adhoc

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, 0.7918, 0.6037, -0.387, -0.0223, -0.0338, 0.9993, -0.0212, 0.794, 0.6056, -0.3958, -0.0196, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0019 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 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, -1.4154, 10.3179, 1.9463, -0.0708, 0.1685, -0.0855, -0.3624, -1.5521, 9.853, 1.9121, -0.0562, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be7f48ba5cb6439b35be4d6042549145265c290568aacd9e3eae4b3e3f38c104"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7c65f185322dd1fa20c40c32083cd2600d2fb182050fa752b938a52ecbcaac0c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:13559a6af93c83a60fd91ebe791f80b26b8ea0a95d690deeb4850d2cdeb9c848"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

effort

medium

temperature

n/a

tool count

3

{
  "content": "I can see a red block left of center and a white bowl right of center in the top camera. First I'll move the left arm forward and up to locate it in the camera views and calibrate the mapping between coordinates and pixels.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": 0.0, \"left_z\": 0.25, \"left_gripper\": 1}, \"note\": \"Red block is left of center and the bowl right of center in the top view. Moving the left arm forward and slightly up to see where it appears in the cameras before approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0118wAEF7eyBjXAgJYL5zvBW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_0118wAEF7eyBjXAgJYL5zvBW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.2587, 1.0569, -0.4282, -0.0219, -0.0387, 0.9993, -0.0212, 0.8005, 0.606, -0.4294, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3905 left_y=0.0001 left_z=0.2277 left_yaw=0.0028 left_pitch=-0.0549 left_roll=-0.0032 left_gripper=0.9993 right_x=0.2886 right_y=0.0009 right_z=0.169 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.2308, 9.3744, 1.7558, -0.0317, -0.0171, -0.0855, -0.0479, -1.7573, 6.9675, 2.0, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f98f20fac9fd74f00b87db5c7512717694668cca832ee763524e91f25a27950"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03c0975bbd53f2104006edde63f79e37d1a1778b63326a35636246f4a94ee0ce"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8548c71bd6d2ff2d563fda06fd35a27c484312f252ebfff662211c65e3a1f027"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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, 0.6037, -0.387, -0.0223, -0.0338, 0.9993, -0.0212, 0.794, 0.6056, -0.3958, -0.0196, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0019 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 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, -1.4154, 10.3179, 1.9463, -0.0708, 0.1685, -0.0855, -0.3624, -1.5521, 9.853, 1.9121, -0.0562, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.05, \"left_z\": 0.12}, \"note\": \"The left arm moved but isn't clearly visible in the top camera yet; left_cam seems wrist-mounted since the block left its view. Moving the left arm further forward and lower to bring it into the top camera view for calibration.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Hq6iC5pjHicN3Fe8eLVRoc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01Hq6iC5pjHicN3Fe8eLVRoc"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1673, 1.5772, 0.915, -0.0597, -0.128, -0.1261, 0.9992, -0.0212, 0.8032, 0.6056, -0.4549, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.0468 left_z=0.1107 left_yaw=-0.0077 left_pitch=-0.1399 left_roll=0.0029 left_gripper=0.9992 right_x=0.2849 right_y=0.001 right_z=0.1631 right_yaw=0.0005 right_pitch=-0.0683 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.2957, 6.0786, 1.9707, -0.2466, 0.0171, -0.0171, -0.335, -1.4291, 7.1179, 1.9072, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e315b947e9a0044f99a48bc03dcd6f3b1d486668df6629c25285d103541b138"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f14270a63b30a6dbdb9616dba71a76ac1bd07c5421564c3ca4ea61fbde6efe98"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8147d840bae8d424141682bee83683cb3360e9d15650611ee20ab8b651ae9fc2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.0189, 1.2587, 1.0569, -0.4282, -0.0219, -0.0387, 0.9993, -0.0212, 0.8005, 0.606, -0.4294, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3905 left_y=0.0001 left_z=0.2277 left_yaw=0.0028 left_pitch=-0.0549 