adhoc - adhoc_ab7e654f.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 545.1 s
total steps: 139

operator

scenes

trials

errored

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 02

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

user

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

step 0

assistant

I'll start by moving the left arm toward the red block, which appears ahead and to the right in the left wrist camera.

agent noteThe red block is visible ahead and to the right in the left wrist camera; I move the left arm forward-right and lower a bit to get above it.

move_to

left_x0.3500left_y-0.1500left_z0.1200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3882, -0.0196, -0.0338, 0.9993, -0.0212, 0.7952, 0.6083, -0.3958, -0.0193, -0.0334, 0.9997] state[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=0.0008 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9997 state[joint_eff]: [-0.4444, -1.4427, 10.1812, 1.9512, -0.0269, 0.1832, -0.0904, -0.5812, -1.6342, 9.6615, 1.9756, -0.0513, 0.2027, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

I'll start by moving the left arm toward the red block, which appears ahead and to the right in the left wrist camera.

move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.12, "left_gripper": 1}, "note": "The red block is visible ahead and to the right in the left wrist camera; I move the left arm forward-right and lower a bit to get above it."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteThe block appears forward and slightly right of the left gripper in the wrist camera; I move forward-right and lower to line up above it.

move_to

left_x0.4000left_y-0.1850left_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6437, 1.3674, 0.6556, -0.049, -0.5041, -0.4042, 0.9993, -0.0212, 0.8005, 0.6151, -0.4324, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.3367 left_y=-0.1415 left_z=0.1011 left_yaw=-0.0229 left_pitch=-0.072 left_roll=0.0376 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.3077, -5.3538, 8.5538, 1.7753, -0.4127, 0.0073, -0.0855, -0.0752, -1.6752, 6.4479, 2.0244, -0.0171, -0.0073, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.185, "left_z": 0.06}, "note": "The block appears forward and slightly right of the left gripper in the wrist camera; I move forward-right and lower to line up above it."})

tool

executing move_to over 5 steps (0.5s)

step 19

assistant

agent noteThe block is still ahead and slightly right of the gripper in the left wrist camera; I advance and lower to just above grasp height.

move_to

left_x0.4300left_y-0.2000left_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6392, 1.7428, 0.8043, 0.0776, -0.5049, -0.4206, 0.9992, -0.0212, 0.804, 0.6147, -0.4553, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.3781 left_y=-0.1701 left_z=0.0397 left_yaw=-0.0022 left_pitch=-0.1519 left_roll=0.0845 left_gripper=0.9992 right_x=0.2861 right_y=0.0011 right_z=0.1669 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.7179, 7.7197, 1.6972, -0.1197, 0.2222, -0.0171, -0.0479, -1.5248, 7.3094, 1.8877, -0.0562, 0.0024, -0.0122] 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": 0.43, "left_y": -0.2, "left_z": 0.015}, "note": "The block is still ahead and slightly right of the gripper in the left wrist camera; I advance and lower to just above grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe block sits ahead and slightly left between the fingers in the wrist view; the last move was clamped, so I command again to advance and lower to grasp height.

move_to

left_x0.4400left_y-0.1900left_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6388, 1.766, 0.8238, 0.1196, -0.5018, -0.4206, 0.9992, -0.0212, 0.8051, 0.6147, -0.4706, -0.02, -0.0349, 0.9996] state[eef_state]: left_x=0.3875 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0072 left_pitch=-0.1225 left_roll=0.0598 left_gripper=0.9992 right_x=0.2839 right_y=0.0011 right_z=0.1636 right_yaw=0.0009 right_pitch=-0.0786 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.4034, 7.8564, 1.7265, -0.232, 0.1636, -0.0073, -0.0752, -1.3197, 7.0906, 1.9658, -0.0757, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.19, "left_z": 0.01}, "note": "The block sits ahead and slightly left between the fingers in the wrist view; the last move was clamped, so I command again to advance and lower to grasp height."})

tool

executing move_to over 5 steps (0.5s)

step 28

assistant

agent noteThe left arm didn't move last step (target may have been clamped), so I take a smaller step toward the block and level the pitch back to zero.

