adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.3866, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6052, -0.3958, -0.0196, -0.0338, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 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]: [-0.4991, -1.4427, 10.2359, 1.9463, -0.0904, 0.2027, -0.0855, -0.2803, -1.5932, 9.8393, 1.9072, -0.022, 0.1538, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21f5a94ea7db7dfb8ab37cd306de04b343b407120df4ee70c3567a1df4229e7c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5656fffe04a5a7683348a4b00697e5b8b90a74753716271f5651959a13a0f689"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ebd78279bdf286fe49b07ef866aa5c21ddd62c7ba19ddbc85a7d019689546522"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "I'll start by moving the left arm (whose wrist camera sees the red block at the lower right) forward and slightly right toward the block, keeping height, then re-check the wrist camera.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.06, \"left_z\": 0.12}, \"note\": \"The left wrist camera shows the red block at the lower right of the frame, roughly 15 cm ahead and a few cm to the right of the gripper. Moving the left arm forward and slightly right while descending a bit to get the block centered under the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01D1KRRx8SjkHRqMunWpcyMw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01D1KRRx8SjkHRqMunWpcyMw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2428, 1.3918, 0.6441, 0.0387, -0.1905, -0.1581, 0.9992, -0.0212, 0.7982, 0.6064, -0.4278, -0.0196, -0.0277, 0.9996]\nstate[eef_state]: left_x=0.3762 left_y=-0.055 left_z=0.0908 left_yaw=-0.0107 left_pitch=-0.1195 left_roll=0.018 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1701 right_yaw=-0.0034 right_pitch=-0.0355 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.3658, 8.759, 1.956, -0.2613, 0.022, -0.0171, -0.0342, -1.5248, 6.9128, 2.1221, -0.0171, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ba6c8f256e4ee0f646172c4b8cc92cc805e3d59f60fb294df32fe09d8666ee1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d155b0a956f0d33c499fd24c07feea5fae19f90cb11afc64dfb6b42d85410a91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f531127231eeb7daee1de95ad1000f664d980ce7d6d3dd55fcc8cf86013f96a9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.3866, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6052, -0.3958, -0.0196, -0.0338, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 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]: [-0.4991, -1.4427, 10.2359, 1.9463, -0.0904, 0.2027, -0.0855, -0.2803, -1.5932, 9.8393, 1.9072, -0.022, 0.1538, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.075, \"left_z\": 0.06}, \"note\": \"The block now shows at the bottom right of the left wrist camera between the fingertips, and in the top view it's a few cm ahead of the gripper. Moving forward, slightly right, and lower to line it up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XKKLEy9vfirMAVLoiq47uM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01XKKLEy9vfirMAVLoiq47uM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2588, 1.6772, 0.7452, 0.1268, -0.2066, -0.1738, 0.9992, -0.0212, 0.8013, 0.6056, -0.4492, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4072 left_y=-0.0666 left_z=0.0386 left_yaw=-0.0008 left_pitch=-0.2098 left_roll=0.0408 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.0606 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.8701, 8.0752, 1.8339, -0.0855, -0.0317, -0.0122, -0.1573, -1.4974, 7.0359, 1.9072, -0.0415, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2c92908ea029e2cacc50ccd855bdf5aa878cd3df709de009667ee26a0bb4417"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:45b5821c790ab5767332a110604cee57ea4598a58f8137f079dd60cf97fdd171"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d321fa2988e9d274c99b5fb74f47cc1a09194a7a6d1f4016495f3bf4a95c5ee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2428, 1.3918, 0.6441, 0.0387, -0.1905, -0.1581, 0.9992, -0.0212, 0.7982, 0.6064, -0.4278, -0.0196, -0.0277, 