adhoc

completed
2026-09-03T01:19:45.651307+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
521.1 s
total steps
105
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I can see a red block and a white bowl on the table in the top camera. I'll start by moving the left arm toward the block to localize it better.
agent noteTop camera shows a red block left of the white bowl; the left camera shows the block ahead and to the right of the left arm. Moving the left arm forward and slightly right to approach and localize the block.
move_to
left_x0.3500left_y-0.0800left_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]: [-0.0189, 0.7921, 0.6041, -0.3874, -0.0196, -0.0334, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.0196, -0.0292, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0015 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.4427, 10.1949, 1.9512, -0.0904, 0.149, -0.0904, -0.294, -1.6205, 9.7299, 1.9121, -0.0366, 0.1099, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I can see a red block and a white bowl on the table in the top camera. I'll start by moving the left arm toward the block to localize it better.
move_to({"targets": {"left_x": 0.35, "left_y": -0.08, "left_z": 0.12, "left_gripper": 1}, "note": "Top camera shows a red block left of the white bowl; the left camera shows the block ahead and to the right of the left arm. Moving the left arm forward and slightly right to approach and localize the block."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
The left wrist camera shows the block just ahead and slightly right of the gripper. I'll move forward and a bit right, lowering toward grasp height.
agent noteThe wrist camera shows the red block just ahead and slightly right of the left gripper. Advancing forward and right while lowering to just above grasp height.
move_to
left_x0.4000left_y-0.1000left_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]: [-0.384, 1.2053, 0.548, -0.0429, -0.2916, -0.2276, 0.9993, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.335 left_y=-0.0767 left_z=0.1023 left_yaw=-0.0312 left_pitch=-0.0901 left_roll=0.0239 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.212, -4.7932, 7.9795, 1.873, -0.2906, -0.0904, -0.0855, -0.0479, -1.5521, 6.8171, 2.0098, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
The left wrist camera shows the block just ahead and slightly right of the gripper. I'll move forward and a bit right, lowering toward grasp height.
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.06, "left_gripper": 1}, "note": "The wrist camera shows the red block just ahead and slightly right of the left gripper. Advancing forward and right while lowering to just above grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
The block is slightly right of the gripper in the wrist camera. I'll shift right and forward while lowering closer to the table.
agent noteThe block appears at the right edge of the left wrist camera, near the right finger. Shifting right and forward while lowering to bring the block between the fingers.
move_to
left_x0.4200left_y-0.1200left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3782, 1.5963, 0.6411, 0.1562, -0.2928, -0.2401, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3771 left_y=-0.0911 left_z=0.0392 left_yaw=-0.0129 left_pitch=-0.1821 left_roll=0.05 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1632 right_yaw=-0.0017 right_pitch=-0.0679 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.0068, -7.0222, 7.5282, 1.8046, -0.0415, 0.1685, -0.0855, -0.0342, -1.5932, 7.2684, 1.9072, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
The block is slightly right of the gripper in the wrist camera. I'll shift right and forward while lowering closer to the table.
move_to({"targets": {"left_x": 0.42, "left_y": -0.12, "left_z": 0.02, "left_gripper": 1}, "note": "The block appears at the right edge of the left wrist camera, near the right finger. Shifting right and forward while lowering to bring the block between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
The block is still at the right edge of the wrist camera. I need to shift further right (more negative y) to center it between the fingers.
agent noteThe block is still at the right edge of the wrist view, outside the fingers. Shifting further right to center the block between the jaws at grasp height.
move_to
left_x0.4200left_y-0.1500left_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]: [-0.4072, 1.8137, 0.7704, 0.1783, -0.3088, -0.2672, 0.9993, -0.0212, 0.8062, 0.6056, -0.4709, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4022 left_y=-0.1111 left_z=0.0055 left_yaw=-0.0085 left_pitch=-0.2379 left_roll=0.0668 left_gripper=0.9993 right_x=0.2826 right_y=0.0011 right_z=0.1591 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [-0.5265, -8.8957, 7.4872, 1.619, -0.2515, 0.0073, -0.0855, -0.1299, -1.4564, 6.9538, 1.9658, -0.0562, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
The block is still at the right edge of the wrist camera. I need to shift further right (more negative y) to center it between the fingers.
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.005, "left_gripper": 1}, "note": "The block is still at the right edge of the wrist view, outside the fingers. Shifting further right to center the block between the jaws at grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
The arm barely moved toward y=-0.15 (it's at -0.115). The block is just right of the gripper in the top view. I'll re-command the same target to let the controller catch up.
agent noteTop view shows the red block just to the right of the left gripper; the arm undershot the last rightward move. Re-commanding right and slightly forward at grasp height, leveling pitch.
move_to
left_x0.4250left_y-0.1550left_z0.0050left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.411, 1.8309, 0.7921, 0.1791, -0.3119, -0.2714, 0.9993, -0.0212, 0.8082, 0.6056, -0.4984, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4076 left_y=-0.1146 left_z=0.0061 left_yaw=-0.0079 left_pitch=-0.2319 left_roll=0.0639 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1534 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.4855, -8.3487, 7.2684, 1.6435, -0.2271, 0.0122, -0.0855, -0.0752, -1.2239, 6.9402, 1.8681, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
The arm barely moved toward y=-0.15 (it's at -0.115). The block is just right of the gripper in the top view. I'll re-command the same target to let the controller catch up.
move_to({"targets": {"left_x": 0.425, "left_y": -0.155, "left_z": 0.005, "left_pitch": 0, "left_gripper": 1}, "note": "Top view shows the red block just to the right of the left gripper; the arm undershot the last rightward move. Re-commanding right and slightly forward at grasp height, leveling pitch."})
tool
executing move_to over 8 steps (0.8s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
The gripper is very close; the block is still slightly right in the wrist view. Continuing right a bit more.
agent noteThe block is right at the gripper's right side in the top view; wrist camera confirms it just right of the right finger. Nudging right and slightly forward at table height to center the block between the jaws.
move_to
left_x0.4300left_y-0.1600left_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]: [-0.4644, 1.8988, 0.7799, 0.3103, -0.4046, -0.2932, 0.9991, -0.0212, 0.8074, 0.6056, -0.5236, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4142 left_y=-0.1257 left_z=-0.0003 left_yaw=0.0209 left_pitch=-0.1553 left_roll=0.0888 left_gripper=0.9991 right_x=0.2743 right_y=0.0013 right_z=0.1489 right_yaw=-0.0016 right_pitch=-0.1415 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-2.2632, -5.5863, 3.6855, -0.5348, 0.4908, 0.6764, -0.1294, -0.0479, -1.0051, 6.8991, 1.8486, -0.0806, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
The gripper is very close; the block is still slightly right in the wrist view. Continuing right a bit more.
move_to({"targets": {"left_x": 0.43, "left_y": -0.16, "left_z": 0.0, "left_gripper": 1}, "note": "The block is right at the gripper's right side in the top view; wrist camera confirms it just right of the right finger. Nudging right and slightly forward at table height to center the block between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
The block is still just right of the right finger in the wrist view. Moving a bit more right.
agent noteWrist camera shows the block still just outside the right finger. Moving a few more centimeters right and slightly forward to get the block between the jaws.
move_to
left_x0.4400left_y-0.1850left_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]: [-0.5171, 1.9587, 0.8841, 0.2882, -0.4614, -0.3431, 0.9993, -0.0212, 0.8116, 0.6056, -0.5468, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4323 left_y=-0.1513 left_z=0.0081 left_yaw=0.0385 left_pitch=-0.1135 left_roll=0.075 left_gripper=0.9993 right_x=0.2706 right_y=0.0013 right_z=0.1436 right_yaw=-0.0016 right_pitch=-0.169 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-1.0462, -7.6513, 6.5573, 1.3651, -0.1245, 0.0708, -0.0904, -0.1846, -1.4974, 6.8855, 1.7851, -0.0464, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
The block is still just right of the right finger in the wrist view. Moving a bit more right.