move_to

left_x0.4100left_y-0.1850left_z0.0250left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6392, 1.766, 0.8238, 0.1196, -0.5022, -0.4206, 0.9992, -0.0212, 0.8051, 0.6151, -0.4984, -0.02, -0.0349, 0.9996] state[eef_state]: left_x=0.3874 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0073 left_pitch=-0.1224 left_roll=0.06 left_gripper=0.9992 right_x=0.2797 right_y=0.0012 right_z=0.1584 right_yaw=0.001 right_pitch=-0.106 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.2803, -8.3761, 7.8974, 1.8046, -0.1929, 0.232, -0.0122, -0.1709, -1.2513, 7.0359, 1.8877, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.185, "left_z": 0.025, "left_pitch": 0}, "note": "The left arm didn't move last step (target may have been clamped), so I take a smaller step toward the block and level the pitch back to zero."})

tool

executing move_to over 5 steps (0.5s)

step 33

assistant

agent noteThe block is just ahead and slightly right of the open fingers in the left wrist view; I advance a few cm and shift right so the block sits between the jaws.

move_to

left_x0.4300left_y-0.1920left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6399, 1.9091, 0.7963, 0.3168, -0.5278, -0.3828, 0.9992, -0.0212, 0.8082, 0.6147, -0.5194, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3967 left_y=-0.1799 left_z=0.0088 left_yaw=-0.0111 left_pitch=-0.0916 left_roll=0.0887 left_gripper=0.9992 right_x=0.2764 right_y=0.0012 right_z=0.1535 right_yaw=0.0005 right_pitch=-0.1304 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.253, -8.9231, 4.9983, 1.9853, -0.3883, 0.0562, -0.0122, -0.1299, -1.4427, 6.9538, 1.8584, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.43, "left_y": -0.192, "left_z": 0.005}, "note": "The block is just ahead and slightly right of the open fingers in the left wrist view; I advance a few cm and shift right so the block sits between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 36

assistant

agent noteThe block is nearly between the jaws but a bit forward and to the right; small advance to center it before closing.

move_to

left_x0.4450left_y-0.1960left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6193, 2.0003, 0.9031, 0.3176, -0.5282, -0.379, 0.9991, -0.0212, 0.8101, 0.6147, -0.5365, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.423 left_y=-0.1879 left_z=0.005 left_yaw=0.0068 left_pitch=-0.0783 left_roll=0.0823 left_gripper=0.9991 right_x=0.2737 right_y=0.0013 right_z=0.1498 right_yaw=0.0008 right_pitch=-0.1495 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [0.5675, -8.7453, 6.3111, 1.4774, -0.149, 0.1148, -0.0171, -0.1162, -1.347, 6.8855, 1.956, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.445, "left_y": -0.196, "left_z": 0.005}, "note": "The block is nearly between the jaws but a bit forward and to the right; small advance to center it before closing."})

tool

executing move_to over 2 steps (0.2s)

step 38

assistant

agent noteThe block is still just beyond the fingertips in the wrist view; I advance another ~3 cm forward-right to get it between the jaws.

move_to

left_x0.4550left_y-0.2000left_z0.0030

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6136, 2.0121, 0.9276, 0.2985, -0.5213, -0.3828, 0.9991, -0.0212, 0.8116, 0.6147, -0.5594, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4273 left_y=-0.189 left_z=0.0043 left_yaw=0.0098 left_pitch=-0.0862 left_roll=0.0791 left_gripper=0.9991 right_x=0.2699 right_y=0.0014 right_z=0.1453 right_yaw=0.001 right_pitch=-0.1739 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.0752, -8.0342, 7.3504, 1.4921, -0.2662, 0.1099, -0.0073, -0.0615, -1.3197, 6.8718, 1.9121, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": -0.2, "left_z": 0.003}, "note": "The block is still just beyond the fingertips in the wrist view; I advance another ~3 cm forward-right to get it between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 41

assistant

agent noteThe arm barely advanced, possibly the fingertips are dragging the table; I raise slightly and push forward again to bring the block between the jaws.

move_to

left_x0.4600left_y-0.2050left_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6151, -0.5762, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.1907 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [0.1162, -8.4171, 7.0085, 1.5214, -0.2906, 0.0708, -0.0122, -0.1299, -0.8821, 6.8444, 1.7558, -0.0513, -0.0708, -0.0073] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": -0.205, "left_z": 0.012}, "note": "The arm barely advanced, possibly the fingertips are dragging the table; I raise slightly and push forward again to bring the block between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 44

assistant

agent noteThe left arm has stopped tracking, likely an awkward IK pose near the table; I lift to 6 cm and pitch the tool down while moving over the block to re-approach from above.

move_to

left_x0.4600left_y-0.2100left_z0.0600left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6147, -0.5968, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2634 right_y=0.0015 right_z=0.1386 right_yaw=0.0008 right_pitch=-0.2117 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [-0.1162, -8.4308, 6.8444, 1.536, -0.2564, 0.0757, -0.0073, -0.1026, -1.1145, 6.8581, 1.79, -0.022, -0.0366, -0.0073] 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": 0.46, "left_y": -0.21, "left_z": 0.06, "left_pitch": 0.3}, "note": "The left arm has stopped tracking, likely an awkward IK pose near the table; I lift to 6 cm and pitch the tool down while moving over the block to re-approach from above."})

tool

executing move_to over 13 steps (1.3s)

step 57

assistant

agent noteThe block now sits centered between the jaws in the left wrist camera; I lower straight down to grasp height before closing.