left_roll=-0.0032 left_gripper=0.9993 right_x=0.2886 right_y=0.0009 right_z=0.169 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.2308, 9.3744, 1.7558, -0.0317, -0.0171, -0.0855, -0.0479, -1.7573, 6.9675, 2.0, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.47, \"left_y\": -0.1, \"left_z\": 0.06}, \"note\": \"The left arm is now visible entering the top camera from the top-left; the red block is a bit ahead and to the arm's right. Moving forward, right, and lower to hover near the block and gauge the coordinate-to-image mapping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EopAf2vKNCHdLTmoYUa57f",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01EopAf2vKNCHdLTmoYUa57f"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2897, 1.8294, 0.9573, 0.0395, -0.2035, -0.2039, 0.9992, -0.0212, 0.8051, 0.6056, -0.4797, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.447 left_y=-0.0923 left_z=0.0386 left_yaw=-0.0187 left_pitch=-0.2356 left_roll=0.0223 left_gripper=0.9992 right_x=0.2812 right_y=0.0012 right_z=0.1578 right_yaw=0.0006 right_pitch=-0.095 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -9.1966, 9.0188, 1.8144, -0.2369, 0.0073, -0.0122, -0.1709, -1.2923, 7.0632, 1.8974, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43cc56ca50959fb8eea2d7d5a8211905d97095ebfb0657f8462eff55eab37d98"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c62868d05f6538410cc0b4762750787c1edfd224225bf3a2cbbee60d8ba99a8d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:68a5339b3093b0c632b5660c298ba0554c87411244ebf5feadca4369dec78d99"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.1673, 1.5772, 0.915, -0.0597, -0.128, -0.1261, 0.9992, -0.0212, 0.8032, 0.6056, -0.4549, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4343 left_y=-0.0468 left_z=0.1107 left_yaw=-0.0077 left_pitch=-0.1399 left_roll=0.0029 left_gripper=0.9992 right_x=0.2849 right_y=0.001 right_z=0.1631 right_yaw=0.0005 right_pitch=-0.0683 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.2957, 6.0786, 1.9707, -0.2466, 0.0171, -0.0171, -0.335, -1.4291, 7.1179, 1.9072, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.09, \"left_z\": 0.03, \"left_pitch\": 0}, \"note\": \"The left gripper is now just left of the red block in the top view. Moving slightly forward and down toward the block, keeping the gripper open, and correcting the sagging pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_014MWbj8S5ZjNnKX6EUCjGqC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_014MWbj8S5ZjNnKX6EUCjGqC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2672, 1.9991, 0.9421, 0.3706, -0.2222, -0.1638, 0.9992, -0.0212, 0.8055, 0.6056, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4837 left_y=-0.0884 left_z=0.0148 left_yaw=-0.009 left_pitch=-0.092 left_roll=0.0263 left_gripper=0.9992 right_x=0.278 right_y=0.0012 right_z=0.1537 right_yaw=0.0004 right_pitch=-0.1159 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.8547, 6.0513, 2.0635, -0.105, 0.1978, -0.0122, -0.1026, -1.2239, 6.9812, 1.8339, -0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9791feaabf9531de8bfcd86316db6bb4d5c9a082a46b914cc7470083cd16d185"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e81a926bf74617469197543c4c015e945c45adaa8e97a61911bf966e46e0ddec"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:000bcc4e241eff9f78eb8e57d9090a7c917957af32e1c82ae2b40a082f1a3642"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2897, 1.8294, 0.9573, 0.0395, -0.2035, -0.2039, 0.9992, -0.0212, 0.8051, 0.6056, -0.4797, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.447 left_y=-0.0923 left_z=0.0386 left_yaw=-0.0187 left_pitch=-0.2356 left_roll=0.0223 left_gripper=0.9992 right_x=0.2812 right_y=0.0012 right_z=0.1578 right_yaw=0.0006 right_pitch=-0.095 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -9.1966, 9.0188, 1.8144, -0.2369, 0.0073, -0.0122, -0.1709, -1.2923, 7.0632, 1.8974, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.105, \"left_z\": 0.0, \"left_pitch\": 0}, \"note\": \"In the top view the block sits just forward and to the arm's right of the open gripper. Moving ~2cm forward, ~1.5cm right, and down to table height to bracket the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_018nJSYHopFdJemt12BwXZqQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018nJSYHopFdJemt12BwXZqQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2932, 2.1117, 0.9779, 