move_to({"targets": {"left_x": 0.44, "left_y": -0.185, "left_z": 0.0, "left_gripper": 1}, "note": "Wrist camera shows the block still just outside the right finger. Moving a few more centimeters right and slightly forward to get the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
The arm keeps undershooting the rightward target. Re-commanding further right.
agent noteThe block sits just outside the right finger in the wrist view; the arm undershot the last rightward command (y stopped at -0.16). Re-commanding right to y=-0.19 to center the block between the jaws.
move_to
left_x0.4450left_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]: [-0.5373, 1.9755, 0.9043, 0.2646, -0.469, -0.366, 0.9993, -0.0212, 0.8116, 0.6056, -0.5686, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.0042 left_yaw=0.038 left_pitch=-0.1266 left_roll=0.0729 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1397 right_yaw=-0.0014 right_pitch=-0.1907 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.4718, -7.9658, 6.2974, 1.5409, -0.2906, -0.0073, -0.0904, -0.0615, -1.1966, 6.8444, 1.7656, -0.0806, -0.0122, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
The arm keeps undershooting the rightward target. Re-commanding further right.
move_to({"targets": {"left_x": 0.445, "left_y": -0.19, "left_z": 0.0, "left_gripper": 1}, "note": "The block sits just outside the right finger in the wrist view; the arm undershot the last rightward command (y stopped at -0.16). Re-commanding right to y=-0.19 to center the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
The arm is stuck at y=-0.159 — likely the right finger is pressing against the block from the side. I'll lift slightly, move right over the block, then descend.
agent noteThe arm did not move — the right finger seems to be pressing against the block's side. Lifting to 5 cm while moving right so the gripper can pass over the block.
move_to
left_x0.4450left_y-0.2000left_z0.0500left_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]: [-0.5373, 1.9759, 0.9043, 0.2646, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.5903, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.004 left_yaw=0.0397 left_pitch=-0.1268 left_roll=0.0707 left_gripper=0.9993 right_x=0.2631 right_y=0.0016 right_z=0.1358 right_yaw=-0.0013 right_pitch=-0.2128 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [-0.5402, -8.4308, 6.3111, 1.5263, -0.3639, -0.0024, -0.0904, -0.0889, -1.1282, 6.8444, 1.8974, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
The arm is stuck at y=-0.159 — likely the right finger is pressing against the block from the side. I'll lift slightly, move right over the block, then descend.
move_to({"targets": {"left_x": 0.445, "left_y": -0.2, "left_z": 0.05, "left_gripper": 1}, "note": "The arm did not move \u2014 the right finger seems to be pressing against the block's side. Lifting to 5 cm while moving right so the gripper can pass over the block."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
The left arm hasn't moved for three commands — likely an IK dead spot. I'll try retreating up and back first to unstick it.
agent noteThe left arm is stuck at the same pose despite three commands, likely an IK dead spot. Retreating up and slightly back with a downward-pointing pitch to reset before re-approaching the block.
move_to
left_x0.4000left_y-0.1600left_z0.1000left_pitch0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5373, 1.9759, 0.9043, 0.2649, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.6128, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4307 left_y=-0.1595 left_z=0.0041 left_yaw=0.0397 left_pitch=-0.1265 left_roll=0.0705 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=-0.0012 right_pitch=-0.2353 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.6906, -8.3897, 6.3385, 1.5702, -0.315, 0.0122, -0.0904, -0.1709, -1.1419, 6.8171, 1.6874, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
The left arm hasn't moved for three commands — likely an IK dead spot. I'll try retreating up and back first to unstick it.
move_to({"targets": {"left_x": 0.4, "left_y": -0.16, "left_z": 0.1, "left_pitch": 0.2, "left_gripper": 1}, "note": "The left arm is stuck at the same pose despite three commands, likely an IK dead spot. Retreating up and slightly back with a downward-pointing pitch to reset before re-approaching the block."})
tool
executing move_to over 11 steps (1.1s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
The arm unstuck. The wrist camera now shows the block ahead and slightly right, between the finger lines. I'll descend toward it.
agent noteAfter the reset, the wrist camera shows the block ahead and slightly right, roughly aligned with the gripper opening. Descending forward-right to place the block between the jaws.
move_to
left_x0.4450left_y-0.1750left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6411, 1.7245, 0.6807, 0.4759, -0.6403, -0.2882, 0.9993, -0.0212, 0.8139, 0.6056, -0.635, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3972 left_y=-0.1602 left_z=0.0776 left_yaw=0.0252 left_pitch=0.1267 left_roll=0.0884 left_gripper=0.9993 right_x=0.255 right_y=0.0017 right_z=0.1279 right_yaw=-0.0014 right_pitch=-0.2594 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.5128, -9.2513, 5.2991, 2.0586, -0.2955, 0.1734, -0.0904, -0.1983, -0.7316, 7.0085, 1.663, -0.0122, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
The arm unstuck. The wrist camera now shows the block ahead and slightly right, between the finger lines. I'll descend toward it.
move_to({"targets": {"left_x": 0.445, "left_y": -0.175, "left_z": 0.01, "left_gripper": 1}, "note": "After the reset, the wrist camera shows the block ahead and slightly right, roughly aligned with the gripper opening. Descending forward-right to place the block between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
The block now appears between the fingers in the wrist camera. I'll push forward slightly and close the gripper.
agent noteThe block now sits between the two fingers in the wrist camera. Advancing 2 cm forward and down so the jaws straddle the block before closing.
move_to
left_x0.4500left_y-0.1750left_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]: [-0.598, 2.0701, 0.7956, 0.6701, -0.6212, -0.2768, 0.9993, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4329 left_y=-0.1661 left_z=0.0057 left_yaw=0.0447 left_pitch=0.0906 left_roll=0.1127 left_gripper=0.9993 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=-0.0013 right_pitch=-0.2845 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.5402, -8.7453, 5.0667, 1.5311, -0.0806, 0.149, -0.0904, -0.0342, -1.2103, 6.7487, 1.6239, -0.0415, -0.0122, -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
The block now appears between the fingers in the wrist camera. I'll push forward slightly and close the gripper.
move_to({"targets": {"left_x": 0.45, "left_y": -0.175, "left_z": 0.005, "left_gripper": 1}, "note": "The block now sits between the two fingers in the wrist camera. Advancing 2 cm forward and down so the jaws straddle the block 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
The block sits between the two fingers now. Closing the gripper.
agent noteThe wrist camera shows the red block centered between the fingers. Advancing a touch more and closing the gripper to grasp it.
move_to
left_x0.4550left_y-0.1750left_z0.0050left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5949, 2.0987, 0.8413, 0.6666, -0.6178, -0.2745, 0.9993, -0.0212, 0.8173, 0.6056, -0.6647, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4433 left_y=-0.1721 left_z=0.0064 left_yaw=0.0446 left_pitch=0.1003 left_roll=0.1049 left_gripper=0.9993 right_x=0.2495 right_y=0.0018 right_z=0.1223 right_yaw=-0.0013 right_pitch=-0.2926 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.294, 6.5846, 1.6435, -0.2173, -0.0269, -0.0855, -0.1026, -1.1829, 6.7487, 1.6239, -0.0317, -0.0562, -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
The block sits between the two fingers now. Closing the gripper.
move_to({"targets": {"left_x": 0.455, "left_y": -0.175, "left_z": 0.005, "left_gripper": 0.35}, "note": "The wrist camera shows the red block centered between the fingers. Advancing a touch more and closing the gripper to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
The gripper closed on air — the block is still ahead of the fingertips in the wrist view. I'll reopen and advance further forward.
agent noteThe gripper closed on air; the block is still a few centimeters beyond the fingertips in the wrist view. Reopening and advancing about 4 cm forward to get the block between the jaws.
move_to
left_x0.4900left_y-0.1750left_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]: [-0.5941, 2.1082, 0.8646, 0.6273, -0.6178, -0.2775, 0.3546, -0.0212, 0.8173, 0.6056, -0.6765, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.445 left_y=-0.1728 left_z=0.0025 left_yaw=0.0456 left_pitch=0.08 left_roll=0.1175 left_gripper=0.3546 right_x=0.2472 right_y=0.0018 right_z=0.1204 right_yaw=-0.001 right_pitch=-0.3044 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [0.253, -8.9641, 5.9282, 1.6239, -0.2125, 0.0122, 0.2027, -0.1573, -0.9231, 6.7214, 1.5214, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
The gripper closed on air — the block is still ahead of the fingertips in the wrist view. I'll reopen and advance further forward.
