adhoc

completed
2026-09-03T03:54:32.648239+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
517.9 s
total steps
162
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

partial

Grader notes

trial 03
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
agent noteThe red block appears ahead and slightly to the right of the left gripper in the left wrist camera, with the bowl farther right toward the right arm. Moving the left arm forward and slightly right to get above the block and calibrate the camera geometry.
move_to
left_x0.4000left_y-0.0600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3851, -0.0193, -0.0334, 0.9993, -0.0204, 0.794, 0.6064, -0.3954, -0.0166, -0.0193, 0.9997] state[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0005 right_z=0.1778 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4171, -1.4564, 10.3179, 1.9072, -0.0855, 0.1734, -0.0904, -0.3761, -1.6068, 9.6889, 1.9072, -0.0806, 0.0122, -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
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.15, "left_gripper": 1.0}, "note": "The red block appears ahead and slightly to the right of the left gripper in the left wrist camera, with the bowl farther right toward the right arm. Moving the left arm forward and slightly right to get above the block and calibrate the camera geometry."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteTop camera shows the left gripper still about 50 px short of the red block, which lies directly ahead of it along the arm's forward axis. Extending the left arm further forward and lowering slightly to get over the block.
move_to
left_x0.5000left_y-0.0600left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2424, 1.3357, 0.7277, -0.0765, -0.1921, -0.1589, 0.9993, -0.0212, 0.7986, 0.6086, -0.4282, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3804 left_y=-0.0556 left_z=0.1242 left_yaw=-0.0092 left_pitch=-0.0963 left_roll=0.0127 left_gripper=0.9993 right_x=0.289 right_y=0.0009 right_z=0.171 right_yaw=0.0018 right_pitch=-0.0351 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.5128, -5.6821, 9.388, 1.9609, -0.1587, 0.0806, -0.0855, -0.1299, -1.5658, 6.8718, 2.0244, -0.0024, -0.0464, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.06, "left_z": 0.1, "left_gripper": 1.0}, "note": "Top camera shows the left gripper still about 50 px short of the red block, which lies directly ahead of it along the arm's forward axis. Extending the left arm further forward and lowering slightly to get over the block."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteTop camera shows the left gripper is still short of the block and the block sits to the arm's right (lower in the image). Shifting the left arm further forward and to its right (-y) to center over the block.
move_to
left_x0.5500left_y-0.1300left_z0.0800left_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]: [-0.1806, 1.8084, 1.0737, 0.0002, -0.1532, -0.1387, 0.9993, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.4834 left_y=-0.0572 left_z=0.085 left_yaw=0.0102 left_pitch=-0.1507 left_roll=0.014 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=0.002 right_pitch=-0.0678 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.4991, -9.2923, 8.4308, 1.8095, 0.0513, 0.1929, -0.0904, -0.1573, -1.5385, 7.3504, 1.9023, -0.0269, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.13, "left_z": 0.08, "left_gripper": 1.0}, "note": "Top camera shows the left gripper is still short of the block and the block sits to the arm's right (lower in the image). Shifting the left arm further forward and to its right (-y) to center over the block."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteIn the top camera the left gripper is still up-left of the red block; +x appears to move it image-right and -y image-down. Moving further forward and right to bring the block under the fingers.
move_to
left_x0.5800left_y-0.2000left_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]: [-0.3046, 2.0766, 1.4189, -0.1287, -0.2352, -0.2264, 0.9993, -0.0212, 0.8062, 0.6056, -0.4797, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.5375 left_y=-0.1221 left_z=0.0696 left_yaw=0.0055 left_pitch=-0.1859 left_roll=0.017 left_gripper=0.9993 right_x=0.2813 right_y=0.0011 right_z=0.1575 right_yaw=0.0021 right_pitch=-0.0972 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.6632, -10.7282, 8.6496, 1.6484, -0.2418, -0.0415, -0.0855, -0.0342, -1.5111, 6.9949, 1.8632, -0.0073, -0.0317, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.2, "left_z": 0.06, "left_gripper": 1.0}, "note": "In the top camera the left gripper is still up-left of the red block; +x appears to move it image-right and -y image-down. Moving further forward and right to bring the block under the fingers."})
tool
executing move_to over 7 steps (0.7s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteTop camera shows the left gripper now nearly over the red block, with the block just below the fingertips in the image (slightly further -y); the left wrist cam looks ahead of the fingers so the block is out of its view. Shifting a bit more right and lowering toward grasp height.
move_to
left_x0.5750left_y-0.2250left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4191, 2.3215, 1.7725, -0.2901, -0.305, -0.3134, 0.9993, -0.0212, 0.8097, 0.6056, -0.5003, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.571 left_y=-0.1923 left_z=0.051 left_yaw=0.0007 left_pitch=-0.2159 left_roll=0.021 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1527 right_yaw=0.0022 right_pitch=-0.1212 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.6496, -13.0393, 8.6085, 1.4188, -0.2759, -0.0073, -0.0855, -0.1026, -1.5385, 7.0632, 1.8095, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.575, "left_y": -0.225, "left_z": 0.03, "left_gripper": 1.0}, "note": "Top camera shows the left gripper now nearly over the red block, with the block just below the fingertips in the image (slightly further -y); the left wrist cam looks ahead of the fingers so the block is out of its view. Shifting a bit more right and lowering toward grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteTop camera shows the red block about 5 cm below (further -y of) the left fingertips, and the wrist cam sees only bare table between the fingers. Shifting further right, straightening pitch, and descending to grasp height.
move_to
left_x0.5750left_y-0.2600left_z0.0150left_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]: [-0.4526, 2.3917, 1.8374, -0.3073, -0.3305, -0.3504, 0.9993, -0.0212, 0.8108, 0.6056, -0.5087, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.573 left_y=-0.2109 left_z=0.0342 left_yaw=0.0107 left_pitch=-0.2275 left_roll=0.0221 left_gripper=0.9993 right_x=0.2769 right_y=0.0012 right_z=0.1508 right_yaw=0.0022 right_pitch=-0.1308 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-1.2786, -12.4239, 8.4855, 1.4676, -0.2222, 0.0659, -0.0855, -0.1983, -1.2786, 6.9128, 1.7118, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.575, "left_y": -0.26, "left_z": 0.015, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top camera shows the red block about 5 cm below (further -y of) the left fingertips, and the wrist cam sees only bare table between the fingers. Shifting further right, straightening pitch, and descending to grasp height."})
tool
executing move_to over 8 steps (0.8s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe arm did not reach the commanded y (-0.22 vs -0.26), suggesting it's near reach limits; the block still sits just below the fingertips in the top view. Pulling x back slightly to free up reach and pushing further toward -y.
move_to
left_x0.5500left_y-0.2800left_z0.0150left_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]: [-0.4774, 2.4268, 1.8412, -0.3157, -0.3351, -0.3573, 0.9993, -0.0212, 0.8116, 0.6056, -0.5274, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.5646 left_y=-0.2226 left_z=0.014 left_yaw=-0.0021 left_pitch=-0.2611 left_roll=0.039 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1471 right_yaw=0.0023 right_pitch=-0.1502 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.0889, -14.3385, 8.8684, 1.4969, -0.2955, -0.0562, -0.0904, -0.1983, -1.1829, 6.9675, 1.746, -0.0464, -0.0464, -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
move_to({"targets": {"left_x": 0.55, "left_y": -0.28, "left_z": 0.015, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm did not reach the commanded y (-0.22 vs -0.26), suggesting it's near reach limits; the block still sits just below the fingertips in the top view. Pulling x back slightly to free up reach and pushing further toward -y."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteTop camera now shows the red block beside the left arm's wrist, behind the fingertips — I overshot forward. The arm's forward axis points image-up, so I'm pulling back ~9 cm and slightly left to bring the fingers over the block, hovering at 5 cm.
