adhoc

completed
2026-09-03T05:02:24.986895+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
453.3 s
total steps
126
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y

Grader notes

trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
Let me start by moving the left arm over toward the red block, which appears to the left arm's right (negative y) at roughly the same forward distance as the gripper.
agent noteTop camera shows the red block about 22 cm to the right of the left gripper and the bowl further right; the left wrist camera sees the block at its lower-right. Moving the left arm sideways over the block at a safe height to line up.
move_to
left_x0.3000left_y-0.2200left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.384, -0.0193, -0.0322, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0273, 0.9996] state[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.7179, -1.4701, 10.2906, 1.8486, -0.0904, 0.188, -0.0904, -0.3487, -1.5932, 9.8667, 1.917, -0.0415, 0.1099, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
Let me start by moving the left arm over toward the red block, which appears to the left arm's right (negative y) at roughly the same forward distance as the gripper.
move_to({"targets": {"left_x": 0.3, "left_y": -0.22, "left_z": 0.12, "left_gripper": 1.0}, "note": "Top camera shows the red block about 22 cm to the right of the left gripper and the bowl further right; the left wrist camera sees the block at its lower-right. Moving the left arm sideways over the block at a safe height to line up."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left wrist camera now shows the red block centered between the open jaws, slightly ahead of the fingertips. Descending toward table height while nudging forward a couple of centimeters to bracket the block.
move_to
left_x0.3200left_y-0.2100left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9722, 1.4532, 0.7551, -0.2096, -0.7414, -0.683, 0.9993, -0.0212, 0.7998, 0.606, -0.432, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2923 left_y=-0.2105 left_z=0.1049 left_yaw=-0.0238 left_pitch=-0.0494 left_roll=0.0403 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1687 right_yaw=0.0012 right_pitch=-0.0419 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.3624, -5.8872, 8.7726, 1.4579, -0.5983, -0.022, -0.0855, -0.1846, -1.7299, 6.9675, 2.0537, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.21, "left_z": 0.04, "left_gripper": 1.0}, "note": "The left wrist camera now shows the red block centered between the open jaws, slightly ahead of the fingertips. Descending toward table height while nudging forward a couple of centimeters to bracket the block."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteWrist camera shows the block centered laterally between the jaws but still a bit forward of the fingertips. Moving forward ~2.5 cm and down to just above the table so the jaws straddle the block.
move_to
left_x0.3350left_y-0.2000left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8951, 1.6726, 0.6659, 0.0658, -0.6991, -0.6258, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3101 left_y=-0.1993 left_z=0.0339 left_yaw=-0.0028 left_pitch=-0.0987 left_roll=0.0921 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1632 right_yaw=0.0014 right_pitch=-0.0679 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.3077, -7.1043, 4.7932, 1.5897, -0.2857, 0.1294, -0.0855, -0.0479, -1.5385, 6.9812, 1.8779, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.2, "left_z": 0.005, "left_gripper": 1.0}, "note": "Wrist camera shows the block centered laterally between the jaws but still a bit forward of the fingertips. Moving forward ~2.5 cm and down to just above the table so the jaws straddle the block."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe block now sits between the jaw tips but still slightly ahead; z only reached 0.019. Pushing forward ~2 cm more and to table level so the block is fully inside the jaws before closing.
move_to
left_x0.3500left_y-0.2000left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8566, 1.771, 0.6754, 0.2043, -0.6811, -0.5934, 0.9993, -0.0212, 0.8032, 0.6056, -0.4572, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.328 left_y=-0.2031 left_z=0.0192 left_yaw=0.003 left_pitch=-0.0793 left_roll=0.0705 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1626 right_yaw=0.0012 right_pitch=-0.0709 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.6085, -7.2274, 5.3949, 1.1795, -0.3639, 0.1099, -0.0855, -0.0342, -1.1009, 6.9402, 1.7021, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.0, "left_gripper": 1.0}, "note": "The block now sits between the jaw tips but still slightly ahead; z only reached 0.019. Pushing forward ~2 cm more and to table level so the block is fully inside the jaws before closing."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteGripper is at table level and the block is right at the jaw tips, still marginally ahead of the grasp point. Sliding forward ~2.5 cm more so the block sits deeper between the fingers.
move_to
left_x0.3650left_y-0.1900left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8108, 1.8488, 0.6788, 0.2798, -0.6666, -0.5682, 0.9993, -0.0212, 0.807, 0.6056, -0.4786, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.34 left_y=-0.194 left_z=0.0015 left_yaw=0.0254 left_pitch=-0.0882 left_roll=0.0822 left_gripper=0.9993 right_x=0.2815 right_y=0.0012 right_z=0.1575 right_yaw=0.0016 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [0.7043, -5.8598, 6.1607, 1.1209, -0.0464, 0.3101, -0.0904, -0.1026, -1.5385, 7.0632, 1.8242, -0.0757, -0.0024, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.19, "left_z": 0.0, "left_gripper": 1.0}, "note": "Gripper is at table level and the block is right at the jaw tips, still marginally ahead of the grasp point. Sliding forward ~2.5 cm more so the block sits deeper between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe wrist camera now shows the red block sitting between the two jaws at the bottom of the frame. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7952, 1.8683, 0.6872, 0.3187, -0.6575, -0.5537, 0.9993, -0.0212, 0.807, 0.6056, -0.4885, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3475 left_y=-0.1951 left_z=0.0013 left_yaw=0.0253 left_pitch=-0.0751 left_roll=0.0684 left_gripper=0.9993 right_x=0.2799 right_y=0.0011 right_z=0.1556 right_yaw=0.0015 right_pitch=-0.106 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [0.0342, -6.9675, 5.3949, 1.4286, -0.1538, 0.1734, -0.0855, -0.1709, -1.2376, 6.9265, 1.8974, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist camera now shows the red block sitting between the two jaws at the bottom of the frame. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe gripper closed on nothing — the top camera shows the block got squirted forward about 18 cm and now lies ahead of the gripper. Opening the jaws and moving forward above the block's new location to re-approach.
move_to
left_x0.5000left_y-0.1900left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7967, 1.8702, 0.6876, 0.3115, -0.6468, -0.5434, 0.0089, -0.0212, 0.8074, 0.6056, -0.5007, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3458 left_y=-0.1963 left_z=-0.0011 left_yaw=0.0113 left_pitch=-0.0875 left_roll=0.0774 left_gripper=0.0089 right_x=0.278 right_y=0.0012 right_z=0.1532 right_yaw=0.0013 right_pitch=-0.1186 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.0615, -8.0615, 4.4786, 1.4432, -0.4225, -0.0952, 0.6813, -0.1709, -1.265, 7.1043, 1.7558, -0.0464, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.19, "left_z": 0.1, "left_gripper": 1.0}, "note": "The gripper closed on nothing \u2014 the top camera shows the block got squirted forward about 18 cm and now lies ahead of the gripper. Opening the jaws and moving forward above the block's new location to re-approach."})
tool
executing move_to over 12 steps (1.2s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe wrist camera shows the block centered laterally but still ahead of the jaws (mid-frame). Moving forward ~6 cm and descending to just above the table to bracket it.