move_to({"targets": {"left_x": 0.49, "left_y": -0.175, "left_z": 0.005, "left_gripper": 1}, "note": "The gripper closed on air; the block is still a few centimeters beyond the fingertips in the wrist view. Reopening and advancing about 4 cm forward to get the block between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
The block is now at the right edge of the wrist view, next to the right finger. A small rightward shift should center it.
agent noteThe block now appears at the right edge of the wrist camera, just outside the right finger. Shifting about 2 cm right to center it between the jaws.
move_to
left_x0.4900left_y-0.1850left_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]: [-0.5312, 2.1803, 1.0191, 0.5739, -0.5945, -0.2611, 0.9959, -0.0212, 0.8192, 0.6056, -0.6838, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4865 left_y=-0.1669 left_z=0.0079 left_yaw=0.0829 left_pitch=0.0947 left_roll=0.1042 left_gripper=0.9959 right_x=0.2459 right_y=0.0019 right_z=0.1189 right_yaw=-0.0008 right_pitch=-0.3135 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.4308, -9.6615, 6.612, 1.5165, 0.0366, 0.1392, -0.1197, -0.212, -1.1282, 6.9265, 1.4383, -0.0562, -0.022, -0.0122] 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
The block is now at the right edge of the wrist view, next to the right finger. A small rightward shift should center it.
move_to({"targets": {"left_x": 0.49, "left_y": -0.185, "left_z": 0.005, "left_gripper": 1}, "note": "The block now appears at the right edge of the wrist camera, just outside the right finger. Shifting about 2 cm right to center it between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
The block is still just beyond the right finger. Commanding a larger rightward step to overcome the undershoot.
agent noteThe block remains just outside the right finger in the wrist view and the arm undershot the last rightward step. Commanding a larger move right (y=-0.21) and slightly forward to finally straddle the block.
move_to
left_x0.5000left_y-0.2100left_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]: [-0.5438, 2.1956, 1.0489, 0.5518, -0.6144, -0.2768, 0.9986, -0.0212, 0.8219, 0.6056, -0.7017, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.489 left_y=-0.1724 left_z=0.0075 left_yaw=0.094 left_pitch=0.0959 left_roll=0.1038 left_gripper=0.9986 right_x=0.2424 right_y=0.002 right_z=0.1155 right_yaw=-0.0007 right_pitch=-0.3341 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [-1.265, -9.5248, 6.9402, 1.5409, -0.0757, 0.0366, -0.1538, -0.0342, -1.2923, 6.694, 1.5116, -0.0659, -0.0171, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
The block is still just beyond the right finger. Commanding a larger rightward step to overcome the undershoot.
move_to({"targets": {"left_x": 0.5, "left_y": -0.21, "left_z": 0.005, "left_gripper": 1}, "note": "The block remains just outside the right finger in the wrist view and the arm undershot the last rightward step. Commanding a larger move right (y=-0.21) and slightly forward to finally straddle the block."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
The block is just beyond and right of the fingertips. With limited budget left, I'll combine the final approach and grasp in one motion.
agent noteThe block sits just forward-right of the fingertips in the wrist view. Moving forward-right onto the block while closing the gripper to grasp it in one motion.
move_to
left_x0.5050left_y-0.2050left_z0.0000left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5671, 2.204, 1.066, 0.5354, -0.6254, -0.3004, 0.9986, -0.0212, 0.8223, 0.6056, -0.7136, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4871 left_y=-0.1833 left_z=0.0069 left_yaw=0.0918 left_pitch=0.0949 left_roll=0.0924 left_gripper=0.9986 right_x=0.2401 right_y=0.002 right_z=0.1137 right_yaw=-0.0003 right_pitch=-0.3463 right_roll=0.0088 right_gripper=0.9996 state[joint_eff]: [0.4718, -10.3316, 6.7077, 1.5067, -0.2369, 0.0611, -0.1538, -0.1026, -1.0598, 6.6803, 1.5214, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
The block is just beyond and right of the fingertips. With limited budget left, I'll combine the final approach and grasp in one motion.
move_to({"targets": {"left_x": 0.505, "left_y": -0.205, "left_z": 0.0, "left_gripper": 0.3}, "note": "The block sits just forward-right of the fingertips in the wrist view. Moving forward-right onto the block while closing the gripper to grasp it in one motion."})
tool
executing move_to over 7 steps (0.7s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
The grasp closed on air again; the block is forward-right of the fingertips. Only a few actions remain, so I'll be efficient: reopen and overshoot the approach to fight the controller sag.
agent noteThe gripper closed on air; the block is still a few cm forward-right of the fingertips and the arm consistently undershoots. Reopening and overshooting the target (x=0.53, y=-0.225) to get the block between the jaws.
move_to
left_x0.5300left_y-0.2250left_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]: [-0.5671, 2.204, 1.0672, 0.5152, -0.6254, -0.2981, 0.305, -0.0212, 0.8238, 0.6056, -0.725, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4853 left_y=-0.1822 left_z=0.0037 left_yaw=0.0895 left_pitch=0.0797 left_roll=0.1061 left_gripper=0.305 right_x=0.2378 right_y=0.002 right_z=0.1117 right_yaw=-0.0008 right_pitch=-0.3593 right_roll=0.009 right_gripper=0.9996 state[joint_eff]: [0.4855, -10.2906, 6.4615, 1.7656, -0.2076, 0.0757, -0.022, -0.1846, -1.2239, 6.8171, 1.4628, -0.0562, -0.0317, -0.0073] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
The grasp closed on air again; the block is forward-right of the fingertips. Only a few actions remain, so I'll be efficient: reopen and overshoot the approach to fight the controller sag.
move_to({"targets": {"left_x": 0.53, "left_y": -0.225, "left_z": 0.0, "left_gripper": 1}, "note": "The gripper closed on air; the block is still a few cm forward-right of the fingertips and the arm consistently undershoots. Reopening and overshooting the target (x=0.53, y=-0.225) to get the block between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
The block is just forward-right of the fingertips. Budget is nearly exhausted, so I'll combine approach and grasp: the gripper will close gradually as it slides forward-right onto the block.
agent noteThe block is just forward-right of the fingertips, adjacent to the bowl. Sliding forward-right onto the block while closing the gripper to grasp it, since the budget is nearly spent.
move_to
left_x0.5600left_y-0.2550left_z-0.0050left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5861, 2.3489, 1.3544, 0.3916, -0.659, -0.3305, 0.9955, -0.0212, 0.8276, 0.6056, -0.741, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.53 left_y=-0.2178 left_z=0.0085 left_yaw=0.1153 left_pitch=0.1081 left_roll=0.0805 left_gripper=0.9955 right_x=0.2345 right_y=0.0022 right_z=0.1086 right_yaw=-0.0003 right_pitch=-0.3791 right_roll=0.0097 right_gripper=0.9996 state[joint_eff]: [-0.8547, -11.453, 6.7487, 1.3358, -0.1245, 0.0757, -0.1441, -0.1573, -1.4017, 6.653, 1.4676, -0.0317, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
The block is just forward-right of the fingertips. Budget is nearly exhausted, so I'll combine approach and grasp: the gripper will close gradually as it slides forward-right onto the block.
move_to({"targets": {"left_x": 0.56, "left_y": -0.255, "left_z": -0.005, "left_gripper": 0.2}, "note": "The block is just forward-right of the fingertips, adjacent to the bowl. Sliding forward-right onto the block while closing the gripper to grasp it, since the budget is nearly spent."})
tool
executing move_to over 8 steps (0.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
I'm out of budget and the block was never successfully grasped — the wrist camera shows it still outside the fingers.