move_to
left_x0.4600left_y-0.2400left_z0.0500left_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]: [-0.6159, 2.4226, 1.6665, 0.0257, -0.4957, -0.3759, 0.9993, -0.0212, 0.812, 0.6056, -0.5644, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.5454 left_y=-0.2786 left_z=0.0112 left_yaw=-0.0176 left_pitch=-0.0543 left_roll=0.0385 left_gripper=0.9993 right_x=0.2676 right_y=0.0014 right_z=0.1404 right_yaw=0.0024 right_pitch=-0.1876 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.5128, -13.0667, 5.7094, 1.9414, -0.3932, 0.0952, -0.0904, -0.1026, -1.0872, 7.0632, 1.8828, -0.0317, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.24, "left_z": 0.05, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top camera now shows the red block beside the left arm's wrist, behind the fingertips \u2014 I overshot forward. The arm's forward axis points image-up, so I'm pulling back ~9 cm and slightly left to bring the fingers over the block, hovering at 5 cm."})
tool
executing move_to over 7 steps (0.7s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteTop camera shows the red block peeking out just behind/below the left gripper fingers, so the grasp point is still ~8 cm too far forward; the wrist cam sees only table. Retracting the left arm further along -x and slightly right while hovering at 5 cm to get the fingers over the block.
move_to
left_x0.3600left_y-0.2200left_z0.0500left_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]: [-0.6628, 2.1117, 1.1671, 0.173, -0.5327, -0.384, 0.9993, -0.0212, 0.8158, 0.6056, -0.5911, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4575 left_y=-0.2388 left_z=0.0202 left_yaw=-0.0302 left_pitch=-0.0731 left_roll=0.0765 left_gripper=0.9993 right_x=0.263 right_y=0.0016 right_z=0.1348 right_yaw=0.0027 right_pitch=-0.2181 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.5949, -13.7778, 6.3932, 1.9365, -0.398, -0.0659, -0.0904, -0.0342, -1.4017, 6.8308, 1.79, -0.0806, -0.0415, -0.0073] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.22, "left_z": 0.05, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top camera shows the red block peeking out just behind/below the left gripper fingers, so the grasp point is still ~8 cm too far forward; the wrist cam sees only table. Retracting the left arm further along -x and slightly right while hovering at 5 cm to get the fingers over the block."})
tool
executing move_to over 8 steps (0.8s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe red block is now visible at the bottom-left of the left wrist cam and just below the fingers in the top view, meaning it is still slightly behind (-x) and to the right (-y) of the grasp point. Retracting another 4 cm and shifting 2.5 cm right to center it between the jaws.
move_to
left_x0.3200left_y-0.2500left_z0.0450left_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]: [-0.8131, 1.8297, 0.7952, 0.231, -0.6422, -0.4595, 0.9993, -0.0212, 0.8192, 0.6056, -0.6128, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3621 left_y=-0.2236 left_z=0.0351 left_yaw=-0.0576 left_pitch=-0.0443 left_roll=0.0957 left_gripper=0.9993 right_x=0.2592 right_y=0.0016 right_z=0.1303 right_yaw=0.0027 right_pitch=-0.2433 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.3624, -9.7983, 5.2718, 1.5556, -0.4078, -0.0757, -0.0904, -0.0479, -0.9504, 6.8718, 1.7802, -0.022, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.25, "left_z": 0.045, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The red block is now visible at the bottom-left of the left wrist cam and just below the fingers in the top view, meaning it is still slightly behind (-x) and to the right (-y) of the grasp point. Retracting another 4 cm and shifting 2.5 cm right to center it between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe left wrist cam now shows the red block right beside the left finger at fingertip depth, about 3 cm off the jaw centerline; the last -y move shifted it image-left, so I'm moving +y ~3 cm and back 1 cm to center the block between the jaws.
move_to
left_x0.3100left_y-0.2250left_z0.0400left_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]: [-0.9699, 1.808, 0.7784, 0.1761, -0.7261, -0.5537, 0.9993, -0.0212, 0.8215, 0.6056, -0.6319, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3217 left_y=-0.2555 left_z=0.0373 left_yaw=-0.1039 left_pitch=-0.0287 left_roll=0.0973 left_gripper=0.9993 right_x=0.2557 right_y=0.0016 right_z=0.1266 right_yaw=0.0028 right_pitch=-0.2646 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [0.0889, -9.347, 5.1624, 1.2821, -0.6374, -0.0806, -0.0904, -0.0615, -0.8, 6.7897, 1.6728, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.225, "left_z": 0.04, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left wrist cam now shows the red block right beside the left finger at fingertip depth, about 3 cm off the jaw centerline; the last -y move shifted it image-left, so I'm moving +y ~3 cm and back 1 cm to center the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe +y command barely moved the arm and the block remains at the left fingertip in the wrist cam; the previous -y move was what brought it into view, so image-left likely corresponds to -y. Moving 3 cm further toward -y to bring the block between the jaws.
move_to
left_x0.3100left_y-0.2850left_z0.0400left_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]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.8215, 0.6056, -0.643, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2537 right_y=0.0017 right_z=0.1248 right_yaw=0.0029 right_pitch=-0.2757 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [0.0752, -8.9915, 5.135, 1.3162, -0.6227, -0.0806, -0.0904, -0.0342, -1.0735, 6.7761, 1.6093, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.285, "left_z": 0.04, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The +y command barely moved the arm and the block remains at the left fingertip in the wrist cam; the previous -y move was what brought it into view, so image-left likely corresponds to -y. Moving 3 cm further toward -y to bring the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe left arm has not moved at all for the last two commands (joint positions unchanged), so IK appears stuck at this pose; the block sits at the left fingertip in the wrist cam. Raising z slightly, zeroing wrist orientation, and retracting 2 cm to unstick the arm and bring the block toward the jaw center.
move_to
left_x0.2950left_y-0.2700left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.823, 0.6056, -0.6575, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2509 right_y=0.0017 right_z=0.1221 right_yaw=0.0028 right_pitch=-0.2917 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.0615, -9.1419, 5.135, 1.2772, -0.5836, -0.0904, -0.0904, -0.1299, -1.2786, 6.7487, 1.5409, -0.0171, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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
move_to({"targets": {"left_x": 0.295, "left_y": -0.27, "left_z": 0.06, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm has not moved at all for the last two commands (joint positions unchanged), so IK appears stuck at this pose; the block sits at the left fingertip in the wrist cam. Raising z slightly, zeroing wrist orientation, and retracting 2 cm to unstick the arm and bring the block toward the jaw center."})
tool
executing move_to over 2 steps (0.2s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe left arm remains frozen at the same joint pose despite three commands, so the IK is stuck near this configuration. Lifting the gripper to 12 cm and moving back toward the arm's center (+y) to escape the stuck region before re-approaching the block.