move_to
left_x0.5500left_y-0.1850left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5236, 1.9797, 1.3018, -0.0792, -0.4736, -0.3401, 0.996, -0.0212, 0.8101, 0.6056, -0.527, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4913 left_y=-0.1865 left_z=0.0914 left_yaw=0.0399 left_pitch=-0.0879 left_roll=0.0685 left_gripper=0.996 right_x=0.2738 right_y=0.0013 right_z=0.1476 right_yaw=0.0014 right_pitch=-0.1476 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.2393, -10.1265, 8.5538, 1.5458, -0.0122, 0.2125, -0.0073, -0.0342, -1.4291, 7.0769, 1.8193, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.185, "left_z": 0.03, "left_gripper": 1.0}, "note": "The wrist camera shows the block centered laterally but still ahead of the jaws (mid-frame). Moving forward ~6 cm and descending to just above the table to bracket it."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe block is now large and centered between the jaws in the wrist view, just at the fingertip line. Nudging forward 2 cm and down to table height so it's fully between the fingers before I close.
move_to
left_x0.5500left_y-0.1750left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4625, 2.2456, 1.4254, -0.0036, -0.4412, -0.3183, 0.9985, -0.0212, 0.8135, 0.6056, -0.5613, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.5294 left_y=-0.1757 left_z=0.0114 left_yaw=0.0682 left_pitch=-0.1579 left_roll=0.1005 left_gripper=0.9985 right_x=0.2682 right_y=0.0014 right_z=0.1405 right_yaw=0.0018 right_pitch=-0.1853 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.4308, -12.041, 8.212, 1.7998, -0.1343, 0.1832, -0.1685, -0.1026, -1.4838, 6.8991, 1.9512, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.175, "left_z": 0.0, "left_gripper": 1.0}, "note": "The block is now large and centered between the jaws in the wrist view, just at the fingertip line. Nudging forward 2 cm and down to table height so it's fully between the fingers before I close."})
tool
executing move_to over 2 steps (0.2s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe block is now between the jaws but offset toward the image-left (the +y side) and z stalled at 0.019. Shifting ~1.5 cm in +y and lowering to table level to center it before closing.
move_to
left_x0.5450left_y-0.1650left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.5732, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2655 right_y=0.0014 right_z=0.1363 right_yaw=0.0016 right_pitch=-0.2033 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [-0.0068, -12.5197, 7.6376, 1.7851, -0.1099, 0.1538, -0.1685, -0.0479, -1.2513, 7.1726, 1.7021, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.545, "left_y": -0.165, "left_z": 0.0, "left_gripper": 1.0}, "note": "The block is now between the jaws but offset toward the image-left (the +y side) and z stalled at 0.019. Shifting ~1.5 cm in +y and lowering to table level to center it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe arm didn't move at all on the last command — probably at its reach limit at x≈0.54 near table level. Pulling back slightly in x while shifting +y ~2 cm so the block (offset to image-left, i.e. +y) centers between the jaws.
move_to
left_x0.5350left_y-0.1600left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3061, 0.9985, -0.0212, 0.8158, 0.6018, -0.5915, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0571 left_pitch=-0.1241 left_roll=0.083 left_gripper=0.9985 right_x=0.2623 right_y=0.0015 right_z=0.1331 right_yaw=0.0017 right_pitch=-0.2216 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [0.0205, -12.4103, 7.788, 1.7705, -0.149, 0.1245, -0.1685, -0.1846, -1.1282, 6.8855, 1.663, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.535, "left_y": -0.16, "left_z": 0.005, "left_gripper": 1.0}, "note": "The arm didn't move at all on the last command \u2014 probably at its reach limit at x\u22480.54 near table level. Pulling back slightly in x while shifting +y ~2 cm so the block (offset to image-left, i.e. +y) centers between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe left arm is frozen — two commands produced no joint motion, so IK appears stuck at this stretched pose. Lifting up and retracting a bit to break free, while shifting +y toward where the block sits (image-left in the wrist camera).
move_to
left_x0.5200left_y-0.1500left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.6125, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0574 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2585 right_y=0.0016 right_z=0.1295 right_yaw=0.0018 right_pitch=-0.2425 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.0615, -12.3419, 7.6239, 1.8095, -0.149, 0.1343, -0.1685, -0.1573, -1.1419, 7.241, 1.7167, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.15, "left_z": 0.06, "left_gripper": 1.0}, "note": "The left arm is frozen \u2014 two commands produced no joint motion, so IK appears stuck at this stretched pose. Lifting up and retracting a bit to break free, while shifting +y toward where the block sits (image-left in the wrist camera)."})
tool
executing move_to over 3 steps (0.3s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteLeft arm still hasn't moved at all across three commands; joints are identical, so the IK seems stuck in this stretched configuration. Commanding a larger retreat up and back toward a comfortable pose to unstick it.
move_to
left_x0.4500left_y-0.1700left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0208, 0.8158, 0.6018, -0.6231, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2566 right_y=0.0017 right_z=0.1278 right_yaw=0.0023 right_pitch=-0.2532 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [-0.0068, -12.465, 7.6513, 1.8144, -0.1099, 0.1245, -0.1685, -0.0479, -1.1282, 6.8171, 1.6239, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.17, "left_z": 0.15, "left_gripper": 1.0}, "note": "Left arm still hasn't moved at all across three commands; joints are identical, so the IK seems stuck in this stretched configuration. Commanding a larger retreat up and back toward a comfortable pose to unstick it."})
tool
executing move_to over 9 steps (0.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe arm is free again and the wrist camera shows the block centered, a few cm ahead of the jaws. Descending onto it at x≈0.555 with the tool pitched forward so the stretched reach doesn't lock up the IK this time.
move_to
left_x0.5550left_y-0.1650left_z0.0100left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5354, 1.8233, 1.3056, -0.2863, -0.4732, -0.3668, 0.9985, -0.0212, 0.8177, 0.6014, -0.6426, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4612 left_y=-0.1758 left_z=0.135 left_yaw=0.045 left_pitch=-0.1264 left_roll=0.0729 left_gripper=0.9985 right_x=0.2529 right_y=0.0017 right_z=0.124 right_yaw=0.002 right_pitch=-0.275 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [-0.4855, -12.2325, 6.2974, 1.6142, -0.359, -0.0317, -0.1734, -0.1162, -0.8, 6.7761, 1.6337, -0.0513, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.555, "left_y": -0.165, "left_z": 0.01, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "The arm is free again and the wrist camera shows the block centered, a few cm ahead of the jaws. Descending onto it at x\u22480.555 with the tool pitched forward so the stretched reach doesn't lock up the IK this time."})
tool
executing move_to over 15 steps (1.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe wrist camera shows the red block filling the space right between the two jaws at table level. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4522, 2.376, 1.1793, 0.8314, -0.5198, -0.1501, 0.9985, -0.0212, 0.8192, 0.6014, -0.6651, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5477 left_y=-0.1646 left_z=0.0092 left_yaw=0.0616 left_pitch=0.2552 left_roll=0.0574 left_gripper=0.9985 right_x=0.2487 right_y=0.0018 right_z=0.1201 right_yaw=0.0022 right_pitch=-0.299 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.6085, -10.0718, 5.8735, 1.5067, -0.0415, 0.3297, -0.1685, -0.2393, -0.9504, 6.735, 1.6044, -0.0415, -0.0562, -0.0073] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The wrist camera shows the red block filling the space right between the two jaws at table level. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
The gripper stopped at 0.61 with rising effort — it's gripping the block. Now lifting and carrying it over the bowl.