0.5194, -0.2531, -0.1772, 0.9986, -0.0212, 0.8062, 0.6056, -0.5186, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5031 left_y=-0.1019 left_z=0.0029 left_yaw=-0.0032 left_pitch=-0.0173 left_roll=0.0139 left_gripper=0.9986 right_x=0.2751 right_y=0.0013 right_z=0.1501 right_yaw=0.0007 right_pitch=-0.135 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -8.6222, 6.2154, 1.4237, -0.2027, 0.1636, -0.0708, -0.0752, -1.265, 7.0906, 1.9267, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb292806f9e53da777515ea75317cefa7b94036d8b14e9c3737ac32b98bdb8d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1de7347f705e5e2d5d47d781a14364e5de195bf6455b37ce1f5b43e5f7058616"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:213c4e5bb84e5965ec25c1b71c05ac221ff884d709076cb1fd8807c560e32ca1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2672, 1.9991, 0.9421, 0.3706, -0.2222, -0.1638, 0.9992, -0.0212, 0.8055, 0.6056, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4837 left_y=-0.0884 left_z=0.0148 left_yaw=-0.009 left_pitch=-0.092 left_roll=0.0263 left_gripper=0.9992 right_x=0.278 right_y=0.0012 right_z=0.1537 right_yaw=0.0004 right_pitch=-0.1159 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.8547, 6.0513, 2.0635, -0.105, 0.1978, -0.0122, -0.1026, -1.2239, 6.9812, 1.8339, -0.0171, -0.022, -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\": 0.545, \"left_y\": -0.1, \"left_z\": 0.0, \"left_pitch\": 0}, \"note\": \"The gripper is at table height but the block still sits a few cm ahead of the fingertips in the top view, and the wrist camera shows no block between fingers yet. Advancing ~4cm forward to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PXLdGPr5ZYe1jSo6XJFyWM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01PXLdGPr5ZYe1jSo6XJFyWM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2951, 2.1281, 0.9886, 0.5442, -0.26, -0.1768, 0.9986, -0.0212, 0.8101, 0.6018, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.508 left_y=-0.1032 left_z=0.0037 left_yaw=0.0004 left_pitch=0.0021 left_roll=0.0125 left_gripper=0.9986 right_x=0.2702 right_y=0.0013 right_z=0.1426 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.306, 5.9282, 1.7558, -0.149, 0.1343, -0.0171, -0.1026, -1.3333, 7.1863, 1.8339, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8921f9c3cbd373fc6b989f76d13a6e8d2b9aefa2a30c263cff87a3dda37bc015"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9f58a35705f791ff35d8cf15953892e66158aeedd07c6f593055dbcbb78d7d1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1fa1350b148b3f06daca812b5ad078ad67a4872e9c36e986a35e2f09c1f41fd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2932, 2.1117, 0.9779, 0.5194, -0.2531, -0.1772, 0.9986, -0.0212, 0.8062, 0.6056, -0.5186, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5031 left_y=-0.1019 left_z=0.0029 left_yaw=-0.0032 left_pitch=-0.0173 left_roll=0.0139 left_gripper=0.9986 right_x=0.2751 right_y=0.0013 right_z=0.1501 right_yaw=0.0007 right_pitch=-0.135 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -8.6222, 6.2154, 1.4237, -0.2027, 0.1636, -0.0708, -0.0752, -1.265, 7.0906, 1.9267, -0.0708, -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\": 0.55, \"left_y\": -0.095, \"left_z\": 0.0, \"left_pitch\": 0}, \"note\": \"The arm only reached x=0.508 despite commanding 0.545, and the block is still just beyond the fingertips in the top view. Re-commanding the forward motion to close the remaining few centimeters.\"}",
        "name": "move_to"
      },
      "id": "toolu_015TbGmcH6z3KZemPRQawTh2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_015TbGmcH6z3KZemPRQawTh2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2951, 2.1281, 0.9886, 0.5442, -0.26, -0.1768, 0.9985, -0.0212, 0.8101, 0.6018, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.508 left_y=-0.1032 left_z=0.0037 left_yaw=0.0004 left_pitch=0.0021 left_roll=0.0125 left_gripper=0.9985 right_x=0.2662 right_y=0.0015 right_z=0.1385 right_yaw=0.0009 right_pitch=-0.1926 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -9.2786, 6.0513, 1.746, -0.149, 0.0806, -0.0171, -0.1299, -1.0598, 6.8308, 1.746, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd9285e666c5172d7bb75169c2ffba14bcec7a66dafa49288eafd31fda9aa71b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fa856aeb748102e5caef8e0d2efba0056d071b180a223ae1eedb7eed5764e31"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:45f7432a88e336b9cc284fc9abfa6f3439732746e7fe544f790bc621d6244ca8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2951, 