move_to

left_x0.4620left_y-0.2080left_z0.0080

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6537, 2.088, 0.8997, 0.7624, -0.672, -0.2165, 0.9992, -0.0212, 0.8139, 0.6147, -0.6132, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4561 left_y=-0.2063 left_z=0.0507 left_yaw=0.0154 left_pitch=0.2456 left_roll=0.0785 left_gripper=0.9992 right_x=0.2606 right_y=0.0016 right_z=0.1353 right_yaw=0.0012 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.4991, -9.0188, 5.0667, 2.0586, -0.2662, 0.1441, -0.0073, -0.0889, -1.306, 7.1453, 1.6532, -0.0464, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.462, "left_y": -0.208, "left_z": 0.008}, "note": "The block now sits centered between the jaws in the left wrist camera; I lower straight down to grasp height before closing."})

tool

executing move_to over 3 steps (0.3s)

step 60

assistant

agent noteThe red block is between the jaws at grasp height in the left wrist camera; I close the gripper to grasp it.

move_to

left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6533, 2.2208, 0.9081, 0.8608, -0.6735, -0.2104, 0.9992, -0.0212, 0.8173, 0.6147, -0.6239, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4565 left_y=-0.2061 left_z=0.0099 left_yaw=0.0098 left_pitch=0.2253 left_roll=0.1014 left_gripper=0.9992 right_x=0.2587 right_y=0.0016 right_z=0.1327 right_yaw=0.0013 right_pitch=-0.2441 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [0.294, -11.0427, 6.0513, 2.1758, -0.1538, -0.0952, -0.0171, -0.0615, -1.4154, 6.7897, 1.6532, -0.0562, -0.022, -0.0122] 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_gripper": 0.2}, "note": "The red block is between the jaws at grasp height in the left wrist camera; I close the gripper to grasp it."})

tool

executing move_to over 8 steps (0.8s)

step 68

assistant

agent noteThe gripper closed to ~0.6 with rising effort, indicating the block is grasped; I lift straight up to clear the table and then locate the bowl.

move_to

left_z0.1500left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6521, 2.2425, 0.9108, 0.8906, -0.6708, -0.2214, 0.6065, -0.0212, 0.8173, 0.6147, -0.6365, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4577 left_y=-0.2068 left_z=0.006 left_yaw=0.0165 left_pitch=0.2336 left_roll=0.083 left_gripper=0.6065 right_x=0.2564 right_y=0.0017 right_z=0.1306 right_yaw=0.0014 right_pitch=-0.2567 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [0.2393, -9.8803, 5.135, 1.79, -0.1783, 0.0415, 0.9792, -0.0889, -1.1692, 6.8034, 1.5604, -0.0415, -0.0708, -0.0122] 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_z": 0.15, "left_gripper": 0.2}, "note": "The gripper closed to ~0.6 with rising effort, indicating the block is grasped; I lift straight up to clear the table and then locate the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 78

assistant

agent noteThe block is lifted and held; the top camera shows the bowl forward-left of the gripper's current spot, so I move the left arm toward it while staying high.

move_to

left_x0.5000left_y-0.0800left_z0.1500left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6533, 1.8713, 0.9878, 0.3767, -0.6743, -0.2325, 0.6014, -0.0212, 0.8181, 0.6147, -0.6575, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.452 left_y=-0.2026 left_z=0.112 left_yaw=0.0156 left_pitch=0.1837 left_roll=0.1153 left_gripper=0.6014 right_x=0.2525 right_y=0.0017 right_z=0.127 right_yaw=0.0012 right_pitch=-0.2784 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.2667, -12.5333, 9.3197, 1.9267, -0.2173, 0.0562, 1.0281, -0.1162, -1.2239, 6.735, 1.707, -0.0464, -0.022, -0.0073] 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": 0.5, "left_y": -0.08, "left_z": 0.15, "left_gripper": 0.2}, "note": "The block is lifted and held; the top camera shows the bowl forward-left of the gripper's current spot, so I move the left arm toward it while staying high."})

tool

executing move_to over 11 steps (1.1s)

step 89

assistant

agent noteBlock secure in the left gripper; the bowl appears further ahead in the top camera, so I move forward and left a bit more, keeping height, and will check alignment above the bowl.