agent noteGripper stalled at 0.61 with gripper effort up, so the block is held. Lifting to 20 cm and moving over the bowl, which the top camera shows about 15 cm to the right (−y) and slightly behind the block.
move_to
left_x0.4400left_y-0.3200left_z0.2000left_pitch0.0000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4519, 2.3974, 1.1847, 0.8757, -0.5201, -0.1612, 0.6099, -0.0212, 0.8192, 0.6014, -0.6788, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.5503 left_y=-0.1655 left_z=0.0087 left_yaw=0.0723 left_pitch=0.2801 left_roll=0.032 left_gripper=0.6099 right_x=0.246 right_y=0.0018 right_z=0.1179 right_yaw=0.0025 right_pitch=-0.3127 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [-0.0889, -13.9966, 4.3282, 1.3553, -0.1099, 0.0708, 1.033, -0.0479, -1.1282, 6.7214, 1.5116, -0.022, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
The gripper stopped at 0.61 with rising effort — it's gripping the block. Now lifting and carrying it over the bowl.
move_to({"targets": {"left_x": 0.44, "left_y": -0.32, "left_z": 0.2, "left_pitch": 0.0, "left_gripper": 0.6}, "note": "Gripper stalled at 0.61 with gripper effort up, so the block is held. Lifting to 20 cm and moving over the bowl, which the top camera shows about 15 cm to the right (\u2212y) and slightly behind the block."})
tool
executing move_to over 14 steps (1.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteBlock is held securely; in the top camera the bowl is below-right of the gripper, i.e. slightly closer to the base and further to −y, and the wrist camera doesn't see the bowl beneath. Moving back ~6 cm and right ~3 cm and lowering to just above the bowl rim.
move_to
left_x0.3850left_y-0.3500left_z0.0900left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8486, 2.0727, 1.7615, -0.4881, -0.7368, -0.6025, 0.6087, -0.0212, 0.8227, 0.6014, -0.6884, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4479 left_y=-0.3234 left_z=0.1816 left_yaw=0.0515 left_pitch=0.0116 left_roll=0.0187 left_gripper=0.6087 right_x=0.2442 right_y=0.0019 right_z=0.1157 right_yaw=0.0024 right_pitch=-0.3257 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [-0.2667, -12.2735, 9.1829, 1.4335, -0.4567, 0.0806, 1.0281, -0.0889, -1.4154, 6.7214, 1.4823, -0.0513, -0.022, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.35, "left_z": 0.09, "left_gripper": 0.6}, "note": "Block is held securely; in the top camera the bowl is below-right of the gripper, i.e. slightly closer to the base and further to \u2212y, and the wrist camera doesn't see the bowl beneath. Moving back ~6 cm and right ~3 cm and lowering to just above the bowl rim."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe wrist camera shows the bowl rim at the lower-right of the image, meaning the bowl center is a few cm further to −y and closer to the base than the block. Shifting there over the bowl interior and opening the gripper to drop the block in.
move_to
left_x0.3500left_y-0.3900left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9913, 2.0995, 1.4807, -0.3325, -0.7918, -0.7269, 0.6085, -0.0212, 0.8238, 0.6014, -0.7025, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3822 left_y=-0.3478 left_z=0.0888 left_yaw=0.0136 left_pitch=-0.039 left_roll=0.0632 left_gripper=0.6085 right_x=0.2414 right_y=0.0019 right_z=0.1133 right_yaw=0.0028 right_pitch=-0.3409 right_roll=0.0094 right_gripper=0.9996 state[joint_eff]: [-0.2393, -10.5231, 6.1333, 1.5751, -0.7448, -0.1197, 1.033, -0.1436, -0.9778, 6.9949, 1.536, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.39, "left_z": 0.07, "left_gripper": 1.0}, "note": "The wrist camera shows the bowl rim at the lower-right of the image, meaning the bowl center is a few cm further to \u2212y and closer to the base than the block. Shifting there over the bowl interior and opening the gripper to drop the block in."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
The wrist camera shows the red block resting inside the white bowl after release.
agent noteGrasped the red block with the left arm (after one failed attempt that pushed the block forward), carried it over the bowl at ~(0.35, -0.39) in the left base frame, and released it. The left wrist camera confirms the block lying inside the bowl.
done
hindsightLeft arm base frame: table surface is at about z≈0.0–0.02; block started ~(0.35,-0.20), bowl center is around (0.35,-0.39). The wrist camera looks along the tool: objects appearing 'ahead' in the image are at larger x, and image-left is +y. Closing the gripper when the block is at the fingertip line pushes it away (~18 cm) — make sure the block is well inside the jaws (bottom of wrist image) before closing. At x≈0.54 near z=0 with pitch 0 the IK locks completely (no joint motion on several commands); retreating up/back and using positive pitch (~0.3) lets you reach x≈0.55 at table level. Gripper closing stops at ~0.6 on the block with gripper effort rising to ~1 N·m, confirming a grasp. Gripper commands get delta-clamped, so full close/open takes ~10 steps.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-1.0893, 2.1952, 1.5684, -0.4019, -0.8291, -0.8368, 0.9953, -0.0212, 0.8238, 0.6014, -0.7185, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3528 left_y=-0.3862 left_z=0.069 left_yaw=-0.001 left_pitch=-0.0468 left_roll=0.0561 left_gripper=0.9953 right_x=0.2383 right_y=0.0021 right_z=0.111 right_yaw=0.003 right_pitch=-0.3569 right_roll=0.0104 right_gripper=0.9996 state[joint_eff]: [0.0068, -11.5487, 8.4991, 0.7937, -0.569, 0.0611, -0.1538, -0.2256, -0.7863, 6.6803, 1.5214, -0.0415, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
The wrist camera shows the red block resting inside the white bowl after release.