2.1281, 0.9886, 0.5442, -0.26, -0.1768, 0.9986, -0.0212, 0.8101, 0.6018, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.508 left_y=-0.1032 left_z=0.0037 left_yaw=0.0004 left_pitch=0.0021 left_roll=0.0125 left_gripper=0.9986 right_x=0.2702 right_y=0.0013 right_z=0.1426 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -9.306, 5.9282, 1.7558, -0.149, 0.1343, -0.0171, -0.1026, -1.3333, 7.1863, 1.8339, -0.0562, -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\": 0.55, \"left_y\": -0.095, \"left_z\": 0.03, \"left_pitch\": 0.3}, \"note\": \"The left arm did not move at all last step\\u2014likely the horizontal-tool pose at table height is jammed against the table or at an IK limit. Lifting to 3cm and pitching the tool down slightly to approach the block from a better angle.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MvVf4nVDaxr8tF1v8tQCYp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01MvVf4nVDaxr8tF1v8tQCYp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2657, 2.27, 0.9962, 0.8871, -0.2649, -0.1101, 0.9985, -0.0212, 0.8108, 0.6018, -0.606, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5361 left_y=-0.0942 left_z=0.0068 left_yaw=0.0032 left_pitch=0.2023 left_roll=0.0162 left_gripper=0.9985 right_x=0.2596 right_y=0.0016 right_z=0.1318 right_yaw=0.0008 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -10.8376, 6.8718, 2.3516, -0.0806, 0.1636, -0.0122, -0.0479, -1.0598, 7.2684, 1.917, -0.0464, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20f660db8ae608aa97fe9a6bf39f5d0a0bf56cc69057f61fc59aa59740e56f66"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95cf1f0b85dbaf96ec4532a69837e3ae830a2d8a9f5bfc68795a65a272cd7442"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ae35b1fcc9dc45ceb76ad5b17c36deeed35c6f21ce907f836ee57ae89d9c512"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2951, 2.1281, 0.9886, 0.5442, -0.26, -0.1768, 0.9985, -0.0212, 0.8101, 0.6018, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.508 left_y=-0.1032 left_z=0.0037 left_yaw=0.0004 left_pitch=0.0021 left_roll=0.0125 left_gripper=0.9985 right_x=0.2662 right_y=0.0015 right_z=0.1385 right_yaw=0.0009 right_pitch=-0.1926 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -9.2786, 6.0513, 1.746, -0.149, 0.0806, -0.0171, -0.1299, -1.0598, 6.8308, 1.746, -0.0562, -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\": 0.565, \"left_y\": -0.095, \"left_z\": 0.005, \"left_pitch\": 0.3}, \"note\": \"The gripper is now very close to the block in the top view but the block isn't between the fingers yet in the wrist camera. Advancing ~3cm forward at low height with slight downward pitch to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01No56t7miCVyxg2j5guiZzX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01No56t7miCVyxg2j5guiZzX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.26, 2.3653, 1.0805, 0.9806, -0.2676, -0.1078, 0.9985, -0.0212, 0.8116, 0.6018, -0.6212, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5586 left_y=-0.0966 left_z=0.007 left_yaw=0.0154 left_pitch=0.2819 left_roll=-0.0035 left_gripper=0.9985 right_x=0.2568 right_y=0.0016 right_z=0.1291 right_yaw=0.0009 right_pitch=-0.2468 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -9.8803, 5.6, 1.9365, 0.0073, 0.1929, -0.0122, -0.1026, -1.2103, 6.8171, 1.6142, -0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e287db66ed6cb3779477e98eba53051ca43627afc3ee67f2e43496c8dc0b2da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b28a4cc896c8ddb9b927bc79c9bdc8d4e1488ad41361e14fcc88c5357a9952a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48badae53797e400a5af68359d5665d83b1c67d579c5cc1f32795e1381fa6302"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2657, 2.27, 0.9962, 0.8871, -0.2649, -0.1101, 0.9985, -0.0212, 0.8108, 0.6018, -0.606, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5361 left_y=-0.0942 left_z=0.0068 left_yaw=0.0032 left_pitch=0.2023 left_roll=0.0162 left_gripper=0.9985 right_x=0.2596 right_y=0.0016 right_z=0.1318 right_yaw=0.0008 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -10.8376, 6.8718, 2.3516, -0.0806, 0.1636, -0.0122, -0.0479, -1.0598, 7.2684, 1.917, -0.0464, -0.0073, -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\": 0.585, \"left_y\": -0.095, \"left_z\": 