adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9993, -0.02, 0.794, 0.606, -0.3958, -0.02, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1776 right_yaw=0.0007 right_pitch=0.0008 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.4154, 10.1538, 1.9316, -0.0757, 0.2027, -0.0904, -0.5128, -1.6068, 9.7299, 1.9219, -0.0366, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4182a742b4ac0307e8b2fb527b1e931ee37838fe61b7dec76a09d844b4f7bfc9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7385325bbdad25d68f1c59d8a4c524fef55ba026941e101efee07c8d378dd55"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f9591db319ef9400ed3f4161ff402e8e17215403ea7d2f74f572ea43ac2f0d4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "I'll start by moving the left arm toward the red block, which appears to its right (negative y) based on the top and left wrist cameras.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.2, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block about 80px to the right of the left gripper and slightly forward, with the bowl further right. Moving the left arm above the estimated block position at a safe height to refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_01G9RGegffHTcCB99nAaAbJD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 18 steps (1.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01G9RGegffHTcCB99nAaAbJD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7853, 1.5059, 0.7807, -0.083, -0.6151, -0.5175, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1899 left_z=0.103 left_yaw=-0.0179 left_pitch=-0.0581 left_roll=0.0379 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5026, 8.8, 1.6484, -0.4518, 0.0073, -0.0904, -0.0205, -1.6479, 6.8718, 2.0147, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5add1facb1c25b1a323b24384c4f6dcbf789f23b12ff9707222d25d485e6d77e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:869661c9534496c012103749db10ba1046064d372de00e12ec24a8a02b61dc7c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae03535d55e0437bfba9abdefd8f0379497f25a533d3bd654502b5b3288a18fc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9993, -0.02, 0.794, 0.606, -0.3958, -0.02, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1776 right_yaw=0.0007 right_pitch=0.0008 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.4154, 10.1538, 1.9316, -0.0757, 0.2027, -0.0904, -0.5128, -1.6068, 9.7299, 1.9219, -0.0366, 0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.345, \"left_y\": -0.19, \"left_z\": 0.045, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the left gripper now directly over where the red block was, and the wrist camera sees the block centered between the fingers. Descending toward table height with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V8RmRQ4ALgBnC3sZF6CiLf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01V8RmRQ4ALgBnC3sZF6CiLf"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7761, 1.6661, 0.6788, 0.1051, -0.6102, -0.5159, 0.9993, -0.0212, 0.8024, 0.6056, -0.4522, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3352 left_y=-0.1821 left_z=0.0377 left_yaw=-0.0087 left_pitch=-0.114 left_roll=0.088 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0645 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.747, 5.7094, 1.8242, -0.3443, 0.0269, -0.0904, -0.1709, -1.4838, 7.3094, 1.8681, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:663ab3d633e8d7f034f8263eaf6a930c6bbd7643a6863717c86d94059cafa67a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c6bc25e2a94f1d8994827f15d90ac0806477d38677487800213a3eb7f8c6683"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bdfe343fd2c6c1f24d8ef69553cca01f7ae2f8f2a1c63bf8fca7315983c3480e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7853, 1.5059, 0.7807, -0.083, -0.6151, -0.5175, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1899 left_z=0.103 left_yaw=-0.0179 left_pitch=-0.0581 left_roll=0.0379 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0397 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5026, 8.8, 1.6484, -0.4518, 0.0073, -0.0904, -0.0205, -1.6479, 6.8718, 2.0147, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.185, \"left_z\": 0.01, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Wrist camera shows the red block centered laterally between the open fingers but slightly ahead of the fingertips. Descending further to table level and nudging forward slightly so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Qk7ZhYUDe12CuVwqGpZpch",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Qk7ZhYUDe12CuVwqGpZpch"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7582, 