move_to
left_x0.3000left_y-0.2000left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9863, 1.808, 0.7784, 0.1486, -0.7643, -0.5922, 0.9993, -0.0212, 0.8249, 0.6056, -0.6727, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3176 left_y=-0.252 left_z=0.0372 left_yaw=-0.0738 left_pitch=-0.0212 left_roll=0.1051 left_gripper=0.9993 right_x=0.248 right_y=0.0019 right_z=0.1193 right_yaw=0.0033 right_pitch=-0.3089 right_roll=0.0093 right_gripper=0.9996 state[joint_eff]: [0.0342, -9.306, 5.1487, 1.3065, -0.5153, -0.0708, -0.0904, -0.0615, -1.2786, 6.735, 1.5214, -0.0855, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm remains frozen at the same joint pose despite three commands, so the IK is stuck near this configuration. Lifting the gripper to 12 cm and moving back toward the arm's center (+y) to escape the stuck region before re-approaching the block."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe red block now sits nearly centered between the left gripper jaws in the wrist cam, just slightly left of center and near the fingertips. Descending straight down to grasp height with jaws open.
move_to
left_x0.3100left_y-0.2000left_z0.0200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9409, 1.4158, 0.7227, -0.0818, -0.7494, -0.646, 0.9993, -0.0208, 0.8288, 0.6056, -0.6804, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3055 left_y=-0.2087 left_z=0.1231 left_yaw=-0.0086 left_pitch=0.0354 left_roll=-0.0315 left_gripper=0.9993 right_x=0.2466 right_y=0.0019 right_z=0.1172 right_yaw=0.0036 right_pitch=-0.3203 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [0.3487, -3.1111, 7.0222, 1.1013, -0.2662, -0.0855, -0.0904, -0.0479, -1.347, 6.7077, 1.4969, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.2, "left_z": 0.02, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The red block now sits nearly centered between the left gripper jaws in the wrist cam, just slightly left of center and near the fingertips. Descending straight down to grasp height with jaws open."})
tool
executing move_to over 7 steps (0.7s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe red block is centered between the left gripper jaws in the wrist camera at grasp height. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9127, 1.7111, 0.5568, 0.2871, -0.7303, -0.6384, 0.9993, -0.0212, 0.8307, 0.6056, -0.6979, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3049 left_y=-0.1958 left_z=0.02 left_yaw=0.0023 left_pitch=-0.0314 left_roll=0.0402 left_gripper=0.9993 right_x=0.2432 right_y=0.002 right_z=0.1142 right_yaw=0.0035 right_pitch=-0.3398 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [0.5949, -6.8581, 4.1504, 1.5409, -0.4274, -0.0024, -0.0904, -0.0479, -1.2923, 6.8718, 1.5507, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The red block is centered between the left gripper jaws in the wrist camera at grasp height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe gripper closed fully (0.01) without the block — the wrist cam shows the block sitting just beyond the closed fingertips, so the grasp point was ~4 cm short in +x. Reopening and advancing 4.5 cm forward at grasp height to get the block between the jaws.
move_to
left_x0.3450left_y-0.1950left_z0.0150left_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]: [-0.9092, 1.737, 0.5434, 0.2836, -0.7261, -0.6407, 0.0114, -0.0212, 0.8307, 0.6056, -0.7109, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3004 left_y=-0.1891 left_z=0.0072 left_yaw=0.0058 left_pitch=-0.06 left_roll=0.0702 left_gripper=0.0114 right_x=0.2406 right_y=0.002 right_z=0.1122 right_yaw=0.0033 right_pitch=-0.3527 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [-0.3077, -8.7179, 5.6821, 1.3211, -0.3443, 0.0317, 0.9597, -0.1162, -1.1419, 6.8034, 1.4481, -0.0513, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.195, "left_z": 0.015, "left_gripper": 1.0}, "note": "The gripper closed fully (0.01) without the block \u2014 the wrist cam shows the block sitting just beyond the closed fingertips, so the grasp point was ~4 cm short in +x. Reopening and advancing 4.5 cm forward at grasp height to get the block between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe red block is now between the open left jaws in the wrist camera, near the fingertips. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8051, 1.8023, 0.6468, 0.2836, -0.6682, -0.5545, 0.9952, -0.0212, 0.8307, 0.6056, -0.7277, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.337 left_y=-0.1874 left_z=0.0093 left_yaw=0.0228 left_pitch=-0.0738 left_roll=0.0812 left_gripper=0.9952 right_x=0.2372 right_y=0.002 right_z=0.1098 right_yaw=0.0034 right_pitch=-0.3695 right_roll=0.0106 right_gripper=0.9996 state[joint_eff]: [0.3214, -6.3385, 6.9265, 1.4823, -0.1636, 0.1099, -0.0611, -0.0615, -1.1282, 6.6667, 1.4774, -0.0171, -0.0415, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The red block is now between the open left jaws in the wrist camera, near the fingertips. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the jaws. Lifting to 20 cm and carrying it forward/right toward the white bowl seen in the top camera (about 21 cm image-right and 8 cm up of the gripper).
move_to
left_x0.5400left_y-0.1100left_z0.2000left_pitch0.0000left_roll0.0000left_gripper0.4400
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.8043, 1.8027, 0.6479, 0.2871, -0.6693, -0.561, 0.4414, -0.0212, 0.8307, 0.6056, -0.7425, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3378 left_y=-0.1877 left_z=0.0101 left_yaw=0.0277 left_pitch=-0.07 left_roll=0.0735 left_gripper=0.4414 right_x=0.2342 right_y=0.0022 right_z=0.1077 right_yaw=0.0039 right_pitch=-0.3844 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [-0.1983, -7.5145, 4.5197, 1.3553, -0.2955, 0.0317, 1.0281, -0.1573, -1.1009, 6.653, 1.4237, -0.0513, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.54, "left_y": -0.11, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.44}, "note": "The gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the jaws. Lifting to 20 cm and carrying it forward/right toward the white bowl seen in the top camera (about 21 cm image-right and 8 cm up of the gripper)."})
tool
executing move_to over 16 steps (1.6s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe block is held securely; from the top camera the bowl lies about 16 cm to the arm's right (-y) and 8 cm forward of where I grasped, so I estimate the bowl center near (0.42, -0.35). With only one motion left, I'm moving over the bowl at 13 cm while easing the jaws open just past the block width so it drops in at the end of the path.
