block sits fully between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SAyoEvYQhEFfUiMwoeAczW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01SAyoEvYQhEFfUiMwoeAczW"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3458, 2.3554, 1.346, 0.49, -0.4061, -0.2134, 0.9949, -0.0212, 0.8173, 0.6056, -0.7368, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5796 left_y=-0.1308 left_z=0.0082 left_yaw=0.096 left_pitch=0.1028 left_roll=0.0237 left_gripper=0.9949 right_x=0.2354 right_y=0.0021 right_z=0.1114 right_yaw=0.0014 right_pitch=-0.3638 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.441, 8.1162, 1.7216, -0.0317, 0.1734, -0.0757, -0.1162, -1.0598, 6.6667, 1.4823, -0.0171, -0.0562, -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,$blob:b11829a89a72a7ebbd27f4f37be8a33792a070cf4c21dc91813a1c9d93c62bf4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0636c89f944f834ecfe654e48c96f1f810f491eb094784d2558b6387ad02a9e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9492209e327b7eb8e879330595e3ea4c26fb2f3fefbd32e909b5bff9c63f16ce"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b11829a89a72
wire blob d0636c89f944
wire blob 9492209e327b
call 19 attempt 0 · /chat/completions · status 200 · 18.72 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3656, 2.299, 1.219, 0.5507, -0.408, -0.2085, 0.0123, -0.0212, 0.8158, 0.6056, -0.7242, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5537 left_y=-0.1331 left_z=0.0042 left_yaw=0.0746 left_pitch=0.0941 left_roll=0.0333 left_gripper=0.0123 right_x=0.2379 right_y=0.0021 right_z=0.1136 right_yaw=0.0016 right_pitch=-0.3497 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -10.441, 7.1316, 1.6972, 0.0513, 0.1392, 1.1062, -0.1846, -1.306, 6.8308, 1.5702, -0.0708, -0.0317, -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\": 0.6, \"left_z\": 0.003, \"left_gripper\": 0.0}, \"note\": \"Both fingertips now flank the block's near edge in the wrist view. Advancing the last ~2 cm while closing the gripper to finally capture the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HHySGuBEaqdenvpWNGrmt6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01HHySGuBEaqdenvpWNGrmt6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3386, 2.4031, 1.4277, 0.4595, -0.4088, -0.2176, 0.012, -0.0212, 0.8173, 0.6056, -0.7471, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5946 left_y=-0.1311 left_z=0.0061 left_yaw=0.1079 left_pitch=0.1065 left_roll=0.0197 left_gripper=0.012 right_x=0.2333 right_y=0.0022 right_z=0.1099 right_yaw=0.0018 right_pitch=-0.3741 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -11.5487, 7.6923, 1.6825, 0.022, 0.0904, 1.0427, -0.1983, -1.0325, 6.6393, 1.4042, -0.0513, -0.0366, -0.0122]\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,$blob:a07861ebe55db6076f1e15944cd035cf9416500d21d974a9e91add0b893178e7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee2b63d5ebc6b94a2d8de85fe480b187684c55df56fa98d137196b77281cd348"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a46db0b0663d8a337e62c650ee89c4c8bb147cfe7e6a30980b40004a32450e31"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a07861ebe55d
wire blob ee2b63d5ebc6
wire blob a46db0b0663d