1.8149, 0.5823, 0.4133, -0.6079, -0.506, 0.9993, -0.0212, 0.8024, 0.6056, -0.4568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3395 left_y=-0.1776 left_z=-0.0 left_yaw=-0.0018 left_pitch=-0.07 left_roll=0.0509 left_gripper=0.9993 right_x=0.2846 right_y=0.0011 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.069 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -7.1316, 4.465, 0.9646, -0.1978, 0.2027, -0.0855, -0.0752, -1.2376, 7.2957, 1.6825, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c76cc9dcfc5fe2f7873ae799e44db44a2d3dfc44a82d9f76301c7349847b4c31"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78ea88b48a1f296cee1acc38342cd4b83f020f5464fd616d64c93afd8ebf45d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed8b1b7e6e91d5ecc8e77e4ab22c61f82c1c7ea6c4aa22e3a125e3a66df37dfc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7761, 1.6661, 0.6788, 0.1051, -0.6102, -0.5159, 0.9993, -0.0212, 0.8024, 0.6056, -0.4522, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3352 left_y=-0.1821 left_z=0.0377 left_yaw=-0.0087 left_pitch=-0.114 left_roll=0.088 left_gripper=0.9993 right_x=0.2853 right_y=0.001 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0645 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.747, 5.7094, 1.8242, -0.3443, 0.0269, -0.0904, -0.1709, -1.4838, 7.3094, 1.8681, -0.022, -0.0562, -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\": 0.385, \"left_y\": -0.18, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The gripper is at table height and the wrist camera shows the red block centered but still about 4 cm ahead of the fingertips. Sliding forward along +x so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TFQfrHdBKSDWeZrTUhVLZu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01TFQfrHdBKSDWeZrTUhVLZu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6693, 1.9003, 0.693, 0.4316, -0.5694, -0.4633, 0.9993, -0.0212, 0.8043, 0.6056, -0.4808, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3789 left_y=-0.1737 left_z=0.001 left_yaw=0.0338 left_pitch=-0.0572 left_roll=0.0357 left_gripper=0.9993 right_x=0.281 right_y=0.0011 right_z=0.1577 right_yaw=-0.0005 right_pitch=-0.095 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.2, 5.8735, 1.3846, -0.1294, 0.2564, -0.0855, -0.1573, -1.388, 6.9812, 1.8632, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b88cf59df1b811f545074ba460a5dda73ee0ff99bb1bb8f73f837f426d998a45"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42340946d98b3f9967738c45dc65d3225d47149fd5cdb199bd95979b752e637d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa7a9f46c1aaf5ca87004de15da56552346e2e3fffc31feddd4f6b0a6d7cd56b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7582, 1.8149, 0.5823, 0.4133, -0.6079, -0.506, 0.9993, -0.0212, 0.8024, 0.6056, -0.4568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3395 left_y=-0.1776 left_z=-0.0 left_yaw=-0.0018 left_pitch=-0.07 left_roll=0.0509 left_gripper=0.9993 right_x=0.2846 right_y=0.0011 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.069 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -7.1316, 4.465, 0.9646, -0.1978, 0.2027, -0.0855, -0.0752, -1.2376, 7.2957, 1.6825, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.175, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Wrist camera shows the block now very close, just at the fingertip line and centered. Advancing another ~2.5 cm so the block is fully between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01X8DVuTmD8ttg8sC2gHnT1g",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01X8DVuTmD8ttg8sC2gHnT1g"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6327, 1.9411, 0.7521, 0.4244, -0.5598, -0.4484, 0.9993, -0.0212, 0.8055, 0.6056, -0.5007, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.1705 left_z=0.0011 left_yaw=0.0548 left_pitch=-0.0532 left_roll=0.0355 left_gripper=0.9993 right_x=0.2779 right_y=0.0012 right_z=0.1537 right_yaw=-0.0004 right_pitch=-0.1159 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.4735, 5.9966, 1.4823, -0.0122, 0.2076, -0.0855, -0.1983, -1.0051, 6.9402, 1.7998, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f762d126a252301a2f69f8321bc50f1dbb73c8b5147c3ff9924d051d6e282242"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ecad4e035f810e3f3e8864c5eedb261f30c74af21bf537b70f83dc30566dc7ed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:02937c7477610a62a8487d8dff76c4ddaed148c49a83b64a185ea1ee0fda0725"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6693, 1.9003, 0.693, 0.4316, -0.5694, -0.4633, 0.9993, -0.0212, 0.8043, 0.6056, -0.4808, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3789 left_y=-0.1737 