done({"summary": "Grasped the red block with the left arm (after one failed attempt that pushed the block forward), carried it over the bowl at ~(0.35, -0.39) in the left base frame, and released it. The left wrist camera confirms the block lying inside the bowl.", "hindsight": "Left arm base frame: table surface is at about z\u22480.0\u20130.02; block started ~(0.35,-0.20), bowl center is around (0.35,-0.39). The wrist camera looks along the tool: objects appearing 'ahead' in the image are at larger x, and image-left is +y. Closing the gripper when the block is at the fingertip line pushes it away (~18 cm) \u2014 make sure the block is well inside the jaws (bottom of wrist image) before closing. At x\u22480.54 near z=0 with pitch 0 the IK locks completely (no joint motion on several commands); retreating up/back and using positive pitch (~0.3) lets you reach x\u22480.55 at table level. Gripper closing stops at ~0.6 on the block with gripper effort rising to ~1 N\u00b7m, confirming a grasp. Gripper commands get delta-clamped, so full close/open takes ~10 steps."})
tool
done: Grasped the red block with the left arm (after one failed attempt that pushed the block forward), carried it over the bowl at ~(0.35, -0.39) in the left base frame, and released it. The left wrist camera confirms the block lying inside the bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 30.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.384, -0.0193, -0.0322, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -1.4701, 10.2906, 1.8486, -0.0904, 0.188, -0.0904, -0.3487, -1.5932, 9.8667, 1.917, -0.0415, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90e813434f1d5f396da93a5b231aa85a76e77ad6593783d9df9b8c91a3391352"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:afaac0c40d6e23b3bee2beea806da117461171f990b9b086c98e106f29788715"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5b5185ca3d530342637c81244eaf5863a7613869c3370340edb5941b905567a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 90e813434f1d
wire blob afaac0c40d6e
wire blob f5b5185ca3d5
call 1 attempt 0 · /chat/completions · status 200 · 7.782 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Let me start by moving the left arm over toward the red block, which appears to the left arm's right (negative y) at roughly the same forward distance as the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.3, \"left_y\": -0.22, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block about 22 cm to the right of the left gripper and the bowl further right; the left wrist camera sees the block at its lower-right. Moving the left arm sideways over the block at a safe height to line up.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QRV9eN8nzpKg4W2gGVeByq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 20 steps (2.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01QRV9eN8nzpKg4W2gGVeByq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9722, 1.4532, 0.7551, -0.2096, -0.7414, -0.683, 0.9993, -0.0212, 0.7998, 0.606, -0.432, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2923 left_y=-0.2105 left_z=0.1049 left_yaw=-0.0238 left_pitch=-0.0494 left_roll=0.0403 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1687 right_yaw=0.0012 right_pitch=-0.0419 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -5.8872, 8.7726, 1.4579, -0.5983, -0.022, -0.0855, -0.1846, -1.7299, 6.9675, 2.0537, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bf4a80861d73c1a6bfb1541ce9b0e45e98abd48dfd8d5768d31cdf3044c81c6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:219baa6fdee6c93a5e9f3819eb6c36731f9fccdd62a0016f1f15b9f8baf2a935"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f13f2c867e01d77a21092d7fffe22646b9cd47f5101b61237d6f9b975c3654bd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4bf4a80861d7
wire blob 219baa6fdee6
wire blob f13f2c867e01
call 2 attempt 0 · /chat/completions · status 200 · 7.399 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.384, -0.0193, -0.0322, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.0177, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0005 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -1.4701, 10.2906, 1.8486, -0.0904, 0.188, -0.0904, -0.3487, -1.5932, 9.8667, 1.917, -0.0415, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.32, \"left_y\": -0.21, \"left_z\": 0.04, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera now shows the red block centered between the open jaws, slightly ahead of the fingertips. Descending toward table height while nudging forward a couple of centimeters to bracket the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01D5JA6zUfV74zDnvuBnPc1h",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01D5JA6zUfV74zDnvuBnPc1h"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8951, 1.6726, 0.6659, 0.0658, -0.6991, -0.6258, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3101 left_y=-0.1993 left_z=0.0339 left_yaw=-0.0028 left_pitch=-0.0987 left_roll=0.0921 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1632 right_yaw=0.0014 right_pitch=-0.0679 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.1043, 4.7932, 1.5897, -0.2857, 0.1294, -0.0855, -0.0479, -1.5385, 6.9812, 1.8779, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e70cfbec59e9ae15dd16ee0416e35ca72ca6b7725da4e1d46ddcc0db271afa32"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd8e91d035a1a9d0c6eed85fa109f5a7b01c7110a7224da7ad6b3fc45899a39c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdc6e100145e368bf75dca9c37d9af9d5361edf7c5b89d041c0b7fc2fef0f2aa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e70cfbec59e9
wire blob dd8e91d035a1
wire blob cdc6e100145e
call 3 attempt 0 · /chat/completions · status 200 · 7.936 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9722, 1.4532, 0.7551, -0.2096, -0.7414, -0.683, 0.9993, -0.0212, 0.7998, 0.606, -0.432, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2923 left_y=-0.2105 left_z=0.1049 left_yaw=-0.0238 left_pitch=-0.0494 left_roll=0.0403 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1687 right_yaw=0.0012 right_pitch=-0.0419 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -5.8872, 8.7726, 1.4579, -0.5983, -0.022, -0.0855, -0.1846, -1.7299, 6.9675, 2.0537, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.335, \"left_y\": -0.2, \"left_z\": 0.005, \"left_gripper\": 1.0}, \"note\": \"Wrist camera shows the block centered laterally between the jaws but still a bit forward of the fingertips. Moving forward ~2.5 cm and down to just above the table so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016FdBPHCEL2dL6Mh6HSFSJN",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_016FdBPHCEL2dL6Mh6HSFSJN"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8566, 1.771, 0.6754, 0.2043, -0.6811, -0.5934, 0.9993, -0.0212, 0.8032, 0.6056, -0.4572, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.328 left_y=-0.2031 left_z=0.0192 left_yaw=0.003 left_pitch=-0.0793 left_roll=0.0705 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1626 right_yaw=0.0012 right_pitch=-0.0709 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -7.2274, 5.3949, 1.1795, -0.3639, 0.1099, -0.0855, -0.0342, -1.1009, 6.9402, 1.7021, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a25aa24b0eeb8d1f1f4dfdeda70f552bdc83699ed85373d6073baef82c1b2ea5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:68438ffcc11dec55e264275f7bd0f2b0845f0d7fbbc997638d6ee21307d16709"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:327d0f9858eeb0581e465efc4a464f0e49a9a837e2822f154d776449b3953e6a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a25aa24b0eeb