0.9996]\nstate[eef_state]: left_x=0.3762 left_y=-0.055 left_z=0.0908 left_yaw=-0.0107 left_pitch=-0.1195 left_roll=0.018 left_gripper=0.9992 right_x=0.2887 right_y=0.0009 right_z=0.1701 right_yaw=-0.0034 right_pitch=-0.0355 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.3658, 8.759, 1.956, -0.2613, 0.022, -0.0171, -0.0342, -1.5248, 6.9128, 2.1221, -0.0171, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.085, \"left_z\": 0.03, \"left_pitch\": 0.0}, \"note\": \"Top camera shows the block just ahead (image-right) of the left gripper fingers, and the wrist cam shows only a red corner at the bottom right, so the block is slightly farther forward and to the right. Extending a bit more forward/right, lowering to grasp height, and leveling the pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TbheFY1ojtuixXPiL29g5W",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01TbheFY1ojtuixXPiL29g5W"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2615, 1.6936, 0.7582, 0.1566, -0.207, -0.1749, 0.9992, -0.0212, 0.8024, 0.6056, -0.4561, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4151 left_y=-0.0698 left_z=0.0419 left_yaw=-0.0038 left_pitch=-0.1843 left_roll=0.0333 left_gripper=0.9992 right_x=0.2847 right_y=0.001 right_z=0.163 right_yaw=0.0007 right_pitch=-0.0686 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.6239, 8.1436, 1.8535, -0.1197, -0.0464, -0.0073, -0.0889, -1.1692, 6.9538, 1.707, -0.0513, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7662f02220bf34c6a3144e3ba1ecdf9e81e70ce52cc02ef1702b871fdd169d62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36a1c8374b2403594fd5c792cb70e028c1fdd84f0a37c943cf03832f28458d7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3a063dfab16f71a3c8ca255fe57d36bfffb7a18bf3593ecd248a75fa29e147d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2588, 1.6772, 0.7452, 0.1268, -0.2066, -0.1738, 0.9992, -0.0212, 0.8013, 0.6056, -0.4492, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4072 left_y=-0.0666 left_z=0.0386 left_yaw=-0.0008 left_pitch=-0.2098 left_roll=0.0408 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.0606 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.8701, 8.0752, 1.8339, -0.0855, -0.0317, -0.0122, -0.1573, -1.4974, 7.0359, 1.9072, -0.0415, 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\": 0.46, \"left_y\": -0.09, \"left_z\": 0.035}, \"note\": \"The arm barely advanced last move (x only 0.407\\u21920.415), and the block still appears just beside the right finger in the wrist cam and slightly ahead in the top cam. Commanding a further forward/right step without changing pitch so the IK tracks it.\"}",
        "name": "move_to"
      },
      "id": "toolu_017QDknabPRtMeqx6QxJtPdh",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_017QDknabPRtMeqx6QxJtPdh"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2615, 1.6936, 0.7601, 0.1577, -0.207, -0.178, 0.9992, -0.0212, 0.8043, 0.6056, -0.4782, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.07 left_z=0.0428 left_yaw=-0.0023 left_pitch=-0.1813 left_roll=0.0303 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1582 right_yaw=0.0008 right_pitch=-0.0927 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.6376, 7.8974, 1.8828, -0.1441, 0.0122, -0.0122, -0.0752, -1.3197, 6.9538, 1.8339, -0.0464, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17da98ce8c1afa66fa5957b2ef61ce32da012a0d4c8e51ef7455e73c95defdd2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d819f7a585cecf8b3b2b69ba7dab7f8f4dca6c97e927c981a4aaacf924c819eb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1fe3f635eef73639c3ec82e4f371859b51416e2b558eb2f8b8a35f7690f1ac8f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2615, 1.6936, 0.7582, 0.1566, -0.207, -0.1749, 0.9992, -0.0212, 0.8024, 0.6056, -0.4561, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4151 left_y=-0.0698 left_z=0.0419 left_yaw=-0.0038 left_pitch=-0.1843 left_roll=0.0333 left_gripper=0.9992 right_x=0.2847 right_y=0.001 right_z=0.163 right_yaw=0.0007 right_pitch=-0.0686 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.6239, 