move_to
left_x0.4200left_y-0.3500left_z0.1300left_pitch0.0000left_roll0.0000left_gripper0.5200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3042, 1.8664, 1.4643, -0.226, -0.3019, -0.2352, 0.4414, -0.0212, 0.833, 0.6056, -0.7551, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.5312 left_y=-0.108 left_z=0.1838 left_yaw=0.0604 left_pitch=-0.0222 left_roll=-0.0014 left_gripper=0.4414 right_x=0.2316 right_y=0.0022 right_z=0.1055 right_yaw=0.0037 right_pitch=-0.3993 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [0.3897, -10.0444, 9.1282, 1.5897, 0.0513, 0.315, 1.0281, -0.2256, -1.2923, 6.735, 1.3602, -0.0269, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.35, "left_z": 0.13, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.52}, "note": "The block is held securely; from the top camera the bowl lies about 16 cm to the arm's right (-y) and 8 cm forward of where I grasped, so I estimate the bowl center near (0.42, -0.35). With only one motion left, I'm moving over the bowl at 13 cm while easing the jaws open just past the block width so it drops in at the end of the path."})
tool
executing move_to over 22 steps (2.2s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9184, 2.1132, 1.6215, -0.3882, -0.7486, -0.6975, 0.5185, -0.0212, 0.8352, 0.6018, -0.7692, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4188 left_y=-0.3442 left_z=0.1217 left_yaw=0.041 left_pitch=-0.0266 left_roll=0.0099 left_gripper=0.5185 right_x=0.2279 right_y=0.0022 right_z=0.1016 right_yaw=0.004 right_pitch=-0.4195 right_roll=0.0119 right_gripper=0.9996 state[joint_eff]: [-0.5402, -11.3299, 9.0735, 1.2527, -0.5446, 0.0269, -0.1783, -0.1436, -1.265, 7.0769, 1.4286, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
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 · 31.55 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3851, -0.0193, -0.0334, 0.9993, -0.0204, 0.794, 0.6064, -0.3954, -0.0166, -0.0193, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0005 right_z=0.1778 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4564, 10.3179, 1.9072, -0.0855, 0.1734, -0.0904, -0.3761, -1.6068, 9.6889, 1.9072, -0.0806, 0.0122, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0589fbc3928e779138f0c558c734e804093483d7b2be56bc3a424fbc9f8e0629"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef39d71b1bbd473a1dff08bad93687bed12c07bc6fa765ddc814df5fd876e206"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01d877b9d436617cd3d0689e5aa5e7d46bb575879cb34222b9c33a3a2b703b6f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0589fbc3928e
wire blob ef39d71b1bbd
wire blob 01d877b9d436
call 1 attempt 0 · /chat/completions · status 200 · 21.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.06, \"left_z\": 0.15, \"left_gripper\": 1.0}, \"note\": \"The red block appears ahead and slightly to the right of the left gripper in the left wrist camera, with the bowl farther right toward the right arm. Moving the left arm forward and slightly right to get above the block and calibrate the camera geometry.\"}",
        "name": "move_to"
      },
      "id": "toolu_019R1pNdqfC7aJGwTB6Gkdz2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_019R1pNdqfC7aJGwTB6Gkdz2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2424, 1.3357, 0.7277, -0.0765, -0.1921, -0.1589, 0.9993, -0.0212, 0.7986, 0.6086, -0.4282, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3804 left_y=-0.0556 left_z=0.1242 left_yaw=-0.0092 left_pitch=-0.0963 left_roll=0.0127 left_gripper=0.9993 right_x=0.289 right_y=0.0009 right_z=0.171 right_yaw=0.0018 right_pitch=-0.0351 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.6821, 9.388, 1.9609, -0.1587, 0.0806, -0.0855, -0.1299, -1.5658, 6.8718, 2.0244, -0.0024, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5bd0bd040577f661c60ac6c34e263bdd49e5ca23cd017b6ddc53cf843f6bac1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60bab8093e4f6e712d139447321574ffd09de6f59b2a1adb070f0c014d6e0071"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:460f7c44070d9712f364abcc177d2adf2076f02e16024390369c5181d7b8d814"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b5bd0bd04057
wire blob 60bab8093e4f
wire blob 460f7c44070d
call 2 attempt 0 · /chat/completions · status 200 · 13.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3851, -0.0193, -0.0334, 0.9993, -0.0204, 0.794, 0.6064, -0.3954, -0.0166, -0.0193, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0005 right_z=0.1778 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4564, 10.3179, 1.9072, -0.0855, 0.1734, -0.0904, -0.3761, -1.6068, 9.6889, 1.9072, -0.0806, 0.0122, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.06, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the left gripper still about 50 px short of the red block, which lies directly ahead of it along the arm's forward axis. Extending the left arm further forward and lowering slightly to get over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JhjkmwrefRMCuYTrdwyY8Y",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01JhjkmwrefRMCuYTrdwyY8Y"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1806, 1.8084, 1.0737, 0.0002, -0.1532, -0.1387, 0.9993, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.4834 left_y=-0.0572 left_z=0.085 left_yaw=0.0102 left_pitch=-0.1507 left_roll=0.014 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=0.002 right_pitch=-0.0678 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -9.2923, 8.4308, 1.8095, 0.0513, 0.1929, -0.0904, -0.1573, -1.5385, 7.3504, 1.9023, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24739e5f78034e864cfa0bff2cfe1f6ee3d2f2564cd012f9e2b000a1720ee301"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c9ee5f468679033560c0fff08878c74519ff1b9cf5e1e129759c6621ebf294e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:636e038112840f4b7a36126f4a340e3b55e3dc7b124334b160105f47da09482f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 24739e5f7803
wire blob 5c9ee5f46867
wire blob 636e03811284
call 3 attempt 0 · /chat/completions · status 200 · 18.4 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2424, 1.3357, 0.7277, -0.0765, -0.1921, -0.1589, 0.9993, -0.0212, 0.7986, 0.6086, -0.4282, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3804 left_y=-0.0556 left_z=0.1242 left_yaw=-0.0092 left_pitch=-0.0963 left_roll=0.0127 left_gripper=0.9993 right_x=0.289 right_y=0.0009 right_z=0.171 right_yaw=0.0018 right_pitch=-0.0351 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.6821, 9.388, 1.9609, -0.1587, 0.0806, -0.0855, -0.1299, -1.5658, 6.8718, 2.0244, -0.0024, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.13, \"left_z\": 0.08, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the left gripper is still short of the block and the block sits to the arm's right (lower in the image). Shifting the left arm further forward and to its right (-y) to center over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MHVfA35JDwXMgGESjzncgQ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01MHVfA35JDwXMgGESjzncgQ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3046, 2.0766, 1.4189, -0.1287, -0.2352, -0.2264, 0.9993, -0.0212, 0.8062, 0.6056, -0.4797, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5375 left_y=-0.1221 left_z=0.0696 left_yaw=0.0055 left_pitch=-0.1859 left_roll=0.017 left_gripper=0.9993 right_x=0.2813 right_y=0.0011 right_z=0.1575 right_yaw=0.0021 right_pitch=-0.0972 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -10.7282, 8.6496, 1.6484, -0.2418, -0.0415, -0.0855, -0.0342, -1.5111, 6.9949, 1.8632, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6324e9a1fd90b2000dadd7696c9b22be8937c9f2ab9b290fb040de3a2f45849a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e9061d830ec8cdf77deff73bb65879abf62fa53db94edec21927f4b8ad606143"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4032366437272e3a56b2b36ec286bcd2478104f8dee662a94e7e1742945d50f0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6324e9a1fd90
wire blob e9061d830ec8
wire blob 403236643727