agent noteExhausted the 20-call budget without securing a grasp. The left arm repeatedly undershot rightward (negative y) Cartesian targets near y≈-0.16 to -0.25, and the wrist camera parallax made the block appear between the fingers when it was actually several cm forward-right of the fingertips, causing three failed grasp closes.
give_up
hindsightOn this rig: (1) The red block sits roughly at left-arm coordinates x≈0.55-0.58, y≈-0.26 to -0.28, z≈0 (table height ~0), right next to the bowl; go there directly rather than incrementally. (2) The left arm's IK undershoots and can stall completely on rightward (negative-y) moves near y≈-0.16 with the elbow extended; commanding an overshoot of 3-5 cm or first lifting/resetting pose unsticks it. (3) The left wrist camera sits behind/above the fingers; an object that appears 'between the fingers' at the bottom of the frame is actually still 3-5 cm ahead of the fingertips — the block must appear large and centered at the very bottom of the frame before closing. (4) Closing the gripper while translating (combined move) closes too early; close only after position is confirmed. (5) The approver clamps step deltas, so large single moves execute slowly but do complete; small repeated nudges waste budget.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6094, 2.4889, 1.5997, 0.3016, -0.6971, -0.3611, 0.2046, -0.0212, 0.8291, 0.6056, -0.7475, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5605 left_y=-0.2486 left_z=0.0061 left_yaw=0.1395 left_pitch=0.135 left_roll=0.0588 left_gripper=0.2046 right_x=0.2332 right_y=0.0022 right_z=0.1074 right_yaw=-0.0002 right_pitch=-0.3871 right_roll=0.0099 right_gripper=0.9996 state[joint_eff]: [-0.6359, -12.0821, 7.5556, 1.3114, -0.0855, 0.0513, 0.1587, -0.0889, -1.2376, 6.7897, 1.3748, -0.0611, -0.0269, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
I'm out of budget and the block was never successfully grasped — the wrist camera shows it still outside the fingers.
give_up({"reason": "Exhausted the 20-call budget without securing a grasp. The left arm repeatedly undershot rightward (negative y) Cartesian targets near y\u2248-0.16 to -0.25, and the wrist camera parallax made the block appear between the fingers when it was actually several cm forward-right of the fingertips, causing three failed grasp closes.", "hindsight": "On this rig: (1) The red block sits roughly at left-arm coordinates x\u22480.55-0.58, y\u2248-0.26 to -0.28, z\u22480 (table height ~0), right next to the bowl; go there directly rather than incrementally. (2) The left arm's IK undershoots and can stall completely on rightward (negative-y) moves near y\u2248-0.16 with the elbow extended; commanding an overshoot of 3-5 cm or first lifting/resetting pose unsticks it. (3) The left wrist camera sits behind/above the fingers; an object that appears 'between the fingers' at the bottom of the frame is actually still 3-5 cm ahead of the fingertips \u2014 the block must appear large and centered at the very bottom of the frame before closing. (4) Closing the gripper while translating (combined move) closes too early; close only after position is confirmed. (5) The approver clamps step deltas, so large single moves execute slowly but do complete; small repeated nudges waste budget."})
tool
give_up: Exhausted the 20-call budget without securing a grasp. The left arm repeatedly undershot rightward (negative y) Cartesian targets near y≈-0.16 to -0.25, and the wrist camera parallax made the block appear between the fingers when it was actually several cm forward-right of the fingertips, causing three failed grasp closes.
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 · 19.42 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3874, -0.0196, -0.0334, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0015 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4427, 10.1949, 1.9512, -0.0904, 0.149, -0.0904, -0.294, -1.6205, 9.7299, 1.9121, -0.0366, 0.1099, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd0e4adaa3e0da0fd24cdf9c2bd6e3e9310a1c4e94d040976f46a0665c090e12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8df15d2cf9c0578a1ace5b7690992be42d3131e16da8c61d7e616194c530d1a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d25959dfe51d3034155059aead5ad2408d77982ec1cac4ab9f3d2e0d8157ce2d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob cd0e4adaa3e0
wire blob 8df15d2cf9c0
wire blob d25959dfe51d
call 1 attempt 0 · /chat/completions · status 200 · 9.682 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I can see a red block and a white bowl on the table in the top camera. I'll start by moving the left arm toward the block to localize it better.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.08, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"Top camera shows a red block left of the white bowl; the left camera shows the block ahead and to the right of the left arm. Moving the left arm forward and slightly right to approach and localize the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JhNdWGcDg7aJoAe8ck4Fdx",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01JhNdWGcDg7aJoAe8ck4Fdx"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.384, 1.2053, 0.548, -0.0429, -0.2916, -0.2276, 0.9993, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.335 left_y=-0.0767 left_z=0.1023 left_yaw=-0.0312 left_pitch=-0.0901 left_roll=0.0239 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.7932, 7.9795, 1.873, -0.2906, -0.0904, -0.0855, -0.0479, -1.5521, 6.8171, 2.0098, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28d11418013a62685d0e0dd94fb301a3b4a3da43c790462306cbe45c06651ff0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0cbfdfb4670ebe7403616fc6b79cd4fd308c861986b6cc01826b5c337916b380"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7bbac6cf7e0bdb69c92dc7a254c5b0f6af5e256f281bd722fc8d50c0a1c874ec"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 28d11418013a
wire blob 0cbfdfb4670e
wire blob 7bbac6cf7e0b
call 2 attempt 0 · /chat/completions · status 200 · 8.176 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3874, -0.0196, -0.0334, 0.9993, -0.0212, 0.7944, 0.6064, -0.3958, -0.0196, -0.0292, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0015 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4427, 10.1949, 1.9512, -0.0904, 0.149, -0.0904, -0.294, -1.6205, 9.7299, 1.9121, -0.0366, 0.1099, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The left wrist camera shows the block just ahead and slightly right of the gripper. I'll move forward and a bit right, lowering toward grasp height.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.1, \"left_z\": 0.06, \"left_gripper\": 1}, \"note\": \"The wrist camera shows the red block just ahead and slightly right of the left gripper. Advancing forward and right while lowering to just above grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_018tsf5q5f7kjoyKSFF17VWb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_018tsf5q5f7kjoyKSFF17VWb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3782, 1.5963, 0.6411, 0.1562, -0.2928, -0.2401, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3771 left_y=-0.0911 left_z=0.0392 left_yaw=-0.0129 left_pitch=-0.1821 left_roll=0.05 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1632 right_yaw=-0.0017 right_pitch=-0.0679 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.0222, 7.5282, 1.8046, -0.0415, 0.1685, -0.0855, -0.0342, -1.5932, 7.2684, 1.9072, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f7da0327313eb07251782828bc54d783e036a6d4c56b566f8c3321b4cfffa776"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb0493112f9baaeff96924446ad44468ede8d93bb6bfe4a0e1a30fa5bd18728a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b42f577ee180e15a30e665efcbf0addf1225122b0d107728f6ce2c8821635ff7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f7da0327313e
wire blob cb0493112f9b
wire blob b42f577ee180