8.1436, 1.8535, -0.1197, -0.0464, -0.0073, -0.0889, -1.1692, 6.9538, 1.707, -0.0513, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.09, \"left_z\": 0.06, \"left_pitch\": 0.0}, \"note\": \"The left arm has stalled at x\\u22480.416 for two moves despite forward commands, possibly because the fingers are near the table or the IK is stuck at this pitch. Raising slightly to z=0.06 and taking a smaller forward/right step to unstick it and get the block (visible beside the right finger) between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BBB41iMtQYj2GYRei1eDHp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01BBB41iMtQYj2GYRei1eDHp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3149, 1.7451, 0.7433, 0.3328, -0.268, -0.1883, 0.9992, -0.0212, 0.8043, 0.6056, -0.4999, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4312 left_y=-0.0875 left_z=0.049 left_yaw=-0.0031 left_pitch=-0.0673 left_roll=0.0311 left_gripper=0.9992 right_x=0.278 right_y=0.0012 right_z=0.1541 right_yaw=0.0009 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.0632, 5.2171, 1.9267, -0.2955, 0.0855, -0.0122, -0.1846, -1.2103, 7.0769, 1.873, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69b5e67acc54a93afe94d690322723ebb9e95d13ccb10c8b5b475e78ca45d69b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:916e87e0255fd683fc75c6d650aac64b48b3af8ae25aa442ab1647a99fb81568"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f80f61e0fa8a5c3db35e2adbaa5b36704bbbf9ab0e05d970ee50d3eb7a86ee9e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2615, 1.6936, 0.7601, 0.1577, -0.207, -0.178, 0.9992, -0.0212, 0.8043, 0.6056, -0.4782, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.07 left_z=0.0428 left_yaw=-0.0023 left_pitch=-0.1813 left_roll=0.0303 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1582 right_yaw=0.0008 right_pitch=-0.0927 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.6376, 7.8974, 1.8828, -0.1441, 0.0122, -0.0122, -0.0752, -1.3197, 6.9538, 1.8339, -0.0464, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.115, \"left_z\": 0.025}, \"note\": \"The block sits at the bottom-right corner of the left wrist camera, next to the right finger, which suggests it is slightly to the robot's right and a little behind the grasp point. Shifting right ~3 cm, back 0.5 cm, and lowering to grasp height with the jaws open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AhNULoAzBYy5mm1D8BBt5d",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01AhNULoAzBYy5mm1D8BBt5d"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3893, 1.8118, 0.7403, 0.4213, -0.3256, -0.2359, 0.9986, -0.0212, 0.807, 0.6056, -0.5091, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4318 left_y=-0.1122 left_z=0.0384 left_yaw=-0.0047 left_pitch=-0.0369 left_roll=0.0192 left_gripper=0.9986 right_x=0.2766 right_y=0.0012 right_z=0.1517 right_yaw=0.0008 right_pitch=-0.1262 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.7077, 5.012, 1.0916, -0.1245, 0.1148, -0.0708, -0.1709, -1.4291, 7.1043, 1.7607, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:22cd7effbc8f5a46aefb9c521ad961ed6f6003634c5786570e1e1ba0d7a345b4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e0259650960e3eb7d86217d7c42d2369edb447765a971782d8d61593e715cd3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e8c0830cce634b0b4330807b16696c522722dec293933e3fe4408738fad4e089"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3149, 1.7451, 0.7433, 0.3328, -0.268, -0.1883, 0.9992, -0.0212, 0.8043, 0.6056, -0.4999, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4312 left_y=-0.0875 left_z=0.049 left_yaw=-0.0031 left_pitch=-0.0673 left_roll=0.0311 left_gripper=0.9992 right_x=0.278 right_y=0.0012 right_z=0.1541 right_yaw=0.0009 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -7.0632, 5.2171, 1.9267, -0.2955, 0.0855, -0.0122, -0.1846, -1.2103, 7.0769, 1.873, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.145, \"left_z\": 0.03}, \"note\": \"Moving right 2.5 cm shifted the red block only slightly toward the image center in the wrist cam; it is still tucked at the bottom-right by the