call 4 attempt 0 · /chat/completions · status 200 · 13.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1806, 1.8084, 1.0737, 0.0002, -0.1532, -0.1387, 0.9993, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.4834 left_y=-0.0572 left_z=0.085 left_yaw=0.0102 left_pitch=-0.1507 left_roll=0.014 left_gripper=0.9993 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=0.002 right_pitch=-0.0678 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -9.2923, 8.4308, 1.8095, 0.0513, 0.1929, -0.0904, -0.1573, -1.5385, 7.3504, 1.9023, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.2, \"left_z\": 0.06, \"left_gripper\": 1.0}, \"note\": \"In the top camera the left gripper is still up-left of the red block; +x appears to move it image-right and -y image-down. Moving further forward and right to bring the block under the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01USUvYj9iwf17oRYATa1F6V",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01USUvYj9iwf17oRYATa1F6V"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4191, 2.3215, 1.7725, -0.2901, -0.305, -0.3134, 0.9993, -0.0212, 0.8097, 0.6056, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.571 left_y=-0.1923 left_z=0.051 left_yaw=0.0007 left_pitch=-0.2159 left_roll=0.021 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1527 right_yaw=0.0022 right_pitch=-0.1212 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -13.0393, 8.6085, 1.4188, -0.2759, -0.0073, -0.0855, -0.1026, -1.5385, 7.0632, 1.8095, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e61265997845261a104d6b60b1cbcfdd37ce056076450309c6e6375a4de0341f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29c19d15988bb262481a2e32bd88e713cb00e367d90b5d940c91cc01924f7859"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78d2a4eb3dea487b3372e61eaf749917a58c64ae3966017940be1cbaee42fb2e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e61265997845
wire blob 29c19d15988b
wire blob 78d2a4eb3dea
call 5 attempt 0 · /chat/completions · status 200 · 14.1 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3046, 2.0766, 1.4189, -0.1287, -0.2352, -0.2264, 0.9993, -0.0212, 0.8062, 0.6056, -0.4797, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5375 left_y=-0.1221 left_z=0.0696 left_yaw=0.0055 left_pitch=-0.1859 left_roll=0.017 left_gripper=0.9993 right_x=0.2813 right_y=0.0011 right_z=0.1575 right_yaw=0.0021 right_pitch=-0.0972 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -10.7282, 8.6496, 1.6484, -0.2418, -0.0415, -0.0855, -0.0342, -1.5111, 6.9949, 1.8632, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.575, \"left_y\": -0.225, \"left_z\": 0.03, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the left gripper now nearly over the red block, with the block just below the fingertips in the image (slightly further -y); the left wrist cam looks ahead of the fingers so the block is out of its view. Shifting a bit more right and lowering toward grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_017FZjkD2NmsFutu2UQxmMar",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_017FZjkD2NmsFutu2UQxmMar"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4526, 2.3917, 1.8374, -0.3073, -0.3305, -0.3504, 0.9993, -0.0212, 0.8108, 0.6056, -0.5087, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.573 left_y=-0.2109 left_z=0.0342 left_yaw=0.0107 left_pitch=-0.2275 left_roll=0.0221 left_gripper=0.9993 right_x=0.2769 right_y=0.0012 right_z=0.1508 right_yaw=0.0022 right_pitch=-0.1308 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-1.2786, -12.4239, 8.4855, 1.4676, -0.2222, 0.0659, -0.0855, -0.1983, -1.2786, 6.9128, 1.7118, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf486db5bd463e54e6aa150938c6dc69238b4ee4188e55e1268d9ba6fc0a5e0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6aed5e7ebdffebc1487610c8c80201dc01183aa59cfa6b46c5e682ab0ba2d62e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72eae9bf787fa837d9a189739cce8157c17bd28b76cefd463f4b8fd84f766340"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bf486db5bd46
wire blob 6aed5e7ebdff
wire blob 72eae9bf787f
call 6 attempt 0 · /chat/completions · status 200 · 12.36 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4191, 2.3215, 1.7725, -0.2901, -0.305, -0.3134, 0.9993, -0.0212, 0.8097, 0.6056, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.571 left_y=-0.1923 left_z=0.051 left_yaw=0.0007 left_pitch=-0.2159 left_roll=0.021 left_gripper=0.9993 right_x=0.2782 right_y=0.0012 right_z=0.1527 right_yaw=0.0022 right_pitch=-0.1212 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -13.0393, 8.6085, 1.4188, -0.2759, -0.0073, -0.0855, -0.1026, -1.5385, 7.0632, 1.8095, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.575, \"left_y\": -0.26, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block about 5 cm below (further -y of) the left fingertips, and the wrist cam sees only bare table between the fingers. Shifting further right, straightening pitch, and descending to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BSELDAmduWoKejoHBmu42P",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01BSELDAmduWoKejoHBmu42P"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4774, 2.4268, 1.8412, -0.3157, -0.3351, -0.3573, 0.9993, -0.0212, 0.8116, 0.6056, -0.5274, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5646 left_y=-0.2226 left_z=0.014 left_yaw=-0.0021 left_pitch=-0.2611 left_roll=0.039 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1471 right_yaw=0.0023 right_pitch=-0.1502 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.3385, 8.8684, 1.4969, -0.2955, -0.0562, -0.0904, -0.1983, -1.1829, 6.9675, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed74ef3ffecd3d7a887ec35949b21ea6e4b4f0adbaa4f920338b9d081ef42eb8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54e3c07de1539e04e403162a462747287a1f283ec727363178c31488c68b5100"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c142efd960789e5c2463f36d92799c34300919a531cc27648c5d617c134390b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ed74ef3ffecd
wire blob 54e3c07de153
wire blob 9c142efd9607
call 7 attempt 0 · /chat/completions · status 200 · 19.46 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4526, 2.3917, 1.8374, -0.3073, -0.3305, -0.3504, 0.9993, -0.0212, 0.8108, 0.6056, -0.5087, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.573 left_y=-0.2109 left_z=0.0342 left_yaw=0.0107 left_pitch=-0.2275 left_roll=0.0221 left_gripper=0.9993 right_x=0.2769 right_y=0.0012 right_z=0.1508 right_yaw=0.0022 right_pitch=-0.1308 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-1.2786, -12.4239, 8.4855, 1.4676, -0.2222, 0.0659, -0.0855, -0.1983, -1.2786, 6.9128, 1.7118, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.28, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm did not reach the commanded y (-0.22 vs -0.26), suggesting it's near reach limits; the block still sits just below the fingertips in the top view. Pulling x back slightly to free up reach and pushing further toward -y.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Tv8TRq5XG1wdTwrHTknGQJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01Tv8TRq5XG1wdTwrHTknGQJ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6159, 2.4226, 1.6665, 0.0257, -0.4957, -0.3759, 0.9993, -0.0212, 0.812, 0.6056, -0.5644, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5454 left_y=-0.2786 left_z=0.0112 left_yaw=-0.0176 left_pitch=-0.0543 left_roll=0.0385 left_gripper=0.9993 right_x=0.2676 right_y=0.0014 right_z=0.1404 right_yaw=0.0024 right_pitch=-0.1876 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -13.0667, 5.7094, 1.9414, -0.3932, 0.0952, -0.0904, -0.1026, -1.0872, 7.0632, 1.8828, -0.0317, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6ef961bcba167aee4b64b1a61eace23da94f94f2dda3a865c75b427f64a3183"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29d46e853b52ecf4272aa93647c3ed1cf3357c80591c2b8cbb1e18e749e1f8e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ac8393580795a7104a9381ae055a74db47919fc2016fb252a829a22a42a029f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e6ef961bcba1
wire blob 29d46e853b52
wire blob 9ac839358079