call 3 attempt 0 · /chat/completions · status 200 · 7.551 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.384, 1.2053, 0.548, -0.0429, -0.2916, -0.2276, 0.9993, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.335 left_y=-0.0767 left_z=0.1023 left_yaw=-0.0312 left_pitch=-0.0901 left_roll=0.0239 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.7932, 7.9795, 1.873, -0.2906, -0.0904, -0.0855, -0.0479, -1.5521, 6.8171, 2.0098, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is slightly right of the gripper in the wrist camera. I'll shift right and forward while lowering closer to the table.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.12, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block appears at the right edge of the left wrist camera, near the right finger. Shifting right and forward while lowering to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_018LrPJKdS8Fjj17W5ee2TLr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018LrPJKdS8Fjj17W5ee2TLr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4072, 1.8137, 0.7704, 0.1783, -0.3088, -0.2672, 0.9993, -0.0212, 0.8062, 0.6056, -0.4709, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4022 left_y=-0.1111 left_z=0.0055 left_yaw=-0.0085 left_pitch=-0.2379 left_roll=0.0668 left_gripper=0.9993 right_x=0.2826 right_y=0.0011 right_z=0.1591 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.8957, 7.4872, 1.619, -0.2515, 0.0073, -0.0855, -0.1299, -1.4564, 6.9538, 1.9658, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4cdb74d28248d3e5732398ee93d305c4ba9369a20d556229806c9442800225b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbef128b7c95ec6732095626a615ddd46179b5a42c0ad4ae6694673b66da66e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1caa532c4a7dd49314a4025c64c8d031d51357593414cade87ace2535921de33"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4cdb74d28248
wire blob cbef128b7c95
wire blob 1caa532c4a7d
call 4 attempt 0 · /chat/completions · status 200 · 13.06 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3782, 1.5963, 0.6411, 0.1562, -0.2928, -0.2401, 0.9993, -0.0212, 0.8032, 0.6056, -0.4541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3771 left_y=-0.0911 left_z=0.0392 left_yaw=-0.0129 left_pitch=-0.1821 left_roll=0.05 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1632 right_yaw=-0.0017 right_pitch=-0.0679 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.0222, 7.5282, 1.8046, -0.0415, 0.1685, -0.0855, -0.0342, -1.5932, 7.2684, 1.9072, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is still at the right edge of the wrist camera. I need to shift further right (more negative y) to center it between the fingers.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.15, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is still at the right edge of the wrist view, outside the fingers. Shifting further right to center the block between the jaws at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SaS114eS3QiUfrmbPgEThG",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01SaS114eS3QiUfrmbPgEThG"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.411, 1.8309, 0.7921, 0.1791, -0.3119, -0.2714, 0.9993, -0.0212, 0.8082, 0.6056, -0.4984, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4076 left_y=-0.1146 left_z=0.0061 left_yaw=-0.0079 left_pitch=-0.2319 left_roll=0.0639 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1534 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.3487, 7.2684, 1.6435, -0.2271, 0.0122, -0.0855, -0.0752, -1.2239, 6.9402, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a75c58b0d87d0e9f47f33c7ecf0fa2df13e414c27ebbe4d6a9a315fa4e475467"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42b3a44ceb08a80b751e68ed597a2e4b3e0200b5f0ea176a4a0ea6bbcdaf18f8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:854e0ef0224725f3298577745aa242e21fc44813efff3094954ce3e5a79c98fb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a75c58b0d87d
wire blob 42b3a44ceb08
wire blob 854e0ef02247
call 5 attempt 0 · /chat/completions · status 200 · 11.43 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4072, 1.8137, 0.7704, 0.1783, -0.3088, -0.2672, 0.9993, -0.0212, 0.8062, 0.6056, -0.4709, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4022 left_y=-0.1111 left_z=0.0055 left_yaw=-0.0085 left_pitch=-0.2379 left_roll=0.0668 left_gripper=0.9993 right_x=0.2826 right_y=0.0011 right_z=0.1591 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.8957, 7.4872, 1.619, -0.2515, 0.0073, -0.0855, -0.1299, -1.4564, 6.9538, 1.9658, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm barely moved toward y=-0.15 (it's at -0.115). The block is just right of the gripper in the top view. I'll re-command the same target to let the controller catch up.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.155, \"left_z\": 0.005, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Top view shows the red block just to the right of the left gripper; the arm undershot the last rightward move. Re-commanding right and slightly forward at grasp height, leveling pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RTMkETb7HiTcD9noTJnyUb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01RTMkETb7HiTcD9noTJnyUb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4644, 1.8988, 0.7799, 0.3103, -0.4046, -0.2932, 0.9991, -0.0212, 0.8074, 0.6056, -0.5236, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.1257 left_z=-0.0003 left_yaw=0.0209 left_pitch=-0.1553 left_roll=0.0888 left_gripper=0.9991 right_x=0.2743 right_y=0.0013 right_z=0.1489 right_yaw=-0.0016 right_pitch=-0.1415 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-2.2632, -5.5863, 3.6855, -0.5348, 0.4908, 0.6764, -0.1294, -0.0479, -1.0051, 6.8991, 1.8486, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc04e386e734b8c2480bc77831c1633b7bd11ff23cefa8cf5f7eecfb9856fe12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c108421dfef0517efd965cbae9b8c264657e4e0b17d4aa2b75e668735b869b4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48af90585ef73a7da99f6cf936c4efe0186e128f68a447d96a168267c4c9df68"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fc04e386e734
wire blob 6c108421dfef
wire blob 48af90585ef7
call 6 attempt 0 · /chat/completions · status 200 · 9.314 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.411, 1.8309, 0.7921, 0.1791, -0.3119, -0.2714, 0.9993, -0.0212, 0.8082, 0.6056, -0.4984, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4076 left_y=-0.1146 left_z=0.0061 left_yaw=-0.0079 left_pitch=-0.2319 left_roll=0.0639 left_gripper=0.9993 right_x=0.2784 right_y=0.0012 right_z=0.1534 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.3487, 7.2684, 1.6435, -0.2271, 0.0122, -0.0855, -0.0752, -1.2239, 6.9402, 1.8681, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper is very close; the block is still slightly right in the wrist view. Continuing right a bit more.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.16, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block is right at the gripper's right side in the top view; wrist camera confirms it just right of the right finger. Nudging right and slightly forward at table height to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QMPoKV1VeL8jWcYxQpnKJr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01QMPoKV1VeL8jWcYxQpnKJr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5171, 1.9587, 0.8841, 0.2882, -0.4614, -0.3431, 0.9993, -0.0212, 0.8116, 0.6056, -0.5468, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4323 left_y=-0.1513 left_z=0.0081 left_yaw=0.0385 left_pitch=-0.1135 left_roll=0.075 left_gripper=0.9993 right_x=0.2706 right_y=0.0013 right_z=0.1436 right_yaw=-0.0016 right_pitch=-0.169 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.0462, -7.6513, 6.5573, 1.3651, -0.1245, 0.0708, -0.0904, -0.1846, -1.4974, 6.8855, 1.7851, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90663563356654eae7da08e85847602575197ec7689f870d3c1af4881fb93755"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cee245e7f6615a06890058c0df8aea5ff3967471473b517e96d4802e0a4b1611"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a04b6560013a30ebf76f923b0fdfbbcfd2e7f9e8bb59800c36a610b5064f2270"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 906635633566
wire blob cee245e7f661
wire blob a04b6560013a
call 7 attempt 0 · /chat/completions · status 200 · 8.518 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4644, 1.8988, 0.7799, 0.3103, -0.4046, -0.2932, 0.9991, -0.0212, 0.8074, 0.6056, -0.5236, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.1257 left_z=-0.0003 left_yaw=0.0209 left_pitch=-0.1553 left_roll=0.0888 left_gripper=0.9991 right_x=0.2743 right_y=0.0013 right_z=0.1489 right_yaw=-0.0016 right_pitch=-0.1415 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-2.2632, -5.5863, 3.6855, -0.5348, 0.4908, 0.6764, -0.1294, -0.0479, -1.0051, 6.8991, 1.8486, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is still just right of the right finger in the wrist view. Moving a bit more right.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.185, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"Wrist camera shows the block still just outside the right finger. Moving a few more centimeters right and slightly forward to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019pP7zKzq52MdoZrDfcqytd",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_019pP7zKzq52MdoZrDfcqytd"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9755, 0.9043, 0.2646, -0.469, -0.366, 0.9993, -0.0212, 0.8116, 0.6056, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.0042 left_yaw=0.038 left_pitch=-0.1266 left_roll=0.0729 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1397 right_yaw=-0.0014 right_pitch=-0.1907 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.9658, 6.2974, 1.5409, -0.2906, -0.0073, -0.0904, -0.0615, -1.1966, 6.8444, 1.7656, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:993180e8855d932c8b52772695990bd176b14631055df73cb6019bb2443d3261"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:67d5bc97d75d4fb6c80ee4448e2b27844f1ee60d4c48cf9cbf2e6181fd79e393"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a86fcf1526ffc734f06019586dd59e3a1fc626e2d39bd5e233f0ce07d06c3ed"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 993180e8855d