left_z=0.001 left_yaw=0.0338 left_pitch=-0.0572 left_roll=0.0357 left_gripper=0.9993 right_x=0.281 right_y=0.0011 right_z=0.1577 right_yaw=-0.0005 right_pitch=-0.095 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.2, 5.8735, 1.3846, -0.1294, 0.2564, -0.0855, -0.1573, -1.388, 6.9812, 1.8632, -0.022, -0.0513, -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\": 0.415, \"left_y\": -0.172, \"left_z\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The wrist camera shows the block now between the fingertips, centered laterally. Closing the gripper while nudging slightly forward to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SdxE6iUyt3kQtqWxoaAuDV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01SdxE6iUyt3kQtqWxoaAuDV"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.9526, 0.7677, 0.4267, -0.5453, -0.4351, 0.4464, -0.0212, 0.8055, 0.6056, -0.5232, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.171 left_z=0.0007 left_yaw=0.0478 left_pitch=-0.0548 left_roll=0.0345 left_gripper=0.4464 right_x=0.2743 right_y=0.0013 right_z=0.1495 right_yaw=-0.0 right_pitch=-0.1384 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.8017, 5.9145, 1.5263, -0.1636, 0.0855, 1.033, -0.0479, -1.1966, 6.9128, 1.7949, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d47abef978dd63cb16fe6cc2d5ba6e609f5e5bedca8ccaa13f42dbede1b3d1e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e372ef8b41fc8463a7e55581dc201345bce52eda13e040a5ef1703390b1da015"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b3895d6205bf59ee0d4e20a9c30d9c633f55526ab51e7d67642d11ed48617247"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6327, 1.9411, 0.7521, 0.4244, -0.5598, -0.4484, 0.9993, -0.0212, 0.8055, 0.6056, -0.5007, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.1705 left_z=0.0011 left_yaw=0.0548 left_pitch=-0.0532 left_roll=0.0355 left_gripper=0.9993 right_x=0.2779 right_y=0.0012 right_z=0.1537 right_yaw=-0.0004 right_pitch=-0.1159 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.4735, 5.9966, 1.4823, -0.0122, 0.2076, -0.0855, -0.1983, -1.0051, 6.9402, 1.7998, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The gripper stopped at 0.45 with effort rising — it appears to be gripping the block. Lifting to check.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.17, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Gripper closed to 0.45 with rising gripper effort, indicating the block is held between the jaws. Lifting the block up to 15 cm to clear the bowl rim.\"}",
        "name": "move_to"
      },
      "id": "toolu_01B4po8wGWhyfLTCwSvd9fZ2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01B4po8wGWhyfLTCwSvd9fZ2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.6196, 0.9955, -0.1722, -0.543, -0.4503, 0.4463, -0.0212, 0.8074, 0.6056, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.398 left_y=-0.1682 left_z=0.1232 left_yaw=0.0561 left_pitch=-0.0852 left_roll=0.0448 left_gripper=0.4463 right_x=0.2693 right_y=0.0014 right_z=0.1434 right_yaw=-0.0002 right_pitch=-0.1709 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.8803, 9.0051, 1.5458, -0.3248, 0.105, 1.033, -0.0479, -1.2923, 6.8718, 1.9023, -0.0171, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b9e43b3e83f4a612878567b06671d02c75fd5b19d834d6ee4e8abaf7a557d74"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1519ac6794fc68e00cc4af2fc656d90f9ae8d51a10ff172b5337b0ecc28cbf4f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5065f52c9be8d04cb951e8c86b0994227ab09beb155abeea3a5e76572792c78f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.9526, 0.7677, 0.4267, -0.5453, -0.4351, 0.4464, -0.0212, 0.8055, 0.6056, -0.5232, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.171 left_z=0.0007 left_yaw=0.0478 left_pitch=-0.0548 left_roll=0.0345 left_gripper=0.4464 right_x=0.2743 right_y=0.0013 right_z=0.1495 right_yaw=-0.0 right_pitch=-0.1384 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.8017, 5.9145, 1.5263, -0.1636, 0.0855, 1.033, -0.0479, -1.1966, 6.9128, 1.7949, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.3, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"The wrist camera shows the red block securely held in the jaws, lifted off the table. The bowl is about 55 px to the right in the top camera (~13 cm in -y), so moving the arm over the bowl at a safe height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Noc6kzgriSbRCaTbMYfQmb",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Noc6kzgriSbRCaTbMYfQmb"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8925, 1.9152, 1.4609, -0.5213, -0.6937, -0.7094, 0.4462, -0.0212, 0.8101, 