move_to

left_x0.5500left_y-0.0300left_z0.1500left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2977, 1.7931, 0.9562, 0.3336, -0.3866, -0.078, 0.6014, -0.0212, 0.8219, 0.6147, -0.6762, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4907 left_y=-0.0771 left_z=0.1152 left_yaw=0.0525 left_pitch=0.1078 left_roll=0.1329 left_gripper=0.6014 right_x=0.249 right_y=0.0018 right_z=0.1232 right_yaw=0.0015 right_pitch=-0.3009 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [0.2393, -12.1778, 8.5675, 1.9316, -0.0073, 0.2808, 1.0281, -0.0479, -1.4701, 6.9265, 1.6044, -0.0317, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.55, "left_y": -0.03, "left_z": 0.15, "left_gripper": 0.2}, "note": "Block secure in the left gripper; the bowl appears further ahead in the top camera, so I move forward and left a bit more, keeping height, and will check alignment above the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 94

assistant

agent noteTop camera shows the bowl still to the left of the held block; I shift the left arm further left (toward +y limit) while keeping height to get over the bowl.

move_to

left_x0.5300left_y0.0500left_z0.1500left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.149, 1.879, 1.1893, 0.1913, -0.2874, -0.0296, 0.6008, -0.0212, 0.823, 0.6147, -0.6846, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.5398 left_y=-0.0267 left_z=0.1397 left_yaw=0.0928 left_pitch=0.0951 left_roll=0.129 left_gripper=0.6008 right_x=0.2474 right_y=0.0019 right_z=0.1216 right_yaw=0.0017 right_pitch=-0.3104 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.1026, -9.4974, 8.4034, 1.7167, 0.1148, 0.1197, 1.033, -0.0752, -1.2239, 6.7077, 1.4676, -0.0024, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.53, "left_y": 0.05, "left_z": 0.15, "left_gripper": 0.2}, "note": "Top camera shows the bowl still to the left of the held block; I shift the left arm further left (toward +y limit) while keeping height to get over the bowl."})

tool

executing move_to over 7 steps (0.7s)

step 101

assistant

agent noteThe left arm didn't track the last lateral move—likely an awkward IK pose; I raise higher and retry moving left toward the bowl seen at top-center of the overhead camera.

move_to

left_x0.5000left_y0.0500left_z0.2000left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1387, 1.8927, 1.2133, 0.1486, -0.2577, -0.0113, 0.6007, -0.0212, 0.8238, 0.6147, -0.7017, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.5413 left_y=-0.0265 left_z=0.1334 left_yaw=0.0678 left_pitch=0.0588 left_roll=0.138 left_gripper=0.6007 right_x=0.2441 right_y=0.002 right_z=0.1188 right_yaw=0.0019 right_pitch=-0.3284 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.0479, -10.0991, 8.6632, 2.0049, -0.0562, 0.0659, 1.033, -0.2256, -1.2103, 6.735, 1.5214, -0.0269, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": 0.05, "left_z": 0.2, "left_gripper": 0.2}, "note": "The left arm didn't track the last lateral move\u2014likely an awkward IK pose; I raise higher and retry moving left toward the bowl seen at top-center of the overhead camera."})

tool

executing move_to over 7 steps (0.7s)

step 108

assistant

agent noteThe left arm is at its leftward y-limit; the bowl looks further forward in the overhead view, so I extend the left arm forward to 0.58 m while staying high with the block.

move_to

left_x0.5800left_y0.0500left_z0.2000left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0727, 1.6814, 1.177, -0.0242, -0.1406, 0.0559, 0.6006, -0.0212, 0.8268, 0.6147, -0.7238, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.5009 left_y=0.0649 left_z=0.1852 left_yaw=0.1449 left_pitch=0.0476 left_roll=0.1372 left_gripper=0.6006 right_x=0.2398 right_y=0.002 right_z=0.1148 right_yaw=0.0021 right_pitch=-0.3535 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-1.9624, -8.4855, 8.7179, 1.7216, 0.3883, 0.1587, 1.0281, -0.0615, -0.9504, 6.7761, 1.5458, -0.0464, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": 0.05, "left_z": 0.2, "left_gripper": 0.2}, "note": "The left arm is at its leftward y-limit; the bowl looks further forward in the overhead view, so I extend the left arm forward to 0.58 m while staying high with the block."})

tool

executing move_to over 7 steps (0.7s)

step 115

assistant

agent noteThe bowl appears forward of the held block in the overhead view and the left arm is at its leftward limit; I extend fully forward and lower slightly to check if the bowl comes under the gripper.