wire blob 68438ffcc11d
wire blob 327d0f9858ee
call 4 attempt 0 · /chat/completions · status 200 · 6.035 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8951, 1.6726, 0.6659, 0.0658, -0.6991, -0.6258, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3101 left_y=-0.1993 left_z=0.0339 left_yaw=-0.0028 left_pitch=-0.0987 left_roll=0.0921 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1632 right_yaw=0.0014 right_pitch=-0.0679 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.1043, 4.7932, 1.5897, -0.2857, 0.1294, -0.0855, -0.0479, -1.5385, 6.9812, 1.8779, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.2, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block now sits between the jaw tips but still slightly ahead; z only reached 0.019. Pushing forward ~2 cm more and to table level so the block is fully inside the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VzaEpcJV8PrpUzoKYGRqoo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01VzaEpcJV8PrpUzoKYGRqoo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8108, 1.8488, 0.6788, 0.2798, -0.6666, -0.5682, 0.9993, -0.0212, 0.807, 0.6056, -0.4786, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.194 left_z=0.0015 left_yaw=0.0254 left_pitch=-0.0882 left_roll=0.0822 left_gripper=0.9993 right_x=0.2815 right_y=0.0012 right_z=0.1575 right_yaw=0.0016 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.7043, -5.8598, 6.1607, 1.1209, -0.0464, 0.3101, -0.0904, -0.1026, -1.5385, 7.0632, 1.8242, -0.0757, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00c199f5aa8ded163c48099070a037fce0f1883b71e40f596f8775afc4ab5c87"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:328a8e9cac0386ee69a4365bac05f9ef388235a85884d2a00211fdf9f0aabf3a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8cc8eb1c77b83ffd63522138cc6e80c6ea8034065a8cafa8e5287af171d3ba09"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 00c199f5aa8d
wire blob 328a8e9cac03
wire blob 8cc8eb1c77b8
call 5 attempt 0 · /chat/completions · status 200 · 6.64 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8566, 1.771, 0.6754, 0.2043, -0.6811, -0.5934, 0.9993, -0.0212, 0.8032, 0.6056, -0.4572, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.328 left_y=-0.2031 left_z=0.0192 left_yaw=0.003 left_pitch=-0.0793 left_roll=0.0705 left_gripper=0.9993 right_x=0.2846 right_y=0.001 right_z=0.1626 right_yaw=0.0012 right_pitch=-0.0709 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -7.2274, 5.3949, 1.1795, -0.3639, 0.1099, -0.0855, -0.0342, -1.1009, 6.9402, 1.7021, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.365, \"left_y\": -0.19, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Gripper is at table level and the block is right at the jaw tips, still marginally ahead of the grasp point. Sliding forward ~2.5 cm more so the block sits deeper between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BtN9954PqmKLygKApRtcT9",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BtN9954PqmKLygKApRtcT9"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7952, 1.8683, 0.6872, 0.3187, -0.6575, -0.5537, 0.9993, -0.0212, 0.807, 0.6056, -0.4885, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1951 left_z=0.0013 left_yaw=0.0253 left_pitch=-0.0751 left_roll=0.0684 left_gripper=0.9993 right_x=0.2799 right_y=0.0011 right_z=0.1556 right_yaw=0.0015 right_pitch=-0.106 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 5.3949, 1.4286, -0.1538, 0.1734, -0.0855, -0.1709, -1.2376, 6.9265, 1.8974, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d37cec142ae46892317590b61ecbfac05c80bb37dd0c923ba57bf3d57f87801b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:312d0cb5501a8038f0257caba713410d02dbf70a77c3842bb0e979c38597747e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80b8f29acac6f11ecd5dd2a1b01f35b2ba7030b5f55d50367a7d8b36a537d8e0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d37cec142ae4
wire blob 312d0cb5501a
wire blob 80b8f29acac6
call 6 attempt 0 · /chat/completions · status 200 · 12.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8108, 1.8488, 0.6788, 0.2798, -0.6666, -0.5682, 0.9993, -0.0212, 0.807, 0.6056, -0.4786, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.194 left_z=0.0015 left_yaw=0.0254 left_pitch=-0.0882 left_roll=0.0822 left_gripper=0.9993 right_x=0.2815 right_y=0.0012 right_z=0.1575 right_yaw=0.0016 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.7043, -5.8598, 6.1607, 1.1209, -0.0464, 0.3101, -0.0904, -0.1026, -1.5385, 7.0632, 1.8242, -0.0757, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The wrist camera now shows the red block sitting between the two jaws at the bottom of the frame. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Gd9EZLispdAgSCPJHGgqfG",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Gd9EZLispdAgSCPJHGgqfG"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7967, 1.8702, 0.6876, 0.3115, -0.6468, -0.5434, 0.0089, -0.0212, 0.8074, 0.6056, -0.5007, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3458 left_y=-0.1963 left_z=-0.0011 left_yaw=0.0113 left_pitch=-0.0875 left_roll=0.0774 left_gripper=0.0089 right_x=0.278 right_y=0.0012 right_z=0.1532 right_yaw=0.0013 right_pitch=-0.1186 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.0615, 4.4786, 1.4432, -0.4225, -0.0952, 0.6813, -0.1709, -1.265, 7.1043, 1.7558, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab558ecdb8bfbaca1bc5062c96953af9b87c3db520e53aaaee3ef4ef37b77a92"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82f4bd1a540e3a7edb437df054331679016dfa405ec66ff3c48f5711737b7149"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:806eab334e2bb9ab5c9e7f3b71cec0974763a052b34b483bb1b4a57d9a749a99"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ab558ecdb8bf
wire blob 82f4bd1a540e
wire blob 806eab334e2b
call 7 attempt 0 · /chat/completions · status 200 · 8.101 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7952, 1.8683, 0.6872, 0.3187, -0.6575, -0.5537, 0.9993, -0.0212, 0.807, 0.6056, -0.4885, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1951 left_z=0.0013 left_yaw=0.0253 left_pitch=-0.0751 left_roll=0.0684 left_gripper=0.9993 right_x=0.2799 right_y=0.0011 right_z=0.1556 right_yaw=0.0015 right_pitch=-0.106 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 5.3949, 1.4286, -0.1538, 0.1734, -0.0855, -0.1709, -1.2376, 6.9265, 1.8974, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.19, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"The gripper closed on nothing \\u2014 the top camera shows the block got squirted forward about 18 cm and now lies ahead of the gripper. Opening the jaws and moving forward above the block's new location to re-approach.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KuZGPp54R6tYfNHv58ypxc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01KuZGPp54R6tYfNHv58ypxc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5236, 1.9797, 1.3018, -0.0792, -0.4736, -0.3401, 0.996, -0.0212, 0.8101, 0.6056, -0.527, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.1865 left_z=0.0914 left_yaw=0.0399 left_pitch=-0.0879 left_roll=0.0685 left_gripper=0.996 right_x=0.2738 right_y=0.0013 right_z=0.1476 right_yaw=0.0014 right_pitch=-0.1476 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -10.1265, 8.5538, 1.5458, -0.0122, 0.2125, -0.0073, -0.0342, -1.4291, 7.0769, 1.8193, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:312c76771b99cccd4094def83c6c855ed039126dca3b8be10ee40940fc330c92"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4240a849b61e54436f3dc82b9c3c9013ca6bbe0799c984eb2e11984628814fc5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aecb0d195dba81bb1257b7195747d94dd8ee52c94c7e78b7683eb36acf3d603d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 312c76771b99