0.005, \"left_pitch\": 0.3}, \"note\": \"Top view shows the fingertips almost touching the block, but the wrist camera still doesn't show it between the jaws. Continuing forward another ~2.5cm at low height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TRraAqtdJ15W1KoCq96ZD6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TRraAqtdJ15W1KoCq96ZD6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2485, 2.4149, 1.1732, 0.9646, -0.2668, -0.1093, 0.9985, -0.0212, 0.8162, 0.6014, -0.6357, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5792 left_y=-0.0952 left_z=0.0094 left_yaw=0.0293 left_pitch=0.3079 left_roll=-0.013 left_gripper=0.9985 right_x=0.2542 right_y=0.0017 right_z=0.1255 right_yaw=0.001 right_pitch=-0.2662 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.1385, 5.6957, 1.8584, 0.0952, 0.0952, -0.0122, -0.0205, -1.4291, 6.8581, 1.5653, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:034f4c26368ca838f6501c86f7c92f1e07f6222adc22b913fc0e5ae4619e2902"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a434f3e4e776d8fb0a7dbf4f891fe93f7cfa39019ca7018539d30c8d4e6dcbb1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6878a6eda6e85b7e22fba9a8d85368fa6ecb611766a663772a8573555fe7ae9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.26, 2.3653, 1.0805, 0.9806, -0.2676, -0.1078, 0.9985, -0.0212, 0.8116, 0.6018, -0.6212, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5586 left_y=-0.0966 left_z=0.007 left_yaw=0.0154 left_pitch=0.2819 left_roll=-0.0035 left_gripper=0.9985 right_x=0.2568 right_y=0.0016 right_z=0.1291 right_yaw=0.0009 right_pitch=-0.2468 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -9.8803, 5.6, 1.9365, 0.0073, 0.1929, -0.0122, -0.1026, -1.2103, 6.8171, 1.6142, -0.0415, -0.022, -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\": 0.6, \"left_y\": -0.112, \"left_z\": 0.005, \"left_pitch\": 0.3}, \"note\": \"Top view shows the block slightly forward and to the arm's right of the fingertips, and the wrist camera doesn't see it, confirming it is off to the side. Moving forward and ~1.7cm to the right to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TUw2tDvtw8JokbDJ3GNevk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01TUw2tDvtw8JokbDJ3GNevk"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2516, 2.4485, 1.2537, 0.9249, -0.2855, -0.1169, 0.9985, -0.0212, 0.8162, 0.601, -0.6434, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5944 left_y=-0.0977 left_z=0.0112 left_yaw=0.0477 left_pitch=0.3162 left_roll=-0.0178 left_gripper=0.9985 right_x=0.2527 right_y=0.0018 right_z=0.1241 right_yaw=0.0012 right_pitch=-0.2742 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-1.4564, -11.7402, 5.7504, 1.9072, -0.0611, -0.0464, -0.0122, -0.0479, -1.1419, 6.8034, 1.5604, -0.0513, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0cd7a9af13e791b285da837eff61c9ab840cbe5c2a37bf16d7a7ed3036deb4e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ccb47b09675d669bb9c9d17c72dc94cb9a69ea5a567d25bdbfe07581e5b8522"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a8baf7a48fdd100b20f1902d35921402058db9005db706f759521022139d8450"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2485, 2.4149, 1.1732, 0.9646, -0.2668, -0.1093, 0.9985, -0.0212, 0.8162, 0.6014, -0.6357, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5792 left_y=-0.0952 left_z=0.0094 left_yaw=0.0293 left_pitch=0.3079 left_roll=-0.013 left_gripper=0.9985 right_x=0.2542 right_y=0.0017 right_z=0.1255 right_yaw=0.001 right_pitch=-0.2662 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.1385, 5.6957, 1.8584, 0.0952, 0.0952, -0.0122, -0.0205, -1.4291, 6.8581, 1.5653, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.1, \"left_z\": 0.0, \"left_pitch\": 0.45}, \"note\": \"The fingertips are right next to the block in the top view but it's not yet between the jaws. Pitching down more and pushing to the reach limit to get the grasp point over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EFPS6dMV6TNkHeHroxL9Yp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01EFPS6dMV6TNkHeHroxL9Yp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2604, 2.5416, 1.2842, 1.1419, -0.3038, -0.0742, 0.9985, -0.0212, 0.8181, 0.601, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6019 left_y=-0.1019 left_z=0.0193 left_yaw=0.0495 left_pitch=0.4649 left_roll=-0.0188 left_gripper=0.9985 right_x=0.25 right_y=0.0018 right_z=0.1213 right_yaw=0.0011 