wire blob 67d5bc97d75d
wire blob 8a86fcf1526f
call 8 attempt 0 · /chat/completions · status 200 · 8.936 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5171, 1.9587, 0.8841, 0.2882, -0.4614, -0.3431, 0.9993, -0.0212, 0.8116, 0.6056, -0.5468, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4323 left_y=-0.1513 left_z=0.0081 left_yaw=0.0385 left_pitch=-0.1135 left_roll=0.075 left_gripper=0.9993 right_x=0.2706 right_y=0.0013 right_z=0.1436 right_yaw=-0.0016 right_pitch=-0.169 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.0462, -7.6513, 6.5573, 1.3651, -0.1245, 0.0708, -0.0904, -0.1846, -1.4974, 6.8855, 1.7851, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm keeps undershooting the rightward target. Re-commanding further right.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.19, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block sits just outside the right finger in the wrist view; the arm undershot the last rightward command (y stopped at -0.16). Re-commanding right to y=-0.19 to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NEvfGz7yA4on3zc7p4xQJc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01NEvfGz7yA4on3zc7p4xQJc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9759, 0.9043, 0.2646, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.004 left_yaw=0.0397 left_pitch=-0.1268 left_roll=0.0707 left_gripper=0.9993 right_x=0.2631 right_y=0.0016 right_z=0.1358 right_yaw=-0.0013 right_pitch=-0.2128 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.4308, 6.3111, 1.5263, -0.3639, -0.0024, -0.0904, -0.0889, -1.1282, 6.8444, 1.8974, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64eca3db3b4ecbb1449485389a926778b9f57d0f5f13f0ae572a934617d18834"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3d64f57f5c75cf9da996dc1dc62c0b5e4fe088acb3b5946989fa43b5bbc1f11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:daa4466ae9e08f4d41d49b32c70215648be534bd75473f69ff0aa02aa0f777b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 64eca3db3b4e
wire blob f3d64f57f5c7
wire blob daa4466ae9e0
call 9 attempt 0 · /chat/completions · status 200 · 13.47 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9755, 0.9043, 0.2646, -0.469, -0.366, 0.9993, -0.0212, 0.8116, 0.6056, -0.5686, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.0042 left_yaw=0.038 left_pitch=-0.1266 left_roll=0.0729 left_gripper=0.9993 right_x=0.2669 right_y=0.0015 right_z=0.1397 right_yaw=-0.0014 right_pitch=-0.1907 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.9658, 6.2974, 1.5409, -0.2906, -0.0073, -0.0904, -0.0615, -1.1966, 6.8444, 1.7656, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm is stuck at y=-0.159 — likely the right finger is pressing against the block from the side. I'll lift slightly, move right over the block, then descend.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.2, \"left_z\": 0.05, \"left_gripper\": 1}, \"note\": \"The arm did not move \\u2014 the right finger seems to be pressing against the block's side. Lifting to 5 cm while moving right so the gripper can pass over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016dcPdnef1LC64Tr43K5tou",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_016dcPdnef1LC64Tr43K5tou"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9759, 0.9043, 0.2649, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4307 left_y=-0.1595 left_z=0.0041 left_yaw=0.0397 left_pitch=-0.1265 left_roll=0.0705 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=-0.0012 right_pitch=-0.2353 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -8.3897, 6.3385, 1.5702, -0.315, 0.0122, -0.0904, -0.1709, -1.1419, 6.8171, 1.6874, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef15675bc5e944b78857231aebae706694a22c837d2b968a7f77a61a1b6a33fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88731dc5e5652c3a8915851c85d57b6718e0f776ecbd42a7212fe2d1d224d00f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a02766c43a987e221b82f5f67eafa84e7dcc2743471a172687ac4112b4f4d2a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ef15675bc5e9
wire blob 88731dc5e565
wire blob 5a02766c43a9
call 10 attempt 0 · /chat/completions · status 200 · 8.16 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9759, 0.9043, 0.2646, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4306 left_y=-0.1594 left_z=0.004 left_yaw=0.0397 left_pitch=-0.1268 left_roll=0.0707 left_gripper=0.9993 right_x=0.2631 right_y=0.0016 right_z=0.1358 right_yaw=-0.0013 right_pitch=-0.2128 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.4308, 6.3111, 1.5263, -0.3639, -0.0024, -0.0904, -0.0889, -1.1282, 6.8444, 1.8974, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The left arm hasn't moved for three commands — likely an IK dead spot. I'll try retreating up and back first to unstick it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.16, \"left_z\": 0.1, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The left arm is stuck at the same pose despite three commands, likely an IK dead spot. Retreating up and slightly back with a downward-pointing pitch to reset before re-approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_019kwH5pXHVmfZ581EjpDxFU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_019kwH5pXHVmfZ581EjpDxFU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6411, 1.7245, 0.6807, 0.4759, -0.6403, -0.2882, 0.9993, -0.0212, 0.8139, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.1602 left_z=0.0776 left_yaw=0.0252 left_pitch=0.1267 left_roll=0.0884 left_gripper=0.9993 right_x=0.255 right_y=0.0017 right_z=0.1279 right_yaw=-0.0014 right_pitch=-0.2594 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.2513, 5.2991, 2.0586, -0.2955, 0.1734, -0.0904, -0.1983, -0.7316, 7.0085, 1.663, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:903f6176e067c5c93d6a055eaa35c13f10457478cee6bc13e5188110f00180e7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a686729b5a82e8df3fd5b771d493cc9dc386ab4e0c445bd8c70ca58973d3f065"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55c267809464a0ee3a443d439b7a88c2fe3917978d68e3f98f26df6dbb6e5d99"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 903f6176e067
wire blob a686729b5a82
wire blob 55c267809464
call 11 attempt 0 · /chat/completions · status 200 · 7.788 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5373, 1.9759, 0.9043, 0.2649, -0.469, -0.3691, 0.9993, -0.0212, 0.812, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4307 left_y=-0.1595 left_z=0.0041 left_yaw=0.0397 left_pitch=-0.1265 left_roll=0.0705 left_gripper=0.9993 right_x=0.259 right_y=0.0016 right_z=0.132 right_yaw=-0.0012 right_pitch=-0.2353 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -8.3897, 6.3385, 1.5702, -0.315, 0.0122, -0.0904, -0.1709, -1.1419, 6.8171, 1.6874, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm unstuck. The wrist camera now shows the block ahead and slightly right, between the finger lines. I'll descend toward it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.175, \"left_z\": 0.01, \"left_gripper\": 1}, \"note\": \"After the reset, the wrist camera shows the block ahead and slightly right, roughly aligned with the gripper opening. Descending forward-right to place the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01C7KTpw3MzBvf3b7EFooFmd",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01C7KTpw3MzBvf3b7EFooFmd"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.598, 2.0701, 0.7956, 0.6701, -0.6212, -0.2768, 0.9993, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4329 left_y=-0.1661 left_z=0.0057 left_yaw=0.0447 left_pitch=0.0906 left_roll=0.1127 left_gripper=0.9993 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=-0.0013 right_pitch=-0.2845 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.7453, 5.0667, 1.5311, -0.0806, 0.149, -0.0904, -0.0342, -1.2103, 6.7487, 1.6239, -0.0415, -0.0122, -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,$blob:362f6fd6594d5607b9026408745d68a278c1a51ddc44266bd5be438a6a7f4510"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c4a6e987c7ffbc6a1ec6803c792beaedc03b629abbe90db12680591d18df61d1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6d564aaad5b0c7b72ffae529023afec4c65ba5c7d9086c98f51e02f1f9620a1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 362f6fd6594d