wire blob 4240a849b61e
wire blob aecb0d195dba
call 8 attempt 0 · /chat/completions · status 200 · 9.592 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7967, 1.8702, 0.6876, 0.3115, -0.6468, -0.5434, 0.0089, -0.0212, 0.8074, 0.6056, -0.5007, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3458 left_y=-0.1963 left_z=-0.0011 left_yaw=0.0113 left_pitch=-0.0875 left_roll=0.0774 left_gripper=0.0089 right_x=0.278 right_y=0.0012 right_z=0.1532 right_yaw=0.0013 right_pitch=-0.1186 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -8.0615, 4.4786, 1.4432, -0.4225, -0.0952, 0.6813, -0.1709, -1.265, 7.1043, 1.7558, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.185, \"left_z\": 0.03, \"left_gripper\": 1.0}, \"note\": \"The wrist camera shows the block centered laterally but still ahead of the jaws (mid-frame). Moving forward ~6 cm and descending to just above the table to bracket it.\"}",
        "name": "move_to"
      },
      "id": "toolu_014AAhNpnWg6pJj94cRrLkZn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_014AAhNpnWg6pJj94cRrLkZn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4625, 2.2456, 1.4254, -0.0036, -0.4412, -0.3183, 0.9985, -0.0212, 0.8135, 0.6056, -0.5613, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.5294 left_y=-0.1757 left_z=0.0114 left_yaw=0.0682 left_pitch=-0.1579 left_roll=0.1005 left_gripper=0.9985 right_x=0.2682 right_y=0.0014 right_z=0.1405 right_yaw=0.0018 right_pitch=-0.1853 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -12.041, 8.212, 1.7998, -0.1343, 0.1832, -0.1685, -0.1026, -1.4838, 6.8991, 1.9512, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7466fb0e878db3f094ad07310237a9e28739552bcaee4ef0170cd8323c22199f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:147829b42ba094751cd876cd4e8869bc5f0435d5a8deebfaa9ce0fff2bc1ff26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eeee4db3f2acd1c8b741af93629e709b1f5195f89449625c01ecc9d34f8d8145"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7466fb0e878d
wire blob 147829b42ba0
wire blob eeee4db3f2ac
call 9 attempt 0 · /chat/completions · status 200 · 14.81 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5236, 1.9797, 1.3018, -0.0792, -0.4736, -0.3401, 0.996, -0.0212, 0.8101, 0.6056, -0.527, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.1865 left_z=0.0914 left_yaw=0.0399 left_pitch=-0.0879 left_roll=0.0685 left_gripper=0.996 right_x=0.2738 right_y=0.0013 right_z=0.1476 right_yaw=0.0014 right_pitch=-0.1476 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -10.1265, 8.5538, 1.5458, -0.0122, 0.2125, -0.0073, -0.0342, -1.4291, 7.0769, 1.8193, -0.0366, -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\": 0.55, \"left_y\": -0.175, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now large and centered between the jaws in the wrist view, just at the fingertip line. Nudging forward 2 cm and down to table height so it's fully between the fingers before I close.\"}",
        "name": "move_to"
      },
      "id": "toolu_01C3FWy9M4Ce8C7wyop5DEt4",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01C3FWy9M4Ce8C7wyop5DEt4"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.5732, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2655 right_y=0.0014 right_z=0.1363 right_yaw=0.0016 right_pitch=-0.2033 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.5197, 7.6376, 1.7851, -0.1099, 0.1538, -0.1685, -0.0479, -1.2513, 7.1726, 1.7021, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:968173afc0f3c0ccba9fcb8b862435285cd2c381fa2ee3c0e48224cb737c638f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17d766490583fd1bff4eab1883e0c4a68a191e32f1d57674e5f413389bcd4d7b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2300e8744289a37f62a39c17ad6d66cbbbbd55b573f58b8c635c3d00feb1f6f7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 968173afc0f3
wire blob 17d766490583
wire blob 2300e8744289
call 10 attempt 0 · /chat/completions · status 200 · 9.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4625, 2.2456, 1.4254, -0.0036, -0.4412, -0.3183, 0.9985, -0.0212, 0.8135, 0.6056, -0.5613, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.5294 left_y=-0.1757 left_z=0.0114 left_yaw=0.0682 left_pitch=-0.1579 left_roll=0.1005 left_gripper=0.9985 right_x=0.2682 right_y=0.0014 right_z=0.1405 right_yaw=0.0018 right_pitch=-0.1853 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -12.041, 8.212, 1.7998, -0.1343, 0.1832, -0.1685, -0.1026, -1.4838, 6.8991, 1.9512, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.545, \"left_y\": -0.165, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now between the jaws but offset toward the image-left (the +y side) and z stalled at 0.019. Shifting ~1.5 cm in +y and lowering to table level to center it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_0165ywkheCdnTjvVs4ZxXk1X",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0165ywkheCdnTjvVs4ZxXk1X"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3061, 0.9985, -0.0212, 0.8158, 0.6018, -0.5915, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0571 left_pitch=-0.1241 left_roll=0.083 left_gripper=0.9985 right_x=0.2623 right_y=0.0015 right_z=0.1331 right_yaw=0.0017 right_pitch=-0.2216 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -12.4103, 7.788, 1.7705, -0.149, 0.1245, -0.1685, -0.1846, -1.1282, 6.8855, 1.663, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6eb79b1ee1228de7aa79b8499f16b743bfc35872e967e299ef318505feed6479"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:717628e67bcb00e98e6a66b90d8975d805848320ddd8a2d6c5a9c3609831caa1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f9a9904b6ffb9487d92025102433e7def9a144be8e83d27c03fb5ec20446771a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6eb79b1ee122
wire blob 717628e67bcb
wire blob f9a9904b6ffb
call 11 attempt 0 · /chat/completions · status 200 · 10.48 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.5732, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2655 right_y=0.0014 right_z=0.1363 right_yaw=0.0016 right_pitch=-0.2033 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.5197, 7.6376, 1.7851, -0.1099, 0.1538, -0.1685, -0.0479, -1.2513, 7.1726, 1.7021, -0.0464, -0.0317, -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\": 0.535, \"left_y\": -0.16, \"left_z\": 0.005, \"left_gripper\": 1.0}, \"note\": \"The arm didn't move at all on the last command \\u2014 probably at its reach limit at x\\u22480.54 near table level. Pulling back slightly in x while shifting +y ~2 cm so the block (offset to image-left, i.e. +y) centers between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0157kJizHXt1gNFvTakCek2t",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0157kJizHXt1gNFvTakCek2t"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0574 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2585 right_y=0.0016 right_z=0.1295 right_yaw=0.0018 right_pitch=-0.2425 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -12.3419, 7.6239, 1.8095, -0.149, 0.1343, -0.1685, -0.1573, -1.1419, 7.241, 1.7167, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9d981e3faed1d24f2d3579bcf1ba7d6c905023af596d896b1f806ccf94c5eee3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d0acf6011f8232747d5ed13a68c80ae8e293f7f1674ea0099955ab1f9635f69"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b695d3412bb33972189f57095694020b109781d4ad3ae6715b2e9fac13ca6573"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9d981e3faed1