right_pitch=-0.2906 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.6615, 5.4222, 1.3993, 0.0269, -0.1832, -0.0122, -0.0889, -1.3197, 6.8991, 1.619, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ed60b9f7feb6080522e4b2b7adb70ac4e3e1af20d592a137c7d5390ff19ae87"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82c5adb74231026c1a7ba33cf17125eb14fad40cdb8025c34636d048a9d42371"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8732de590aea95509c56b7030269f365bb465205bcd2c7b6ca694710d371bbe2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2516, 2.4485, 1.2537, 0.9249, -0.2855, -0.1169, 0.9985, -0.0212, 0.8162, 0.601, -0.6434, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5944 left_y=-0.0977 left_z=0.0112 left_yaw=0.0477 left_pitch=0.3162 left_roll=-0.0178 left_gripper=0.9985 right_x=0.2527 right_y=0.0018 right_z=0.1241 right_yaw=0.0012 right_pitch=-0.2742 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-1.4564, -11.7402, 5.7504, 1.9072, -0.0611, -0.0464, -0.0122, -0.0479, -1.1419, 6.8034, 1.5604, -0.0513, -0.0171, -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\": -0.103, \"left_z\": -0.01, \"left_pitch\": 0.6}, \"note\": \"I'm at the x=0.6 workspace limit and the block sits right at the fingertip line. Pitching the tool down further and lowering so the fingertips reach over the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Mr5stT6dRCyAEq6aVkWVE1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Mr5stT6dRCyAEq6aVkWVE1"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2604, 2.553, 1.2858, 1.1778, -0.3046, -0.0715, 0.9985, -0.0212, 0.8211, 0.601, -0.6735, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6021 left_y=-0.1019 left_z=0.0217 left_yaw=0.0527 left_pitch=0.4896 left_roll=-0.0247 left_gripper=0.9985 right_x=0.247 right_y=0.0018 right_z=0.1182 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -10.0444, 5.0667, 1.7314, -0.0269, -0.0855, -0.0171, -0.1846, -1.2376, 6.735, 1.5311, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c1df210af837a705fad73141afef9f6ca98c8957c80e15fe31646e85490ccaff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b57248bd9504fc4912ae213e2ee08987341ff62f0ea1ae769546c4d451146626"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4c4179f019295b9b04fe7e627bb2c5708704b5f607f6082b0319e9a381dfbe9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2604, 2.5416, 1.2842, 1.1419, -0.3038, -0.0742, 0.9985, -0.0212, 0.8181, 0.601, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6019 left_y=-0.1019 left_z=0.0193 left_yaw=0.0495 left_pitch=0.4649 left_roll=-0.0188 left_gripper=0.9985 right_x=0.25 right_y=0.0018 right_z=0.1213 right_yaw=0.0011 right_pitch=-0.2906 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.6615, 5.4222, 1.3993, 0.0269, -0.1832, -0.0122, -0.0889, -1.3197, 6.8991, 1.619, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.1, \"right_z\": 0.12, \"right_pitch\": 0.3, \"right_gripper\": 1}, \"note\": \"The left arm is pinned at its x=0.6 workspace limit and the block still lies a few cm beyond its fingertips, so it cannot reach. The right arm faces from the other side (its wrist camera sees the bowl), so I'm bringing the right arm forward toward the block area instead.\"}",
        "name": "move_to"
      },
      "id": "toolu_01X2FQ81qhRQYzx17z31176A",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 21 steps (2.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01X2FQ81qhRQYzx17z31176A"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2611, 2.553, 1.2827, 1.1889, -0.305, -0.075, 0.9985, 0.3218, 1.6894, 0.6235, 0.6331, 0.2813, 0.0864, 0.9997]\nstate[eef_state]: left_x=0.6015 left_y=-0.1021 left_z=0.0232 left_yaw=0.0558 left_pitch=0.4972 left_roll=-0.0314 left_gripper=0.9985 right_x=0.4319 right_y=0.0961 right_z=0.0884 right_yaw=0.0268 right_pitch=0.1693 right_roll=-0.0256 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -13.3128, 3.9726, 1.7998, -0.1001, -0.0171, -0.0122, 0.4718, -7.1179, 7.3231, 2.337, 0.232, 0.0415, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea606bca9f75a637245a5ede1834e3e498df439a2fc4a121a5d8ce7412989b07"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00c81a4d2cd10aff2fb17062eb61b8523196d57269820db4be332a8d29f4ec18"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c097330e549222d03afc03c0ec1009f042b09fc394fd0848c77a628a0642788b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