0.6056, -0.5888, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3863 left_y=-0.2936 left_z=0.1365 left_yaw=0.0439 left_pitch=-0.1172 left_roll=0.0529 left_gripper=0.4462 right_x=0.2633 right_y=0.0015 right_z=0.1366 right_yaw=-0.0001 right_pitch=-0.2086 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -9.7573, 9.1829, 1.199, -0.5934, 0.0757, 1.0281, -0.0752, -1.3607, 6.8308, 1.8486, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72f4f789088e396787beabbb35b1aec022a688c66cbcf4a558f3a2885808c66b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:602a9bdfe672749ad5c92f32195e39b2b7c6cc5a1ac28d0797fc9188705241a8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bada899155fcfff405b2d217bbc1972a533c89df9f67b2878b5bb52cde0d0cfd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.6196, 0.9955, -0.1722, -0.543, -0.4503, 0.4463, -0.0212, 0.8074, 0.6056, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.398 left_y=-0.1682 left_z=0.1232 left_yaw=0.0561 left_pitch=-0.0852 left_roll=0.0448 left_gripper=0.4463 right_x=0.2693 right_y=0.0014 right_z=0.1434 right_yaw=-0.0002 right_pitch=-0.1709 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.8803, 9.0051, 1.5458, -0.3248, 0.105, 1.033, -0.0479, -1.2923, 6.8718, 1.9023, -0.0171, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.34, \"left_z\": 0.14, \"left_gripper\": 0.0}, \"note\": \"Wrist camera shows the bowl rim at the lower right of the held block, so the bowl center is still further to the arm's right (-y) and slightly back. Shifting the arm ~5 cm further right and 2 cm back to center over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QVraWkxVt9R4pdij2nrUu1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01QVraWkxVt9R4pdij2nrUu1"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9836, 2.0232, 1.6016, -0.6567, -0.7128, -0.8066, 0.4462, -0.0212, 0.8116, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.3335 left_z=0.1246 left_yaw=0.0289 left_pitch=-0.1577 left_roll=0.0735 left_gripper=0.4462 right_x=0.259 right_y=0.0016 right_z=0.1321 right_yaw=0.0004 right_pitch=-0.2342 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -10.7692, 9.2239, 1.1355, -0.6862, 0.0269, 1.033, -0.3487, -1.2786, 7.0496, 1.7607, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0be491a7c141f77023db09dac3d06bb7cb08edfe6c9069fd1dfe7c535180c40"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb29516990a834482aedcdc3e131abc12c8a35b75689af942a96ebe5a57fc85e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:551974fee2bd233b82884b46821add3bbed681bf96d557df4d042f56a77231b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8925, 1.9152, 1.4609, -0.5213, -0.6937, -0.7094, 0.4462, -0.0212, 0.8101, 0.6056, -0.5888, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3863 left_y=-0.2936 left_z=0.1365 left_yaw=0.0439 left_pitch=-0.1172 left_roll=0.0529 left_gripper=0.4462 right_x=0.2633 right_y=0.0015 right_z=0.1366 right_yaw=-0.0001 right_pitch=-0.2086 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -9.7573, 9.1829, 1.199, -0.5934, 0.0757, 1.0281, -0.0752, -1.3607, 6.8308, 1.8486, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.355, \"left_z\": 0.08, \"left_gripper\": 0.0}, \"note\": \"Wrist camera now shows the bowl directly under the block, slightly right and down in the image. Shifting a couple more cm right/back and lowering to 8 cm so the block drops safely inside the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TL8u7Y9SdDTLfj3xZCW3qy",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01TL8u7Y9SdDTLfj3xZCW3qy"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9936, 2.0308, 1.6222, -0.6788, -0.7235, -0.8242, 0.4462, -0.0212, 0.812, 0.6056, -0.6327, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3629 left_y=-0.3364 left_z=0.1271 left_yaw=0.0356 left_pitch=-0.1537 left_roll=0.0732 left_gripper=0.4462 right_x=0.2554 right_y=0.0017 right_z=0.1287 right_yaw=0.0005 right_pitch=-0.2544 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -11.0154, 8.8547, 1.1502, -0.5983, 0.0073, 1.0379, -0.1299, -1.0188, 7.0085, 1.6386, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7e8857a9ee2207a92c77b723347b9950127df0a09c6ab4c80e662f09d9dadfc8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a2394f4bdd4b5450ca24e3b9716ca7cd2fd7e19ce28f08d0b78822c62bfb0b1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6f3c4cbacf2260a5c8d1c68ef4c8a34bede0528fce35926234491a1063f0f96"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9836, 2.0232, 1.6016, -0.6567, -0.7128, -0.8066, 0.4462, -0.0212, 0.8116, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.365 left_y=-0.3335 left_z=0.1246 left_yaw=0.0289 left_pitch=-0.1577 left_roll=0.0735 left_gripper=0.4462 right_x=0.259 right_y=0.0016 right_z=0.1321 right_yaw=0.0004 right_pitch=-0.2342 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -10.7692, 9.2239, 1.1355, -0.6862, 0.0269, 1.033, -0.3487, -1.2786, 7.0496, 1.7607, -0.0366, -0.0513, -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\": -0.335, \"left_z\": 0.09, \"left_gripper\": 0.0}, \"note\": \"The arm did not move on the last command (likely an awkward IK target near the y limit). The block is already over the bowl in the wrist view, so I'll just lower straight down at the current x/y to 9 cm.\"}",