wire blob 6d0acf6011f8
wire blob b695d3412bb3
call 12 attempt 0 · /chat/completions · status 200 · 7.051 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3061, 0.9985, -0.0212, 0.8158, 0.6018, -0.5915, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0571 left_pitch=-0.1241 left_roll=0.083 left_gripper=0.9985 right_x=0.2623 right_y=0.0015 right_z=0.1331 right_yaw=0.0017 right_pitch=-0.2216 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -12.4103, 7.788, 1.7705, -0.149, 0.1245, -0.1685, -0.1846, -1.1282, 6.8855, 1.663, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.15, \"left_z\": 0.06, \"left_gripper\": 1.0}, \"note\": \"The left arm is frozen \\u2014 two commands produced no joint motion, so IK appears stuck at this stretched pose. Lifting up and retracting a bit to break free, while shifting +y toward where the block sits (image-left in the wrist camera).\"}",
        "name": "move_to"
      },
      "id": "toolu_01XNGpGtBTprhTdUKngvqugS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01XNGpGtBTprhTdUKngvqugS"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0208, 0.8158, 0.6018, -0.6231, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2566 right_y=0.0017 right_z=0.1278 right_yaw=0.0023 right_pitch=-0.2532 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.465, 7.6513, 1.8144, -0.1099, 0.1245, -0.1685, -0.0479, -1.1282, 6.8171, 1.6239, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9546890d7539624ec371f9010c05762d91c032661f0e96893b56ae0eb0ee24e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a982783b3cb8bb89eef98fa6f9d17d1572262f62447345eb7c3aef2b90fc96a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:828e5f529047bb9fc477ce8d08f16fcdba871215779586407464f6a4a167df80"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9546890d7539
wire blob a982783b3cb8
wire blob 828e5f529047
call 13 attempt 0 · /chat/completions · status 200 · 12.35 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4576, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0212, 0.8158, 0.6018, -0.6125, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.541 left_y=-0.1798 left_z=0.0192 left_yaw=0.0574 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2585 right_y=0.0016 right_z=0.1295 right_yaw=0.0018 right_pitch=-0.2425 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -12.3419, 7.6239, 1.8095, -0.149, 0.1343, -0.1685, -0.1573, -1.1419, 7.241, 1.7167, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.17, \"left_z\": 0.15, \"left_gripper\": 1.0}, \"note\": \"Left arm still hasn't moved at all across three commands; joints are identical, so the IK seems stuck in this stretched configuration. Commanding a larger retreat up and back toward a comfortable pose to unstick it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01E1E7qhei3ecW4wsCiGFf4G",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01E1E7qhei3ecW4wsCiGFf4G"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5354, 1.8233, 1.3056, -0.2863, -0.4732, -0.3668, 0.9985, -0.0212, 0.8177, 0.6014, -0.6426, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4612 left_y=-0.1758 left_z=0.135 left_yaw=0.045 left_pitch=-0.1264 left_roll=0.0729 left_gripper=0.9985 right_x=0.2529 right_y=0.0017 right_z=0.124 right_yaw=0.002 right_pitch=-0.275 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -12.2325, 6.2974, 1.6142, -0.359, -0.0317, -0.1734, -0.1162, -0.8, 6.7761, 1.6337, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c1f41054b5da92e8b62c27dbdec10b882be7975a40cc1e595b88d0240c90bde"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:057be9ddddad9947ed92bfaa56be086151de7f54cf36a939d343fbc3cfae35bd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29da0c27df65cc1ed4c1600eaa0b1d59d956809d22eb12a4eea3230061c9c387"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1c1f41054b5d
wire blob 057be9ddddad
wire blob 29da0c27df65
call 14 attempt 0 · /chat/completions · status 200 · 5.932 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 2.2593, 1.4559, 0.0227, -0.4332, -0.3065, 0.9985, -0.0208, 0.8158, 0.6018, -0.6231, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5411 left_y=-0.1796 left_z=0.0192 left_yaw=0.0577 left_pitch=-0.1241 left_roll=0.0827 left_gripper=0.9985 right_x=0.2566 right_y=0.0017 right_z=0.1278 right_yaw=0.0023 right_pitch=-0.2532 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -12.465, 7.6513, 1.8144, -0.1099, 0.1245, -0.1685, -0.0479, -1.1282, 6.8171, 1.6239, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.555, \"left_y\": -0.165, \"left_z\": 0.01, \"left_pitch\": 0.3, \"left_gripper\": 1.0}, \"note\": \"The arm is free again and the wrist camera shows the block centered, a few cm ahead of the jaws. Descending onto it at x\\u22480.555 with the tool pitched forward so the stretched reach doesn't lock up the IK this time.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DcUSwMNvpxiQvKSkKYUMPF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01DcUSwMNvpxiQvKSkKYUMPF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4522, 2.376, 1.1793, 0.8314, -0.5198, -0.1501, 0.9985, -0.0212, 0.8192, 0.6014, -0.6651, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5477 left_y=-0.1646 left_z=0.0092 left_yaw=0.0616 left_pitch=0.2552 left_roll=0.0574 left_gripper=0.9985 right_x=0.2487 right_y=0.0018 right_z=0.1201 right_yaw=0.0022 right_pitch=-0.299 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -10.0718, 5.8735, 1.5067, -0.0415, 0.3297, -0.1685, -0.2393, -0.9504, 6.735, 1.6044, -0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9694406a58fdb9388bd126d7e75ad8634ed4d973a3c3650c196aa3efcd31ccc5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4769b66ff8ed1657473e0c71c574055415e784f66144de5cad3ccbcb9cbe5e4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:afa97865ff2e940fc49c4ba0fdda6131515bd5269ab5a7b28d6665c03682d72d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9694406a58fd
wire blob b4769b66ff8e
wire blob afa97865ff2e