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]: [-0.2604, 2.553, 1.2858, 1.1778, -0.3046, -0.0715, 0.9985, -0.0212, 0.8211, 0.601, -0.6735, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6021 left_y=-0.1019 left_z=0.0217 left_yaw=0.0527 left_pitch=0.4896 left_roll=-0.0247 left_gripper=0.9985 right_x=0.247 right_y=0.0018 right_z=0.1182 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -10.0444, 5.0667, 1.7314, -0.0269, -0.0855, -0.0171, -0.1846, -1.2376, 6.735, 1.5311, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.53, \"right_y\": 0.1, \"right_z\": 0.03, \"right_pitch\": 0.3}, \"note\": \"The right arm is now above the table with the block still to its front-left in the top view. Advancing the right arm forward and lowering toward table height to approach the red block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PTpmYVnYWyLEtaHaVEBg3p",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01PTpmYVnYWyLEtaHaVEBg3p"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2611, 2.553, 1.2816, 1.1919, -0.305, -0.075, 0.9985, 0.2619, 2.2047, 0.9039, 0.9413, 0.2302, 0.0345, 0.9996]\nstate[eef_state]: left_x=0.6013 left_y=-0.1021 left_z=0.0235 left_yaw=0.0561 left_pitch=0.499 left_roll=-0.032 left_gripper=0.9985 right_x=0.5179 right_y=0.1008 right_z=0.0196 right_yaw=0.0356 right_pitch=0.2342 right_roll=-0.036 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -13.1761, 4.2188, 1.873, -0.0952, -0.0415, -0.0122, -0.6085, -10.0855, 5.2034, 2.2637, 0.0611, 0.0122, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:210b0df0dcd27b6f6252b4ec8ac9c54be2b40f6be6be49ae28c2c07089093071"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:881e8ec2aefbdd3f799bf4aeec2450d76626488f8e6aaed3910cb4ff870aa2e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8194f18149584087ee8504a9c8d06faa17ae186a0d0c800474448c78d1e3d1d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