wire blob c4a6e987c7ff
wire blob e6d564aaad5b
call 12 attempt 0 · /chat/completions · status 200 · 7.726 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6411, 1.7245, 0.6807, 0.4759, -0.6403, -0.2882, 0.9993, -0.0212, 0.8139, 0.6056, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.1602 left_z=0.0776 left_yaw=0.0252 left_pitch=0.1267 left_roll=0.0884 left_gripper=0.9993 right_x=0.255 right_y=0.0017 right_z=0.1279 right_yaw=-0.0014 right_pitch=-0.2594 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.2513, 5.2991, 2.0586, -0.2955, 0.1734, -0.0904, -0.1983, -0.7316, 7.0085, 1.663, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block now appears between the fingers in the wrist camera. I'll push forward slightly and close the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.175, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block now sits between the two fingers in the wrist camera. Advancing 2 cm forward and down so the jaws straddle the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_015YZQsEfWMLzxDV76SYJLty",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_015YZQsEfWMLzxDV76SYJLty"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5949, 2.0987, 0.8413, 0.6666, -0.6178, -0.2745, 0.9993, -0.0212, 0.8173, 0.6056, -0.6647, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.1721 left_z=0.0064 left_yaw=0.0446 left_pitch=0.1003 left_roll=0.1049 left_gripper=0.9993 right_x=0.2495 right_y=0.0018 right_z=0.1223 right_yaw=-0.0013 right_pitch=-0.2926 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.294, 6.5846, 1.6435, -0.2173, -0.0269, -0.0855, -0.1026, -1.1829, 6.7487, 1.6239, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f6b89870f8b9b421abc7cb9d240c8280e98618878e542b831f9801da73da298"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fd55c08aefbb781e42275ed419d19abaaad146ee75b216c1bb7a58fe6d58b556"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7764996298609a39a73bed4dc684f836d75d050aebfbe6c92f977359326acee1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7f6b89870f8b
wire blob fd55c08aefbb
wire blob 776499629860
call 13 attempt 0 · /chat/completions · status 200 · 7.919 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.598, 2.0701, 0.7956, 0.6701, -0.6212, -0.2768, 0.9993, -0.0212, 0.8162, 0.6056, -0.6579, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4329 left_y=-0.1661 left_z=0.0057 left_yaw=0.0447 left_pitch=0.0906 left_roll=0.1127 left_gripper=0.9993 right_x=0.2508 right_y=0.0017 right_z=0.1236 right_yaw=-0.0013 right_pitch=-0.2845 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.7453, 5.0667, 1.5311, -0.0806, 0.149, -0.0904, -0.0342, -1.2103, 6.7487, 1.6239, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block sits between the two fingers now. Closing the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.175, \"left_z\": 0.005, \"left_gripper\": 0.35}, \"note\": \"The wrist camera shows the red block centered between the fingers. Advancing a touch more and closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_0141kqDobXWNttYAktLupDfv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_0141kqDobXWNttYAktLupDfv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5941, 2.1082, 0.8646, 0.6273, -0.6178, -0.2775, 0.3546, -0.0212, 0.8173, 0.6056, -0.6765, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.445 left_y=-0.1728 left_z=0.0025 left_yaw=0.0456 left_pitch=0.08 left_roll=0.1175 left_gripper=0.3546 right_x=0.2472 right_y=0.0018 right_z=0.1204 right_yaw=-0.001 right_pitch=-0.3044 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.9641, 5.9282, 1.6239, -0.2125, 0.0122, 0.2027, -0.1573, -0.9231, 6.7214, 1.5214, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6fcbd3c1faabe80199ee0fc1e64422769ddb3f5ed8d5bcff52e6c22edc8c23d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f687e15e244d4113c5f6d4539dc42c0394f1923769d8cfdad6492c9efb31d61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c8714163e9f794ebfc9343613e83886516d338f55b23c35050058ce9f46b61a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f6fcbd3c1faa
wire blob 1f687e15e244
wire blob 9c8714163e9f
call 14 attempt 0 · /chat/completions · status 200 · 8.334 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5949, 2.0987, 0.8413, 0.6666, -0.6178, -0.2745, 0.9993, -0.0212, 0.8173, 0.6056, -0.6647, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.1721 left_z=0.0064 left_yaw=0.0446 left_pitch=0.1003 left_roll=0.1049 left_gripper=0.9993 right_x=0.2495 right_y=0.0018 right_z=0.1223 right_yaw=-0.0013 right_pitch=-0.2926 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.294, 6.5846, 1.6435, -0.2173, -0.0269, -0.0855, -0.1026, -1.1829, 6.7487, 1.6239, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper closed on air — the block is still ahead of the fingertips in the wrist view. I'll reopen and advance further forward.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.49, \"left_y\": -0.175, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The gripper closed on air; the block is still a few centimeters beyond the fingertips in the wrist view. Reopening and advancing about 4 cm forward to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LPHvupwrCQWhLvR8P55n7i",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01LPHvupwrCQWhLvR8P55n7i"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5312, 2.1803, 1.0191, 0.5739, -0.5945, -0.2611, 0.9959, -0.0212, 0.8192, 0.6056, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4865 left_y=-0.1669 left_z=0.0079 left_yaw=0.0829 left_pitch=0.0947 left_roll=0.1042 left_gripper=0.9959 right_x=0.2459 right_y=0.0019 right_z=0.1189 right_yaw=-0.0008 right_pitch=-0.3135 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -9.6615, 6.612, 1.5165, 0.0366, 0.1392, -0.1197, -0.212, -1.1282, 6.9265, 1.4383, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9970d0e5ea30ebcaca8c8efaccb4eaec96d12c59df2f29e26442cfb4e114ce9b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78d042a95384cb271ca57207f62fd5ea56657f541b954522ea7b83a129805349"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd0da3215ceb43ed53a11889f92b5e28078f578f65e322ed0e460650d24f6951"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9970d0e5ea30
wire blob 78d042a95384
wire blob dd0da3215ceb
call 15 attempt 0 · /chat/completions · status 200 · 8.7 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5941, 2.1082, 0.8646, 0.6273, -0.6178, -0.2775, 0.3546, -0.0212, 0.8173, 0.6056, -0.6765, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.445 left_y=-0.1728 left_z=0.0025 left_yaw=0.0456 left_pitch=0.08 left_roll=0.1175 left_gripper=0.3546 right_x=0.2472 right_y=0.0018 right_z=0.1204 right_yaw=-0.001 right_pitch=-0.3044 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.9641, 5.9282, 1.6239, -0.2125, 0.0122, 0.2027, -0.1573, -0.9231, 6.7214, 1.5214, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now at the right edge of the wrist view, next to the right finger. A small rightward shift should center it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.49, \"left_y\": -0.185, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block now appears at the right edge of the wrist camera, just outside the right finger. Shifting about 2 cm right to center it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RnwdenENPo97vsQCZV8XVf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01RnwdenENPo97vsQCZV8XVf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5438, 2.1956, 1.0489, 0.5518, -0.6144, -0.2768, 0.9986, -0.0212, 0.8219, 0.6056, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.489 left_y=-0.1724 left_z=0.0075 left_yaw=0.094 left_pitch=0.0959 left_roll=0.1038 left_gripper=0.9986 right_x=0.2424 right_y=0.002 right_z=0.1155 right_yaw=-0.0007 right_pitch=-0.3341 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-1.265, -9.5248, 6.9402, 1.5409, -0.0757, 0.0366, -0.1538, -0.0342, -1.2923, 6.694, 1.5116, -0.0659, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95ee21c66c86db800c1f9997c575af0748f399901f52229b246adabfdf8c3090"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e311252b52bf9551a9eed89bf9846e6869b12d1f758775944dcba3ac3db3ec2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da6ac59e996a26855ce35381d6b4655947fd6043729771cb66723e17c1299b4e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 95ee21c66c86
wire blob e311252b52bf
wire blob da6ac59e996a