        "name": "move_to"
      },
      "id": "toolu_019BawDnsAoH7hPqRer4ng5X",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_019BawDnsAoH7hPqRer4ng5X"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9936, 2.0308, 1.6222, -0.6796, -0.7235, -0.8246, 0.4462, -0.0212, 0.812, 0.6056, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3628 left_y=-0.3363 left_z=0.1271 left_yaw=0.0359 left_pitch=-0.1541 left_roll=0.0735 left_gripper=0.4462 right_x=0.2509 right_y=0.0018 right_z=0.1247 right_yaw=0.0006 right_pitch=-0.2788 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.0291, 9.1966, 1.1453, -0.5983, 0.0073, 1.0379, -0.0342, -0.9504, 6.8718, 1.6777, -0.0562, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19ae5348f6e4be534f22dbd07597b67120eb0d82f62c1f3a97feca519ebbd309"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8233ff7b8e28b9f989dc8a049fd4525b1d7883bc906e82ff0bdf28540482de4c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7df010a6aa684fdf70024855923756aacacf48840c8e715e716a5e9c43be9768"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9936, 2.0308, 1.6222, -0.6788, -0.7235, -0.8242, 0.4462, -0.0212, 0.812, 0.6056, -0.6327, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3629 left_y=-0.3364 left_z=0.1271 left_yaw=0.0356 left_pitch=-0.1537 left_roll=0.0732 left_gripper=0.4462 right_x=0.2554 right_y=0.0017 right_z=0.1287 right_yaw=0.0005 right_pitch=-0.2544 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -11.0154, 8.8547, 1.1502, -0.5983, 0.0073, 1.0379, -0.1299, -1.0188, 7.0085, 1.6386, -0.0513, -0.022, -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\": 0.385, \"left_y\": -0.31, \"left_z\": 0.15, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The left arm has not moved for two commands \\u2014 it appears stuck at an awkward IK configuration near the y limit. Backing up slightly to a previously reachable pose with level tool orientation before re-approaching the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MfpeXJ8HJoBvsfVgEH7T3n",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01MfpeXJ8HJoBvsfVgEH7T3n"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9432, 1.9533, 1.4143, -0.4511, -0.7383, -0.7311, 0.4462, -0.0212, 0.812, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.3083 left_z=0.115 left_yaw=0.0333 left_pitch=-0.0944 left_roll=0.0694 left_gripper=0.4462 right_x=0.2473 right_y=0.0019 right_z=0.1217 right_yaw=0.0007 right_pitch=-0.2979 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -13.7231, 6.6393, 1.5849, -0.6764, 0.1636, 1.033, -0.1299, -0.841, 6.735, 1.5897, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:109639a09ea14139d59ae6df67945430ca50accf2180aae9d5f6f642e066ed32"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:852e138f8040abc0515ac57a7958fe1a406a235de7e7697c58c39f9abc87b3e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ed39d3ff92fe3edfdb32c8c6bc9f17a8ed7052ac6066259b84b0c872e1caa1e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9936, 2.0308, 1.6222, -0.6796, -0.7235, -0.8246, 0.4462, -0.0212, 0.812, 0.6056, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3628 left_y=-0.3363 left_z=0.1271 left_yaw=0.0359 left_pitch=-0.1541 left_roll=0.0735 left_gripper=0.4462 right_x=0.2509 right_y=0.0018 right_z=0.1247 right_yaw=0.0006 right_pitch=-0.2788 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.0291, 9.1966, 1.1453, -0.5983, 0.0073, 1.0379, -0.0342, -0.9504, 6.8718, 1.6777, -0.0562, -0.0317, -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\": 0.365, \"left_y\": -0.35, \"left_z\": 0.06, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The arm moved again. Wrist camera shows the bowl to the image right (which corresponds to -y) with the block over its near rim. Moving 4 cm further right and lowering to 6 cm so the block ends up inside the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GVPimnvrVhQgRFvYckovF9",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01GVPimnvrVhQgRFvYckovF9"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0279, 2.1025, 