call 15 attempt 0 · /chat/completions · status 200 · 7.183 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5354, 1.8233, 1.3056, -0.2863, -0.4732, -0.3668, 0.9985, -0.0212, 0.8177, 0.6014, -0.6426, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4612 left_y=-0.1758 left_z=0.135 left_yaw=0.045 left_pitch=-0.1264 left_roll=0.0729 left_gripper=0.9985 right_x=0.2529 right_y=0.0017 right_z=0.124 right_yaw=0.002 right_pitch=-0.275 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -12.2325, 6.2974, 1.6142, -0.359, -0.0317, -0.1734, -0.1162, -0.8, 6.7761, 1.6337, -0.0513, -0.0513, -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_gripper\": 0.0}, \"note\": \"The wrist camera shows the red block filling the space right between the two jaws at table level. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Ev4JKBavGUgEuEDVd8nuPK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Ev4JKBavGUgEuEDVd8nuPK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4519, 2.3974, 1.1847, 0.8757, -0.5201, -0.1612, 0.6099, -0.0212, 0.8192, 0.6014, -0.6788, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.5503 left_y=-0.1655 left_z=0.0087 left_yaw=0.0723 left_pitch=0.2801 left_roll=0.032 left_gripper=0.6099 right_x=0.246 right_y=0.0018 right_z=0.1179 right_yaw=0.0025 right_pitch=-0.3127 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -13.9966, 4.3282, 1.3553, -0.1099, 0.0708, 1.033, -0.0479, -1.1282, 6.7214, 1.5116, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a4a49600c3f126819755ff405da9f7ef66001b8784d7c5bd7dbb4391739d46c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb813dbd5159f8a4207935087509de3ecf6f37017294920c12e39eccf188de27"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21f2a18932613751672e3f69e460c9efa3649fec1176dafed4061b6996d287d8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0a4a49600c3f
wire blob cb813dbd5159
wire blob 21f2a1893261
call 16 attempt 0 · /chat/completions · status 200 · 19.55 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4522, 2.376, 1.1793, 0.8314, -0.5198, -0.1501, 0.9985, -0.0212, 0.8192, 0.6014, -0.6651, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5477 left_y=-0.1646 left_z=0.0092 left_yaw=0.0616 left_pitch=0.2552 left_roll=0.0574 left_gripper=0.9985 right_x=0.2487 right_y=0.0018 right_z=0.1201 right_yaw=0.0022 right_pitch=-0.299 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -10.0718, 5.8735, 1.5067, -0.0415, 0.3297, -0.1685, -0.2393, -0.9504, 6.735, 1.6044, -0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper stopped at 0.61 with rising effort — it's gripping the block. Now lifting and carrying it over the bowl.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.32, \"left_z\": 0.2, \"left_pitch\": 0.0, \"left_gripper\": 0.6}, \"note\": \"Gripper stalled at 0.61 with gripper effort up, so the block is held. Lifting to 20 cm and moving over the bowl, which the top camera shows about 15 cm to the right (\\u2212y) and slightly behind the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BLQMqS9d78LZZGsdxP7iRR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01BLQMqS9d78LZZGsdxP7iRR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8486, 2.0727, 1.7615, -0.4881, -0.7368, -0.6025, 0.6087, -0.0212, 0.8227, 0.6014, -0.6884, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4479 left_y=-0.3234 left_z=0.1816 left_yaw=0.0515 left_pitch=0.0116 left_roll=0.0187 left_gripper=0.6087 right_x=0.2442 right_y=0.0019 right_z=0.1157 right_yaw=0.0024 right_pitch=-0.3257 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -12.2735, 9.1829, 1.4335, -0.4567, 0.0806, 1.0281, -0.0889, -1.4154, 6.7214, 1.4823, -0.0513, -0.022, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5bcc800105aaea0f3f4fdacc989c5c6e451d654f177f179f750ca0f636801a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b03e531fc50b865c7449ad6caf73affde8c2ce22a537450b38fff631ce815e93"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3ce208554ccf01930e075092830e4624e137364e2e63099e3d2776be01dc5c3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f5bcc800105a
wire blob b03e531fc50b
wire blob c3ce208554cc
call 17 attempt 0 · /chat/completions · status 200 · 10.35 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4519, 2.3974, 1.1847, 0.8757, -0.5201, -0.1612, 0.6099, -0.0212, 0.8192, 0.6014, -0.6788, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.5503 left_y=-0.1655 left_z=0.0087 left_yaw=0.0723 left_pitch=0.2801 left_roll=0.032 left_gripper=0.6099 right_x=0.246 right_y=0.0018 right_z=0.1179 right_yaw=0.0025 right_pitch=-0.3127 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -13.9966, 4.3282, 1.3553, -0.1099, 0.0708, 1.033, -0.0479, -1.1282, 6.7214, 1.5116, -0.022, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.35, \"left_z\": 0.09, \"left_gripper\": 0.6}, \"note\": \"Block is held securely; in the top camera the bowl is below-right of the gripper, i.e. slightly closer to the base and further to \\u2212y, and the wrist camera doesn't see the bowl beneath. Moving back ~6 cm and right ~3 cm and lowering to just above the bowl rim.\"}",
        "name": "move_to"
      },
      "id": "toolu_017aVRh5UyfPHKZzpGQ4jmWH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_017aVRh5UyfPHKZzpGQ4jmWH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9913, 2.0995, 1.4807, -0.3325, -0.7918, -0.7269, 0.6085, -0.0212, 0.8238, 0.6014, -0.7025, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.3478 left_z=0.0888 left_yaw=0.0136 left_pitch=-0.039 left_roll=0.0632 left_gripper=0.6085 right_x=0.2414 right_y=0.0019 right_z=0.1133 right_yaw=0.0028 right_pitch=-0.3409 right_roll=0.0094 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -10.5231, 6.1333, 1.5751, -0.7448, -0.1197, 1.033, -0.1436, -0.9778, 6.9949, 1.536, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be575d3dae11212088c8acbceb825030b5d31e6669177c3bc3c5cc1cd83b4aae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23d1728759bb198da4a056232d04620c2a4da263e151dc26c5c2e5f88b876eb9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2562fa3feb69db4554fe702f7939e364b011de15d1572747278a2b0ff26e4982"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob be575d3dae11
wire blob 23d1728759bb
wire blob 2562fa3feb69
call 18 attempt 0 · /chat/completions · status 200 · 12.96 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8486, 2.0727, 1.7615, -0.4881, -0.7368, -0.6025, 0.6087, -0.0212, 0.8227, 0.6014, -0.6884, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4479 left_y=-0.3234 left_z=0.1816 left_yaw=0.0515 left_pitch=0.0116 left_roll=0.0187 left_gripper=0.6087 right_x=0.2442 right_y=0.0019 right_z=0.1157 right_yaw=0.0024 right_pitch=-0.3257 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -12.2735, 9.1829, 1.4335, -0.4567, 0.0806, 1.0281, -0.0889, -1.4154, 6.7214, 1.4823, -0.0513, -0.022, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.39, \"left_z\": 0.07, \"left_gripper\": 1.0}, \"note\": \"The wrist camera shows the bowl rim at the lower-right of the image, meaning the bowl center is a few cm further to \\u2212y and closer to the base than the block. Shifting there over the bowl interior and opening the gripper to drop the block in.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QEzcMb1YzSaKq6jtiz8gvU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01QEzcMb1YzSaKq6jtiz8gvU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0893, 2.1952, 1.5684, -0.4019, -0.8291, -0.8368, 0.9953, -0.0212, 0.8238, 0.6014, -0.7185, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3528 left_y=-0.3862 left_z=0.069 left_yaw=-0.001 left_pitch=-0.0468 left_roll=0.0561 left_gripper=0.9953 right_x=0.2383 right_y=0.0021 right_z=0.111 right_yaw=0.003 right_pitch=-0.3569 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -11.5487, 8.4991, 0.7937, -0.569, 0.0611, -0.1538, -0.2256, -0.7863, 6.6803, 1.5214, -0.0415, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87ce9254f3f7cde9da99431c2fe44b941dd36245b8230e213a75a44b40ff606b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc99bfea084980c9e1f9528b7f0a529326d88060fbf346f8df648a166a49afdb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:84a2a390c1e4f8f3ee03bae3f40bfefc75008d1ccc7e41692c0d5209bd972b72"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 87ce9254f3f7
wire blob cc99bfea0849
wire blob 84a2a390c1e4