effort

medium

temperature

n/a

tool count

3

message 44 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]: [-0.2611, 2.553, 1.2827, 1.1889, -0.305, -0.075, 0.9985, 0.3218, 1.6894, 0.6235, 0.6331, 0.2813, 0.0864, 0.9997]\nstate[eef_state]: left_x=0.6015 left_y=-0.1021 left_z=0.0232 left_yaw=0.0558 left_pitch=0.4972 left_roll=-0.0314 left_gripper=0.9985 right_x=0.4319 right_y=0.0961 right_z=0.0884 right_yaw=0.0268 right_pitch=0.1693 right_roll=-0.0256 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -13.3128, 3.9726, 1.7998, -0.1001, -0.0171, -0.0122, 0.4718, -7.1179, 7.3231, 2.337, 0.232, 0.0415, -0.0464]\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\": {\"right_x\": 0.52, \"right_y\": 0.2, \"right_z\": 0.09, \"right_pitch\": 0.3}, \"note\": \"The right arm's approach brushed near the bowl, which now looks tilted in the top view. Lifting slightly and shifting left (toward the block, past the bowl) to line up over the red block without hitting the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GkUmbsqgLGp1hg2PnM6nzd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01GkUmbsqgLGp1hg2PnM6nzd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2615, 2.553, 1.2816, 1.1923, -0.305, -0.0753, 0.9985, 0.4938, 2.1483, 1.0565, 0.6949, 0.4225, 0.0776, 0.9996]\nstate[eef_state]: left_x=0.6013 left_y=-0.1023 left_z=0.0236 left_yaw=0.056 left_pitch=0.4993 left_roll=-0.0326 left_gripper=0.9985 right_x=0.5114 right_y=0.1971 right_z=0.0542 right_yaw=0.0827 right_pitch=0.2223 right_roll=-0.0757 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -13.012, 4.2325, 1.8974, -0.0952, -0.0611, -0.0122, 0.2667, -14.0513, 7.5419, 2.3761, 0.2564, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07a46d5a75783603ba01b50250e7e3ac03a7b50bb921f088c2775f27082c2c11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2d4d43d5a553030ae25ab287b7f86117ebacfe898835409fe63fa8cd4229b847"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9a89152028f5c570ea99b4e2a708eae9d11f550604e97891eb15d198e120575"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5

effort

medium

temperature

n/a

tool count

3

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