call 8 attempt 0 · /chat/completions · status 200 · 30.51 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4774, 2.4268, 1.8412, -0.3157, -0.3351, -0.3573, 0.9993, -0.0212, 0.8116, 0.6056, -0.5274, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5646 left_y=-0.2226 left_z=0.014 left_yaw=-0.0021 left_pitch=-0.2611 left_roll=0.039 left_gripper=0.9993 right_x=0.2738 right_y=0.0013 right_z=0.1471 right_yaw=0.0023 right_pitch=-0.1502 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -14.3385, 8.8684, 1.4969, -0.2955, -0.0562, -0.0904, -0.1983, -1.1829, 6.9675, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.24, \"left_z\": 0.05, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top camera now shows the red block beside the left arm's wrist, behind the fingertips \\u2014 I overshot forward. The arm's forward axis points image-up, so I'm pulling back ~9 cm and slightly left to bring the fingers over the block, hovering at 5 cm.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FPXgKMCadZLXtb7yB8g47G",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01FPXgKMCadZLXtb7yB8g47G"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6628, 2.1117, 1.1671, 0.173, -0.5327, -0.384, 0.9993, -0.0212, 0.8158, 0.6056, -0.5911, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4575 left_y=-0.2388 left_z=0.0202 left_yaw=-0.0302 left_pitch=-0.0731 left_roll=0.0765 left_gripper=0.9993 right_x=0.263 right_y=0.0016 right_z=0.1348 right_yaw=0.0027 right_pitch=-0.2181 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -13.7778, 6.3932, 1.9365, -0.398, -0.0659, -0.0904, -0.0342, -1.4017, 6.8308, 1.79, -0.0806, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f4ad58052866c1a863c538ced9c2e0967ae22c713311ac4c76bed491df8404e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7934e5104a2ba9422b7af3138b69130bad76674852ad660537716420f417bebd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a2f633671d2c0a8054d78d33f77633da3f15929482549595e2ab4c5e8d6f9c7c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4f4ad5805286
wire blob 7934e5104a2b
wire blob a2f633671d2c
call 9 attempt 0 · /chat/completions · status 200 · 10.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6159, 2.4226, 1.6665, 0.0257, -0.4957, -0.3759, 0.9993, -0.0212, 0.812, 0.6056, -0.5644, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5454 left_y=-0.2786 left_z=0.0112 left_yaw=-0.0176 left_pitch=-0.0543 left_roll=0.0385 left_gripper=0.9993 right_x=0.2676 right_y=0.0014 right_z=0.1404 right_yaw=0.0024 right_pitch=-0.1876 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -13.0667, 5.7094, 1.9414, -0.3932, 0.0952, -0.0904, -0.1026, -1.0872, 7.0632, 1.8828, -0.0317, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.22, \"left_z\": 0.05, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block peeking out just behind/below the left gripper fingers, so the grasp point is still ~8 cm too far forward; the wrist cam sees only table. Retracting the left arm further along -x and slightly right while hovering at 5 cm to get the fingers over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VBLmDXYGku8pVZY2QMpZY5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01VBLmDXYGku8pVZY2QMpZY5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8131, 1.8297, 0.7952, 0.231, -0.6422, -0.4595, 0.9993, -0.0212, 0.8192, 0.6056, -0.6128, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.2236 left_z=0.0351 left_yaw=-0.0576 left_pitch=-0.0443 left_roll=0.0957 left_gripper=0.9993 right_x=0.2592 right_y=0.0016 right_z=0.1303 right_yaw=0.0027 right_pitch=-0.2433 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7983, 5.2718, 1.5556, -0.4078, -0.0757, -0.0904, -0.0479, -0.9504, 6.8718, 1.7802, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af547528120bc54449e679e9592c1f7b2c2adfffe5d3439847eafa5aea56d369"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c2a69b075520e9077dc155b3b74abafdc2958ad44af111122fda903a20f6cea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90e349711f9744dd8b1177a72f89126125332cf57de763ad8346b7371f681e52"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob af547528120b
wire blob 9c2a69b07552
wire blob 90e349711f97
call 10 attempt 0 · /chat/completions · status 200 · 21.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6628, 2.1117, 1.1671, 0.173, -0.5327, -0.384, 0.9993, -0.0212, 0.8158, 0.6056, -0.5911, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4575 left_y=-0.2388 left_z=0.0202 left_yaw=-0.0302 left_pitch=-0.0731 left_roll=0.0765 left_gripper=0.9993 right_x=0.263 right_y=0.0016 right_z=0.1348 right_yaw=0.0027 right_pitch=-0.2181 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -13.7778, 6.3932, 1.9365, -0.398, -0.0659, -0.0904, -0.0342, -1.4017, 6.8308, 1.79, -0.0806, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.32, \"left_y\": -0.25, \"left_z\": 0.045, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The red block is now visible at the bottom-left of the left wrist cam and just below the fingers in the top view, meaning it is still slightly behind (-x) and to the right (-y) of the grasp point. Retracting another 4 cm and shifting 2.5 cm right to center it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HTcPpwrzWMdxqYKqeeAUSp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01HTcPpwrzWMdxqYKqeeAUSp"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9699, 1.808, 0.7784, 0.1761, -0.7261, -0.5537, 0.9993, -0.0212, 0.8215, 0.6056, -0.6319, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.2555 left_z=0.0373 left_yaw=-0.1039 left_pitch=-0.0287 left_roll=0.0973 left_gripper=0.9993 right_x=0.2557 right_y=0.0016 right_z=0.1266 right_yaw=0.0028 right_pitch=-0.2646 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -9.347, 5.1624, 1.2821, -0.6374, -0.0806, -0.0904, -0.0615, -0.8, 6.7897, 1.6728, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d91c6d85f4f5113f372184b1105b391c545cda4e6676b24d30602d0c5c6be67"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ee48698e4246f27f5ef4fdddfa34448b39b753db11efac0035273c347db5f14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:178e899edd0e317f5f0901e05872cf0731f60bc13a9db755739ff70f08485837"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8d91c6d85f4f
wire blob 5ee48698e424
wire blob 178e899edd0e
call 11 attempt 0 · /chat/completions · status 200 · 17.02 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8131, 1.8297, 0.7952, 0.231, -0.6422, -0.4595, 0.9993, -0.0212, 0.8192, 0.6056, -0.6128, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.2236 left_z=0.0351 left_yaw=-0.0576 left_pitch=-0.0443 left_roll=0.0957 left_gripper=0.9993 right_x=0.2592 right_y=0.0016 right_z=0.1303 right_yaw=0.0027 right_pitch=-0.2433 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7983, 5.2718, 1.5556, -0.4078, -0.0757, -0.0904, -0.0479, -0.9504, 6.8718, 1.7802, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.31, \"left_y\": -0.225, \"left_z\": 0.04, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left wrist cam now shows the red block right beside the left finger at fingertip depth, about 3 cm off the jaw centerline; the last -y move shifted it image-left, so I'm moving +y ~3 cm and back 1 cm to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Uw6m2MFpVBAHqzVMQR1LeN",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Uw6m2MFpVBAHqzVMQR1LeN"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.8215, 0.6056, -0.643, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2537 right_y=0.0017 right_z=0.1248 right_yaw=0.0029 right_pitch=-0.2757 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.9915, 5.135, 1.3162, -0.6227, -0.0806, -0.0904, -0.0342, -1.0735, 6.7761, 1.6093, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a48282908eb9bc421bd113a3260a2c337f1cb7d32247ff52351c23d251eeedd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53f0108d9d618be60d0e591a864ed45ec8e13194aca1fa99e99ce0ab0b1c6b77"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a7433fd19452720a920aa659a63621165cb005c3f07e070a7c6309d11884022"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8a48282908eb