right finger, and the top cam shows it a bit ahead of the gripper. Taking a larger step right (~3 cm) and slightly forward at grasp height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_016ko5eFaMMF41ra9cEwcgLu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_016ko5eFaMMF41ra9cEwcgLu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4473, 1.8881, 0.8177, 0.4259, -0.3717, -0.2832, 0.9985, -0.0212, 0.8101, 0.6056, -0.5266, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4443 left_y=-0.138 left_z=0.0358 left_yaw=0.0005 left_pitch=-0.0199 left_roll=0.0034 left_gripper=0.9985 right_x=0.2739 right_y=0.0013 right_z=0.1477 right_yaw=0.001 right_pitch=-0.1468 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -8.0342, 6.2291, 1.3895, -0.1734, -0.0073, -0.0171, -0.1026, -1.0325, 6.9402, 1.7558, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e1295564dc1d6c1f19f01dbf8cc56a08275a8545f0a4ad97761a6c42b9362c7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24a26dc9743bad9f8b6afc7c984952be418e2af8da63a10de46fba8d709303e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed0f07cae640d0813d133452a3bb1b1726c73969b6e2a91bc98664d2b06c6787"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3893, 1.8118, 0.7403, 0.4213, -0.3256, -0.2359, 0.9986, -0.0212, 0.807, 0.6056, -0.5091, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4318 left_y=-0.1122 left_z=0.0384 left_yaw=-0.0047 left_pitch=-0.0369 left_roll=0.0192 left_gripper=0.9986 right_x=0.2766 right_y=0.0012 right_z=0.1517 right_yaw=0.0008 right_pitch=-0.1262 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.7077, 5.012, 1.0916, -0.1245, 0.1148, -0.0708, -0.1709, -1.4291, 7.1043, 1.7607, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.16, \"left_z\": 0.02}, \"note\": \"The red block is now visible between the fingertips in the left wrist camera, though still closer to the right finger, and the top cam shows the gripper over it. Shifting another 2 cm right and lowering to 2 cm height so the jaws straddle the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RBb7HbPSqwqxxUmV2sa6fY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01RBb7HbPSqwqxxUmV2sa6fY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4831, 1.9312, 0.836, 0.4252, -0.3973, -0.3073, 0.9985, -0.0212, 0.8101, 0.6056, -0.5461, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.1506 left_z=0.0242 left_yaw=-0.0013 left_pitch=-0.0356 left_roll=0.009 left_gripper=0.9985 right_x=0.2706 right_y=0.0014 right_z=0.1441 right_yaw=0.0013 right_pitch=-0.1663 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -7.4462, 6.5983, 1.7118, -0.2173, -0.0122, -0.0122, -0.1709, -1.1829, 6.8855, 1.7314, -0.0806, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa85c606acbc2906823f57bce330b31dce9905099c6cab4418c8ceceaa7d604d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bac2d3ad2e84b5a4b0b159d321bd840ca6140fff1fe7d0defc02d8cef3d8f313"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3e41c35ebbda0f564b4cdf900f1b809696ca4392dfaf90502a33223b72f656d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4473, 1.8881, 0.8177, 0.4259, -0.3717, -0.2832, 0.9985, -0.0212, 0.8101, 0.6056, -0.5266, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4443 left_y=-0.138 left_z=0.0358 left_yaw=0.0005 left_pitch=-0.0199 left_roll=0.0034 left_gripper=0.9985 right_x=0.2739 right_y=0.0013 right_z=0.1477 right_yaw=0.001 right_pitch=-0.1468 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -8.0342, 6.2291, 1.3895, -0.1734, -0.0073, -0.0171, -0.1026, -1.0325, 6.9402, 1.7558, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The block is now clearly between the fingers, slightly toward the right jaw. Lowering a bit more and closing the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.443, \"left_y\": -0.158, \"left_z\": 0.012, \"left_gripper\": 0.0}, \"note\": \"The red block (a tile with a '2') is now sitting between the two fingertips in the left wrist camera, a bit toward the right jaw. Nudging 1 cm right, lowering to ~1 cm above the table, and closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y7fUr5vHxC9hJKmCwysco8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y7fUr5vHxC9hJKmCwysco8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5091, 1.9724, 0.8379, 0.4374, -0.4133, -0.3271, 0.4436, -0.0212, 0.8108, 0.6056, -0.5686, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4371 left_y=-0.1586 left_z=0.0096 left_yaw=-0.0031 left_pitch=-0.0545 left_roll=0.0146 left_gripper=0.4436 right_x=0.2668 right_y=0.0014 right_z=0.1399 right_yaw=0.001 right_pitch=-0.1895 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.5385, 6.2974, 1.8046, -0.2662, 0.0464, 1.0281, -0.0752, -1.265, 6.9538, 1.746, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e1a2684f905fe76f367858ebdf62430f7af69ee898f4abf2f3bb40928205546c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c3aca91fa1355b730b9fc5d6fcf1e2992eb9b0a294830a54973803c68db126e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:41e32b8aa5cbacce0dcacb11b1e5c56750e53010cbf880454009da0ee63a705a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4831, 1.9312, 0.836, 0.4252, -0.3973, -0.3073, 0.9985, -0.0212, 0.8101, 0.6056, -0.5461, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4419 left_y=-0.1506 left_z=0.0242 left_yaw=-0.0013 left_pitch=-0.0356 left_roll=0.009 left_gripper=0.9985 right_x=0.2706 right_y=0.0014 right_z=0.1441 right_yaw=0.0013 right_pitch=-0.1663 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -7.4462, 6.5983, 1.7118, -0.2173, -0.0122, -0.0122, -0.1709, -1.1829, 6.8855, 1.7314, -0.0806, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.158, \"left_z\": 0.15}, \"note\": \"The gripper closed to 0.44 with rising gripper effort and the wrist cam shows the red tile held squarely between the fingers \\u2014 grasp looks secure. Lifting straight up to 15 cm before carrying it toward the bowl, which in the top camera is ahead (image-right) of the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DPhmfENDrCBcGuHc1AQLgw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01DPhmfENDrCBcGuHc1AQLgw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5091, 1.7, 1.0653, -0.1062, -0.4126, -0.3313, 0.4437, -0.0212, 0.8116, 0.6056, -0.5991, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1583 left_z=0.1204 left_yaw=0.0002 left_pitch=-0.093 left_roll=0.0322 left_gripper=0.4437 right_x=0.2615 right_y=0.0016 right_z=0.1344 right_yaw=0.0013 right_pitch=-0.2208 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -10.947, 8.9778, 1.7607, -0.1783, 0.0708, 1.033, -0.0342, -1.2513, 6.9538, 1.7753, -0.0757, -0.0366, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54f85d201fd0cdb6a45152073ec2c4ef2ae44f5e8ffa021436b0eaa079b5f77e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d0787b5e552ccd75ff2c0972ee52a036f6e429cb244b73ad2f975604bff8a51"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82a8716ab9ffd6b81c499b95fd44209efbbdd6fa32b6ad5a5f62b491e5045009"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5091, 1.9724, 0.8379, 0.4374, -0.4133, -0.3271, 0.4436, -0.0212, 0.8108, 0.6056, -0.5686, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4371 left_y=-0.1586 left_z=0.0096 left_yaw=-0.0031 left_pitch=-0.0545 left_roll=0.0146 left_gripper=0.4436 right_x=0.2668 right_y=0.0014 right_z=0.1399 right_yaw=0.001 right_pitch=-0.1895 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.5385, 6.2974, 1.8046, -0.2662, 0.0464, 1.0281, -0.0752, -1.265, 6.9538, 1.746, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.16, \"left_z\": 0.15}, \"note\": \"The tile is held in the left gripper and lifted off the table; in the top camera the bowl is ahead of the gripper (image-right), roughly 10 cm further forward. Carrying the block forward at a safe height toward the bowl, then I'll fine-tune position above it.\"}",
        "name": "move_to"
      },