call 16 attempt 0 · /chat/completions · status 200 · 99.42 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5312, 2.1803, 1.0191, 0.5739, -0.5945, -0.2611, 0.9959, -0.0212, 0.8192, 0.6056, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4865 left_y=-0.1669 left_z=0.0079 left_yaw=0.0829 left_pitch=0.0947 left_roll=0.1042 left_gripper=0.9959 right_x=0.2459 right_y=0.0019 right_z=0.1189 right_yaw=-0.0008 right_pitch=-0.3135 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -9.6615, 6.612, 1.5165, 0.0366, 0.1392, -0.1197, -0.212, -1.1282, 6.9265, 1.4383, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is still just beyond the right finger. Commanding a larger rightward step to overcome the undershoot.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.21, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block remains just outside the right finger in the wrist view and the arm undershot the last rightward step. Commanding a larger move right (y=-0.21) and slightly forward to finally straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0192KmuyGhqqiWbfd3Q9kBEn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_0192KmuyGhqqiWbfd3Q9kBEn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 2.204, 1.066, 0.5354, -0.6254, -0.3004, 0.9986, -0.0212, 0.8223, 0.6056, -0.7136, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4871 left_y=-0.1833 left_z=0.0069 left_yaw=0.0918 left_pitch=0.0949 left_roll=0.0924 left_gripper=0.9986 right_x=0.2401 right_y=0.002 right_z=0.1137 right_yaw=-0.0003 right_pitch=-0.3463 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -10.3316, 6.7077, 1.5067, -0.2369, 0.0611, -0.1538, -0.1026, -1.0598, 6.6803, 1.5214, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e57ceaae4e573451d63195803c10a168ee64489c034039235db9daf42aa931a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:025b32e002f085248d1fea383840db79cfc26036967063872fbda0a23177da10"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fef19b8509f7e583f6d3b43a77c1ff7c462a1f63ba994dea5fd5ac59adb4f4b5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e57ceaae4e57
wire blob 025b32e002f0
wire blob fef19b8509f7
call 17 attempt 0 · /chat/completions · status 200 · 48.17 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5438, 2.1956, 1.0489, 0.5518, -0.6144, -0.2768, 0.9986, -0.0212, 0.8219, 0.6056, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.489 left_y=-0.1724 left_z=0.0075 left_yaw=0.094 left_pitch=0.0959 left_roll=0.1038 left_gripper=0.9986 right_x=0.2424 right_y=0.002 right_z=0.1155 right_yaw=-0.0007 right_pitch=-0.3341 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-1.265, -9.5248, 6.9402, 1.5409, -0.0757, 0.0366, -0.1538, -0.0342, -1.2923, 6.694, 1.5116, -0.0659, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is just beyond and right of the fingertips. With limited budget left, I'll combine the final approach and grasp in one motion.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.505, \"left_y\": -0.205, \"left_z\": 0.0, \"left_gripper\": 0.3}, \"note\": \"The block sits just forward-right of the fingertips in the wrist view. Moving forward-right onto the block while closing the gripper to grasp it in one motion.\"}",
        "name": "move_to"
      },
      "id": "toolu_01G2sZ4HtB7F2Tc1jj3DYXJF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01G2sZ4HtB7F2Tc1jj3DYXJF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 2.204, 1.0672, 0.5152, -0.6254, -0.2981, 0.305, -0.0212, 0.8238, 0.6056, -0.725, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4853 left_y=-0.1822 left_z=0.0037 left_yaw=0.0895 left_pitch=0.0797 left_roll=0.1061 left_gripper=0.305 right_x=0.2378 right_y=0.002 right_z=0.1117 right_yaw=-0.0008 right_pitch=-0.3593 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.2906, 6.4615, 1.7656, -0.2076, 0.0757, -0.022, -0.1846, -1.2239, 6.8171, 1.4628, -0.0562, -0.0317, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca4abbd972272b5ff7f0cfd8b76109317e0cffe89614f1e6f43195339ecd29bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf778c12eaeaaedf955dbc6d16d464c6d42d780b48297716be13d9ae84087e76"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de9f4468371378053d1c1e789279ac178852c20975c10fd6d20bc350f43a02c2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ca4abbd97227
wire blob bf778c12eaea
wire blob de9f44683713
call 18 attempt 0 · /chat/completions · status 200 · 40.74 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 2.204, 1.066, 0.5354, -0.6254, -0.3004, 0.9986, -0.0212, 0.8223, 0.6056, -0.7136, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4871 left_y=-0.1833 left_z=0.0069 left_yaw=0.0918 left_pitch=0.0949 left_roll=0.0924 left_gripper=0.9986 right_x=0.2401 right_y=0.002 right_z=0.1137 right_yaw=-0.0003 right_pitch=-0.3463 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -10.3316, 6.7077, 1.5067, -0.2369, 0.0611, -0.1538, -0.1026, -1.0598, 6.6803, 1.5214, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The grasp closed on air again; the block is forward-right of the fingertips. Only a few actions remain, so I'll be efficient: reopen and overshoot the approach to fight the controller sag.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.225, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The gripper closed on air; the block is still a few cm forward-right of the fingertips and the arm consistently undershoots. Reopening and overshooting the target (x=0.53, y=-0.225) to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WTRit49dE9QJGKdDY4mRxw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01WTRit49dE9QJGKdDY4mRxw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5861, 2.3489, 1.3544, 0.3916, -0.659, -0.3305, 0.9955, -0.0212, 0.8276, 0.6056, -0.741, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.53 left_y=-0.2178 left_z=0.0085 left_yaw=0.1153 left_pitch=0.1081 left_roll=0.0805 left_gripper=0.9955 right_x=0.2345 right_y=0.0022 right_z=0.1086 right_yaw=-0.0003 right_pitch=-0.3791 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -11.453, 6.7487, 1.3358, -0.1245, 0.0757, -0.1441, -0.1573, -1.4017, 6.653, 1.4676, -0.0317, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6b379a652715bcb8a2191014a05fdcc89ae52815d12a584d2bd5266b645607c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:225cdb27af796ed79db4a36a9c0c59501e7405cfe21f83411f1ae794a583a83f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5158f1793f8205a4ed01de0bd8f5079f5ca620ffebfa752e06af9b875edc3049"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b6b379a65271
wire blob 225cdb27af79
wire blob 5158f1793f82
call 19 attempt 0 · /chat/completions · status 200 · 14.59 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5671, 2.204, 1.0672, 0.5152, -0.6254, -0.2981, 0.305, -0.0212, 0.8238, 0.6056, -0.725, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4853 left_y=-0.1822 left_z=0.0037 left_yaw=0.0895 left_pitch=0.0797 left_roll=0.1061 left_gripper=0.305 right_x=0.2378 right_y=0.002 right_z=0.1117 right_yaw=-0.0008 right_pitch=-0.3593 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.2906, 6.4615, 1.7656, -0.2076, 0.0757, -0.022, -0.1846, -1.2239, 6.8171, 1.4628, -0.0562, -0.0317, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is just forward-right of the fingertips. Budget is nearly exhausted, so I'll combine approach and grasp: the gripper will close gradually as it slides forward-right onto the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.56, \"left_y\": -0.255, \"left_z\": -0.005, \"left_gripper\": 0.2}, \"note\": \"The block is just forward-right of the fingertips, adjacent to the bowl. Sliding forward-right onto the block while closing the gripper to grasp it, since the budget is nearly spent.\"}",
        "name": "move_to"
      },
      "id": "toolu_01D56vVenSt3S6vuaE1JePWC",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01D56vVenSt3S6vuaE1JePWC"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6094, 2.4889, 1.5997, 0.3016, -0.6971, -0.3611, 0.2046, -0.0212, 0.8291, 0.6056, -0.7475, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5605 left_y=-0.2486 left_z=0.0061 left_yaw=0.1395 left_pitch=0.135 left_roll=0.0588 left_gripper=0.2046 right_x=0.2332 right_y=0.0022 right_z=0.1074 right_yaw=-0.0002 right_pitch=-0.3871 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.0821, 7.5556, 1.3114, -0.0855, 0.0513, 0.1587, -0.0889, -1.2376, 6.7897, 1.3748, -0.0611, -0.0269, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e16eedc8f09ab2ea787dafdd7cad0fc5cbe0f6639d2065f49e412b1f63b1c466"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:070e7290640f69e8f320d6f06a59dbd8930289d04ce27e2d58cc9385cb6b520a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b7ee7908dbae3367cc24524ad3ee4894c2bd2cbff953c975ae914dbfed70945"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e16eedc8f09a
wire blob 070e7290640f
wire blob 2b7ee7908dba