wire blob 53f0108d9d61
wire blob 9a7433fd1945
call 12 attempt 0 · /chat/completions · status 200 · 25.88 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9699, 1.808, 0.7784, 0.1761, -0.7261, -0.5537, 0.9993, -0.0212, 0.8215, 0.6056, -0.6319, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.2555 left_z=0.0373 left_yaw=-0.1039 left_pitch=-0.0287 left_roll=0.0973 left_gripper=0.9993 right_x=0.2557 right_y=0.0016 right_z=0.1266 right_yaw=0.0028 right_pitch=-0.2646 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -9.347, 5.1624, 1.2821, -0.6374, -0.0806, -0.0904, -0.0615, -0.8, 6.7897, 1.6728, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.31, \"left_y\": -0.285, \"left_z\": 0.04, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The +y command barely moved the arm and the block remains at the left fingertip in the wrist cam; the previous -y move was what brought it into view, so image-left likely corresponds to -y. Moving 3 cm further toward -y to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_015FEAVX5nR3g57Af8boiemH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015FEAVX5nR3g57Af8boiemH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.823, 0.6056, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2509 right_y=0.0017 right_z=0.1221 right_yaw=0.0028 right_pitch=-0.2917 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.1419, 5.135, 1.2772, -0.5836, -0.0904, -0.0904, -0.1299, -1.2786, 6.7487, 1.5409, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e940f6a42285e3d9e19d6896b6262c948251dc15fe8e1e061adbcb39028bd43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad742293db12a639abd48d2148f6125ff660553cc2450c92d20cce0ff4accebc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b48dfbc850eb4b487f9769471b0a6e236b67fb3fe5a32e757f3934b657fada8e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9e940f6a4228
wire blob ad742293db12
wire blob b48dfbc850eb
call 13 attempt 0 · /chat/completions · status 200 · 8.112 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.8215, 0.6056, -0.643, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2537 right_y=0.0017 right_z=0.1248 right_yaw=0.0029 right_pitch=-0.2757 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.9915, 5.135, 1.3162, -0.6227, -0.0806, -0.0904, -0.0342, -1.0735, 6.7761, 1.6093, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.295, \"left_y\": -0.27, \"left_z\": 0.06, \"left_yaw\": 0.0, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm has not moved at all for the last two commands (joint positions unchanged), so IK appears stuck at this pose; the block sits at the left fingertip in the wrist cam. Raising z slightly, zeroing wrist orientation, and retracting 2 cm to unstick the arm and bring the block toward the jaw center.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YMibU4j8eu5vsmp8zYGxtk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01YMibU4j8eu5vsmp8zYGxtk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9863, 1.808, 0.7784, 0.1486, -0.7643, -0.5922, 0.9993, -0.0212, 0.8249, 0.6056, -0.6727, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3176 left_y=-0.252 left_z=0.0372 left_yaw=-0.0738 left_pitch=-0.0212 left_roll=0.1051 left_gripper=0.9993 right_x=0.248 right_y=0.0019 right_z=0.1193 right_yaw=0.0033 right_pitch=-0.3089 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -9.306, 5.1487, 1.3065, -0.5153, -0.0708, -0.0904, -0.0615, -1.2786, 6.735, 1.5214, -0.0855, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9f51629bf92808f9f5131d9bdff9103a3825c71b26e66716b2267c2984561cd2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0f2c1fa4e888edf1ebc755238fa1d44b82adff0e57be0b8687b636e4b8b795a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f91662cc88af3edc18a4aaf2e2732e1baa8dd136f9ff4070d1b594aa85f8f36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9f51629bf928
wire blob c0f2c1fa4e88
wire blob 7f91662cc88a
call 14 attempt 0 · /chat/completions · status 200 · 13.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9871, 1.808, 0.7784, 0.1486, -0.7574, -0.5926, 0.9993, -0.0212, 0.823, 0.6056, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.317 left_y=-0.2532 left_z=0.0366 left_yaw=-0.0788 left_pitch=-0.0253 left_roll=0.1015 left_gripper=0.9993 right_x=0.2509 right_y=0.0017 right_z=0.1221 right_yaw=0.0028 right_pitch=-0.2917 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.1419, 5.135, 1.2772, -0.5836, -0.0904, -0.0904, -0.1299, -1.2786, 6.7487, 1.5409, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.3, \"left_y\": -0.2, \"left_z\": 0.12, \"left_yaw\": 0.0, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The left arm remains frozen at the same joint pose despite three commands, so the IK is stuck near this configuration. Lifting the gripper to 12 cm and moving back toward the arm's center (+y) to escape the stuck region before re-approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_017hwnmgxmHd81n46F8yq9Tv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_017hwnmgxmHd81n46F8yq9Tv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9409, 1.4158, 0.7227, -0.0818, -0.7494, -0.646, 0.9993, -0.0208, 0.8288, 0.6056, -0.6804, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3055 left_y=-0.2087 left_z=0.1231 left_yaw=-0.0086 left_pitch=0.0354 left_roll=-0.0315 left_gripper=0.9993 right_x=0.2466 right_y=0.0019 right_z=0.1172 right_yaw=0.0036 right_pitch=-0.3203 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.1111, 7.0222, 1.1013, -0.2662, -0.0855, -0.0904, -0.0479, -1.347, 6.7077, 1.4969, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a3ca74084aaab07ff4845822fb1fa52efa5be6df83e9e2824feab39ca340df4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be49de65f3b92f4b0b0b33c6f1b87d5d28006f1fda1bec5539219156527fa9aa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:860ff273de7618deed4d9ba40e7d19d2e0bc9e3d135bbda335d3f058441b28ac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0a3ca74084aa
wire blob be49de65f3b9
wire blob 860ff273de76
call 15 attempt 0 · /chat/completions · status 200 · 17.68 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9863, 1.808, 0.7784, 0.1486, -0.7643, -0.5922, 0.9993, -0.0212, 0.8249, 0.6056, -0.6727, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3176 left_y=-0.252 left_z=0.0372 left_yaw=-0.0738 left_pitch=-0.0212 left_roll=0.1051 left_gripper=0.9993 right_x=0.248 right_y=0.0019 right_z=0.1193 right_yaw=0.0033 right_pitch=-0.3089 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -9.306, 5.1487, 1.3065, -0.5153, -0.0708, -0.0904, -0.0615, -1.2786, 6.735, 1.5214, -0.0855, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.31, \"left_y\": -0.2, \"left_z\": 0.02, \"left_yaw\": 0.0, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The red block now sits nearly centered between the left gripper jaws in the wrist cam, just slightly left of center and near the fingertips. Descending straight down to grasp height with jaws open.\"}",
        "name": "move_to"
      },
      "id": "toolu_013za5pVHA7te1wSE6zcefzq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_013za5pVHA7te1wSE6zcefzq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9127, 1.7111, 0.5568, 0.2871, -0.7303, -0.6384, 0.9993, -0.0212, 0.8307, 0.6056, -0.6979, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.1958 left_z=0.02 left_yaw=0.0023 left_pitch=-0.0314 left_roll=0.0402 left_gripper=0.9993 right_x=0.2432 right_y=0.002 right_z=0.1142 right_yaw=0.0035 right_pitch=-0.3398 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -6.8581, 4.1504, 1.5409, -0.4274, -0.0024, -0.0904, -0.0479, -1.2923, 6.8718, 1.5507, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c459a7c8e7e59c94cbc274d5c8b5eb69002aac420be4354bd23932b7d9ba32c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05a4e2994b5af70b55755b7165375ecbb27de3eb902d1562a92d922e48024ff9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e35786f550ec86f5debf532f03c5b7230ffd41235ee316a78007ab18f5fbc33c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9c459a7c8e7e
wire blob 05a4e2994b5a