      "id": "toolu_011s1GFzSHyg5tXFYFXJC5KB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_011s1GFzSHyg5tXFYFXJC5KB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4114, 1.9587, 1.4845, -0.2707, -0.3508, -0.2859, 0.4491, -0.0212, 0.8154, 0.6056, -0.6201, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5195 left_y=-0.1566 left_z=0.1381 left_yaw=0.0238 left_pitch=-0.1163 left_roll=0.032 left_gripper=0.4491 right_x=0.2578 right_y=0.0017 right_z=0.13 right_yaw=0.0014 right_pitch=-0.2456 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.7966, 8.8684, 1.5067, -0.0366, 0.1783, 1.033, -0.0479, -1.4701, 6.8034, 1.6484, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75a845a9352a8e7d2f9680e27295a0a47276f6bd7bd8c4fd9a8d7e027e654bd4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcc642da0d20616874f9273053a52bebbd4fc9cddb3427cf1f3adc85b482e6ea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf5b4c68f5dce0d5eea9c16a20b0d539ccdddda8880cce18af6bb3c2ae9cb125"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5091, 1.7, 1.0653, -0.1062, -0.4126, -0.3313, 0.4437, -0.0212, 0.8116, 0.6056, -0.5991, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4363 left_y=-0.1583 left_z=0.1204 left_yaw=0.0002 left_pitch=-0.093 left_roll=0.0322 left_gripper=0.4437 right_x=0.2615 right_y=0.0016 right_z=0.1344 right_yaw=0.0013 right_pitch=-0.2208 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -10.947, 8.9778, 1.7607, -0.1783, 0.0708, 1.033, -0.0342, -1.2513, 6.9538, 1.7753, -0.0757, -0.0366, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.12, \"left_z\": 0.15}, \"note\": \"The wrist camera shows the bowl rim at its top-left, i.e. ahead and slightly to the robot's left of the held tile, and the top cam shows the bowl ahead of the gripper. Moving forward ~6 cm and left ~4 cm at height to get above the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Lk1kGMpqxbpy3r4QgE3nMs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Lk1kGMpqxbpy3r4QgE3nMs"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2913, 2.1094, 1.7073, -0.3714, -0.2844, -0.2359, 0.4491, -0.0212, 0.8173, 0.6018, -0.6376, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5669 left_y=-0.1145 left_z=0.1307 left_yaw=0.0641 left_pitch=-0.1615 left_roll=0.0387 left_gripper=0.4491 right_x=0.2539 right_y=0.0018 right_z=0.125 right_yaw=0.0016 right_pitch=-0.2689 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 9.853, 1.6044, 0.0073, 0.2613, 1.033, -0.0068, -1.3197, 7.4188, 1.6142, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb07062a014d880f30c46b0cb44ae5da0303b1939b86b168b9a37ac1dfcfd908"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f35d3639a103de208931340cd3ad23c504d9d75243685ae5f243e3ffc379de45"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:09ae5b8c506b21be2ec6108e68e868f2bbd1b85ffe25f9abd663c4f75f8a01b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4114, 1.9587, 1.4845, -0.2707, -0.3508, -0.2859, 0.4491, -0.0212, 0.8154, 0.6056, -0.6201, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5195 left_y=-0.1566 left_z=0.1381 left_yaw=0.0238 left_pitch=-0.1163 left_roll=0.032 left_gripper=0.4491 right_x=0.2578 right_y=0.0017 right_z=0.13 right_yaw=0.0014 right_pitch=-0.2456 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.7966, 8.8684, 1.5067, -0.0366, 0.1783, 1.033, -0.0479, -1.4701, 6.8034, 1.6484, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.09, \"left_z\": 0.12}, \"note\": \"The bowl rim is still only a sliver at the top-left of the left wrist camera, so the bowl is further forward-left than the held tile. Moving to the forward reach limit (x=0.6) and 3 cm left, keeping height, to get over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RhLcWaZmzM8MBqMshzUEQp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RhLcWaZmzM8MBqMshzUEQp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2874, 2.1235, 1.729, -0.3904, -0.2729, -0.2169, 0.4523, -0.0212, 0.8173, 0.6018, -0.6521, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5686 left_y=-0.1147 left_z=0.1283 left_yaw=0.0486 left_pitch=-0.1755 left_roll=0.0493 left_gripper=0.4523 right_x=0.2512 right_y=0.0017 right_z=0.1227 right_yaw=0.0013 right_pitch=-0.2834 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -12.5607, 9.9761, 1.79, -0.0366, 0.1294, 1.033, -0.1162, -1.1282, 