1.3499, -0.2508, -0.7841, -0.7834, 0.4462, -0.0212, 0.8135, 0.6056, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.3434 left_z=0.0514 left_yaw=0.0044 left_pitch=-0.0671 left_roll=0.0598 left_gripper=0.4462 right_x=0.2466 right_y=0.0019 right_z=0.1208 right_yaw=0.0008 right_pitch=-0.3032 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -11.412, 5.8872, 1.3504, -0.8034, -0.0513, 1.033, -0.0889, -1.2103, 6.7897, 1.4139, -0.0317, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb3298b5adf84856e9d57c76e68d589ca8127bddee43d2db3c1566747fb503d8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d6dd9880b7d6fba0c7eb00f75d83d199e2f80844faf8113e6d37076087dafe20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e8ce2ea52c97e56e90b0edcf9ed32357dc63a60a4e7636ed11774d3c3a350e0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9432, 1.9533, 1.4143, -0.4511, -0.7383, -0.7311, 0.4462, -0.0212, 0.812, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.375 left_y=-0.3083 left_z=0.115 left_yaw=0.0333 left_pitch=-0.0944 left_roll=0.0694 left_gripper=0.4462 right_x=0.2473 right_y=0.0019 right_z=0.1217 right_yaw=0.0007 right_pitch=-0.2979 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -13.7231, 6.6393, 1.5849, -0.6764, 0.1636, 1.033, -0.1299, -0.841, 6.735, 1.5897, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The block is now over the bowl interior. Releasing it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.357, \"left_y\": -0.343, \"left_z\": 0.05, \"left_gripper\": 1.0}, \"note\": \"Wrist camera shows the block held directly over the white bowl interior, and the top camera confirms the gripper is above the bowl. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_019Bvbrgm3aXCwane6EjQZj7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019Bvbrgm3aXCwane6EjQZj7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0328, 2.1193, 1.3479, -0.186, -0.8097, -0.8032, 0.5953, -0.0212, 0.8139, 0.6056, -0.6868, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.3497 left_z=0.0527 left_yaw=0.0232 left_pitch=-0.0251 left_roll=0.0143 left_gripper=0.5953 right_x=0.2452 right_y=0.0019 right_z=0.1196 right_yaw=0.0008 right_pitch=-0.3104 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -11.9453, 5.9009, 1.3455, -0.5788, -0.0171, -0.0122, -0.0342, -1.0872, 6.7214, 1.4921, -0.0513, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4f93b73141a76ad552f772b54a2877969b01423b7278cbd8a52ee350051d476"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:076428f4f7a31d08e612638170ff43b71e15547a2decbf42d3ec4334f546b502"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26ec55fb7ffad73ee5de2bcb3ab3922824ac9c9f0c715adb06c68f1baa931a8f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0279, 2.1025, 1.3499, -0.2508, -0.7841, -0.7834, 0.4462, -0.0212, 0.8135, 0.6056, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.3434 left_z=0.0514 left_yaw=0.0044 left_pitch=-0.0671 left_roll=0.0598 left_gripper=0.4462 right_x=0.2466 right_y=0.0019 right_z=0.1208 right_yaw=0.0008 right_pitch=-0.3032 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -11.412, 5.8872, 1.3504, -0.8034, -0.0513, 1.033, -0.0889, -1.2103, 6.7897, 1.4139, -0.0317, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The block has dropped and is resting inside the bowl. Retracting the arm upward to clear the bowl.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.3, \"left_z\": 0.18, \"left_gripper\": 1.0}, \"note\": \"Wrist camera shows the red block lying inside the white bowl with the gripper open above it. Lifting the arm up and away to clear the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_014AGFvYzCL6SE6H6LSmZxPW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_014AGFvYzCL6SE6H6LSmZxPW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9707, 1.808, 1.4033, -0.4587, -0.7818, -0.7612, 0.9978, -0.0212, 0.8158, 0.6056, -0.7017, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3643 left_y=-0.3056 left_z=0.1789 left_yaw=0.0444 left_pitch=0.0041 left_roll=-0.0426 left_gripper=0.9978 right_x=0.2424 right_y=0.0019 right_z=0.1169 right_yaw=0.0006 right_pitch=-0.3272 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.1966, 8.0752, 1.0818, -0.2564, 0.2222, 0.0122, -0.1846, -1.0735, 6.7897, 1.5263, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d6cd6f8ef31d66189ec7d11a0a67e23ccb83eb6de72b30e0d0f4ac6c845fc66"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd18028223299fe9b5e49a044c054287aa9e0563fd4ca5b461f5264a2c739d2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e482ca8d3cd6108972f4ae12f6c19077b21d826c004b6286fe855b241af6e9a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}