wire blob e35786f550ec
call 16 attempt 0 · /chat/completions · status 200 · 16.51 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9409, 1.4158, 0.7227, -0.0818, -0.7494, -0.646, 0.9993, -0.0208, 0.8288, 0.6056, -0.6804, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3055 left_y=-0.2087 left_z=0.1231 left_yaw=-0.0086 left_pitch=0.0354 left_roll=-0.0315 left_gripper=0.9993 right_x=0.2466 right_y=0.0019 right_z=0.1172 right_yaw=0.0036 right_pitch=-0.3203 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -3.1111, 7.0222, 1.1013, -0.2662, -0.0855, -0.0904, -0.0479, -1.347, 6.7077, 1.4969, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block is centered between the left gripper jaws in the wrist camera at grasp height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LB4GdSub49SQNQsTYog8GY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01LB4GdSub49SQNQsTYog8GY"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9092, 1.737, 0.5434, 0.2836, -0.7261, -0.6407, 0.0114, -0.0212, 0.8307, 0.6056, -0.7109, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.1891 left_z=0.0072 left_yaw=0.0058 left_pitch=-0.06 left_roll=0.0702 left_gripper=0.0114 right_x=0.2406 right_y=0.002 right_z=0.1122 right_yaw=0.0033 right_pitch=-0.3527 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7179, 5.6821, 1.3211, -0.3443, 0.0317, 0.9597, -0.1162, -1.1419, 6.8034, 1.4481, -0.0513, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c5c42eec1cda04f0e6b9b326c5a1114b315c4ec0ec1ff8ae57de76338ef6588"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cba4b0c059715ac3e63c8dcb18171599ec6d99d94b87b0f20c4dbc59ea8f2fb4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:107a0e7f8a6723893807414111648896a95620931bede649f10353f3a19d35ea"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9c5c42eec1cd
wire blob cba4b0c05971
wire blob 107a0e7f8a67
call 17 attempt 0 · /chat/completions · status 200 · 16.38 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9127, 1.7111, 0.5568, 0.2871, -0.7303, -0.6384, 0.9993, -0.0212, 0.8307, 0.6056, -0.6979, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3049 left_y=-0.1958 left_z=0.02 left_yaw=0.0023 left_pitch=-0.0314 left_roll=0.0402 left_gripper=0.9993 right_x=0.2432 right_y=0.002 right_z=0.1142 right_yaw=0.0035 right_pitch=-0.3398 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -6.8581, 4.1504, 1.5409, -0.4274, -0.0024, -0.0904, -0.0479, -1.2923, 6.8718, 1.5507, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.345, \"left_y\": -0.195, \"left_z\": 0.015, \"left_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.01) without the block \\u2014 the wrist cam shows the block sitting just beyond the closed fingertips, so the grasp point was ~4 cm short in +x. Reopening and advancing 4.5 cm forward at grasp height to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EKCWjcspnnkJ6gViG8JJVM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01EKCWjcspnnkJ6gViG8JJVM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8051, 1.8023, 0.6468, 0.2836, -0.6682, -0.5545, 0.9952, -0.0212, 0.8307, 0.6056, -0.7277, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.337 left_y=-0.1874 left_z=0.0093 left_yaw=0.0228 left_pitch=-0.0738 left_roll=0.0812 left_gripper=0.9952 right_x=0.2372 right_y=0.002 right_z=0.1098 right_yaw=0.0034 right_pitch=-0.3695 right_roll=0.0106 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.3385, 6.9265, 1.4823, -0.1636, 0.1099, -0.0611, -0.0615, -1.1282, 6.6667, 1.4774, -0.0171, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee823c1438e2a7e0741fa276a418d787c9bc11064504b71d5c86f803ba8c8c03"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e55affc1f9e8b07aee41c635737610c16f13b09ed2c0d23386164840980a8756"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53c8faf5a71c8a03c7a35ca81821d8dad88821c56aa710fac9786c3209b22148"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ee823c1438e2
wire blob e55affc1f9e8
wire blob 53c8faf5a71c
call 18 attempt 0 · /chat/completions · status 200 · 28.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9092, 1.737, 0.5434, 0.2836, -0.7261, -0.6407, 0.0114, -0.0212, 0.8307, 0.6056, -0.7109, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3004 left_y=-0.1891 left_z=0.0072 left_yaw=0.0058 left_pitch=-0.06 left_roll=0.0702 left_gripper=0.0114 right_x=0.2406 right_y=0.002 right_z=0.1122 right_yaw=0.0033 right_pitch=-0.3527 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7179, 5.6821, 1.3211, -0.3443, 0.0317, 0.9597, -0.1162, -1.1419, 6.8034, 1.4481, -0.0513, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block is now between the open left jaws in the wrist camera, near the fingertips. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PU4qjGsH5RUm9oqhaReBEe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01PU4qjGsH5RUm9oqhaReBEe"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8043, 1.8027, 0.6479, 0.2871, -0.6693, -0.561, 0.4414, -0.0212, 0.8307, 0.6056, -0.7425, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3378 left_y=-0.1877 left_z=0.0101 left_yaw=0.0277 left_pitch=-0.07 left_roll=0.0735 left_gripper=0.4414 right_x=0.2342 right_y=0.0022 right_z=0.1077 right_yaw=0.0039 right_pitch=-0.3844 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -7.5145, 4.5197, 1.3553, -0.2955, 0.0317, 1.0281, -0.1573, -1.1009, 6.653, 1.4237, -0.0513, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4fa492db9e0a2591b5d645e0ba710bdf8fe3f20b2f25073d661ba38c4d8fb663"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bcc40da7a7a3531f8f7420fed310bd0005f5913e0f705d35b3bf0864430ad16e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83d8fe2490e0e3f12400c0f558527b9b046df02b393fddc966cb6c48c42bad39"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4fa492db9e0a
wire blob bcc40da7a7a3
wire blob 83d8fe2490e0
call 19 attempt 0 · /chat/completions · status 200 · 90.39 s
model
claude-fable-5-1
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]: [-0.8051, 1.8023, 0.6468, 0.2836, -0.6682, -0.5545, 0.9952, -0.0212, 0.8307, 0.6056, -0.7277, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.337 left_y=-0.1874 left_z=0.0093 left_yaw=0.0228 left_pitch=-0.0738 left_roll=0.0812 left_gripper=0.9952 right_x=0.2372 right_y=0.002 right_z=0.1098 right_yaw=0.0034 right_pitch=-0.3695 right_roll=0.0106 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.3385, 6.9265, 1.4823, -0.1636, 0.1099, -0.0611, -0.0615, -1.1282, 6.6667, 1.4774, -0.0171, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.54, \"left_y\": -0.11, \"left_z\": 0.2, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 0.44}, \"note\": \"The gripper stopped at 0.44 with rising effort and the wrist cam shows the red block held between the jaws. Lifting to 20 cm and carrying it forward/right toward the white bowl seen in the top camera (about 21 cm image-right and 8 cm up of the gripper).\"}",
        "name": "move_to"
      },
      "id": "toolu_01XEc8NBRnyF4gjkpbYPmSs2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 16 steps (1.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01XEc8NBRnyF4gjkpbYPmSs2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3042, 1.8664, 1.4643, -0.226, -0.3019, -0.2352, 0.4414, -0.0212, 0.833, 0.6056, -0.7551, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5312 left_y=-0.108 left_z=0.1838 left_yaw=0.0604 left_pitch=-0.0222 left_roll=-0.0014 left_gripper=0.4414 right_x=0.2316 right_y=0.0022 right_z=0.1055 right_yaw=0.0037 right_pitch=-0.3993 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -10.0444, 9.1282, 1.5897, 0.0513, 0.315, 1.0281, -0.2256, -1.2923, 6.735, 1.3602, -0.0269, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6960b04e5ef4cb7ef4f809b93211dd0a9406917e4bf27f422df5d341e5c5c62a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e2170e8a9f0d41a917cd5c9294cc5737eee1ec2507727a4814f06f491c76d05"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79582b5f3a6d4adabf58e27ca2fec381fc11ca1cf8479073a03758913733555d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6960b04e5ef4
wire blob 5e2170e8a9f0
wire blob 79582b5f3a6d