6.8171, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f384371e372503d573906d8323314d9676e9609d00201ed72599894898f8e8dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dfe5ffa7268a69f400367fefe6d15129f16436c699565ace3bf987c01d44de2b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b99744d7b61bee08180cbf1531b658bafb83747febd0af2188a0dd678749c9d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2913, 2.1094, 1.7073, -0.3714, -0.2844, -0.2359, 0.4491, -0.0212, 0.8173, 0.6018, -0.6376, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5669 left_y=-0.1145 left_z=0.1307 left_yaw=0.0641 left_pitch=-0.1615 left_roll=0.0387 left_gripper=0.4491 right_x=0.2539 right_y=0.0018 right_z=0.125 right_yaw=0.0016 right_pitch=-0.2689 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 9.853, 1.6044, 0.0073, 0.2613, 1.033, -0.0068, -1.3197, 7.4188, 1.6142, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.09, \"left_z\": 0.09, \"left_pitch\": 0.25}, \"note\": \"The left arm didn't advance (stuck at x\\u22480.57) \\u2014 likely at its reach/joint limit with the tool pitched back. The bowl is still ahead-left in the wrist cam. Tipping the tool forward (positive pitch) and lowering slightly to extend the grasp point further forward over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_012ecVJzCgue6LjNYsCXMwTd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_012ecVJzCgue6LjNYsCXMwTd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2523, 2.1941, 1.3315, 0.424, -0.3042, -0.104, 0.4523, -0.0212, 0.8211, 0.6018, -0.6735, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.5905 left_y=-0.0939 left_z=0.0782 left_yaw=0.0467 left_pitch=0.1561 left_roll=0.0529 left_gripper=0.4523 right_x=0.2472 right_y=0.0018 right_z=0.1185 right_yaw=0.0017 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -10.3316, 5.7504, 2.254, -0.1245, 0.2271, 1.033, -0.0205, -1.1009, 6.7897, 1.6288, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19dcb749ddf24bc6f23622d1599f7f658fda9af213da62cfabe36feb4e6c2b5f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb88503c2b9c1b22331fdcf43e33dd9d9ba0b52a25e7a1399aa02596ec773d2f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf5993d2a22ea4da1d754ce6c027d8f8b14b4c33f9b3376abb67a9a3531070c3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2874, 2.1235, 1.729, -0.3904, -0.2729, -0.2169, 0.4523, -0.0212, 0.8173, 0.6018, -0.6521, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5686 left_y=-0.1147 left_z=0.1283 left_yaw=0.0486 left_pitch=-0.1755 left_roll=0.0493 left_gripper=0.4523 right_x=0.2512 right_y=0.0017 right_z=0.1227 right_yaw=0.0013 right_pitch=-0.2834 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -12.5607, 9.9761, 1.79, -0.0366, 0.1294, 1.033, -0.1162, -1.1282, 6.8171, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.09, \"left_z\": 0.1, \"left_pitch\": 0.5}, \"note\": \"Top camera shows the left gripper laterally aligned with the bowl but still several cm short of it (bowl is image-right of the fingertips). Pitching the tool further forward to 0.5 rad while holding x at the 0.6 limit to swing the grasp point out over the bowl, raising slightly to clear the rim.\"}",
        "name": "move_to"
      },
      "id": "toolu_0111JiZXnDjbkwXsGfyKRGFq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0111JiZXnDjbkwXsGfyKRGFq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2489, 2.2929, 1.2308, 0.9073, -0.3122, -0.0181, 0.4523, -0.0212, 0.823, 0.6018, -0.68, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.5975 left_y=-0.0922 left_z=0.0889 left_yaw=0.0326 left_pitch=0.4261 left_roll=0.0567 left_gripper=0.4523 right_x=0.2459 right_y=0.0019 right_z=0.117 right_yaw=0.0018 right_pitch=-0.3169 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -10.5368, 5.6274, 2.2833, -0.2173, 0.0659, 1.0281, -0.0752, -1.265, 6.8444, 1.4237, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:679aa09d2a0da01eec15f98bc0d33ad29440bd999036e2e1b4c8dd6402296017"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a1358bcd9829828acf90ef2195905e34cb2ecd8c21b12cf586a892b54204b06"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a30b9dbcdd723a2520ed15056b49ea880aff22764407287d8da6da153d8609f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}