move_to

left_x0.6000left_y0.0500left_z0.1300left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0265, 1.9438, 1.5387, -0.173, -0.1772, 0.0219, 0.6001, -0.0212, 0.8303, 0.6147, -0.7418, -0.02, -0.0349, 0.9996] state[eef_state]: left_x=0.5684 left_y=0.0498 left_z=0.1833 left_yaw=0.1476 left_pitch=0.0027 left_roll=0.1322 left_gripper=0.6001 right_x=0.2362 right_y=0.0021 right_z=0.1115 right_yaw=0.0025 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [-0.3897, -10.6598, 9.1282, 1.7753, -0.1832, 0.0562, 1.0281, -0.1299, -1.2239, 6.8718, 1.4774, -0.0415, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.6, "left_y": 0.05, "left_z": 0.13, "left_gripper": 0.2}, "note": "The bowl appears forward of the held block in the overhead view and the left arm is at its leftward limit; I extend fully forward and lower slightly to check if the bowl comes under the gripper."})

tool

executing move_to over 5 steps (0.5s)

step 120

assistant

agent noteThe bowl doesn't appear in the left wrist view at max left y, but the right wrist camera shows the bowl forward-left of the right arm—meaning it's actually to the left arm's right (negative y). I move the left arm back to the shared workspace on the right side to search for the bowl.

move_to

left_x0.5000left_y-0.1500left_z0.2000left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0265, 2.101, 1.5562, -0.1017, -0.1768, 0.0181, 0.6001, -0.0212, 0.8307, 0.6147, -0.7475, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.5879 left_y=0.0503 left_z=0.1173 left_yaw=0.1496 left_pitch=-0.0648 left_roll=0.1372 left_gripper=0.6001 right_x=0.235 right_y=0.0021 right_z=0.1106 right_yaw=0.0022 right_pitch=-0.381 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.1983, -12.4923, 7.9385, 2.1954, -0.0757, 0.0024, 1.033, -0.1846, -1.1282, 6.6256, 1.3651, -0.0269, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.15, "left_z": 0.2, "left_gripper": 0.2}, "note": "The bowl doesn't appear in the left wrist view at max left y, but the right wrist camera shows the bowl forward-left of the right arm\u2014meaning it's actually to the left arm's right (negative y). I move the left arm back to the shared workspace on the right side to search for the bowl."})

tool

executing move_to over 18 steps (1.8s)

step 138

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4679, 1.9388, 1.5787, -0.485, -0.527, -0.3134, 0.6001, -0.0212, 0.8326, 0.6147, -0.7666, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4998 left_y=-0.149 left_z=0.1616 left_yaw=0.1258 left_pitch=-0.1373 left_roll=0.1706 left_gripper=0.6001 right_x=0.2311 right_y=0.0022 right_z=0.1076 right_yaw=0.0025 right_pitch=-0.402 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.3214, -14.2154, 10.1128, 1.5165, -0.4176, -0.022, 1.0281, -0.1026, -1.2376, 6.6393, 1.453, -0.0415, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [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 · 18.48 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3882, -0.0196, -0.0338, 0.9993, -0.0212, 0.7952, 0.6083, -0.3958, -0.0193, -0.0334, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=0.0008 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -1.4427, 10.1812, 1.9512, -0.0269, 0.1832, -0.0904, -0.5812, -1.6342, 9.6615, 1.9756, -0.0513, 0.2027, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:802bebb56cb699b2489ee8cb935afdcc5991f0ae9ade3d64df3dbe68ca01242b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:220e98057562b0b87efbbebe79bfb27b3f766ce07e68e4fb66bd85f9c583bade"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a151592ac3ce982208a74e90770defec4b377364def045a028f5662815e0e7ab"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 8.821 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "I'll start by moving the left arm toward the red block, which appears ahead and to the right in the left wrist camera.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.15, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The red block is visible ahead and to the right in the left wrist camera; I move the left arm forward-right and lower a bit to get above it.\"}",
        "name": "move_to"
      },
      "id": "toolu_012cFgGWJBju2gaKspqEW412",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_012cFgGWJBju2gaKspqEW412"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6437, 1.3674, 0.6556, -0.049, -0.5041, -0.4042, 0.9993, -0.0212, 0.8005, 0.6151, -0.4324, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3367 left_y=-0.1415 left_z=0.1011 left_yaw=-0.0229 left_pitch=-0.072 left_roll=0.0376 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3538, 8.5538, 1.7753, -0.4127, 0.0073, -0.0855, -0.0752, -1.6752, 6.4479, 2.0244, -0.0171, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95d5f615daf732a6a0aa00d43e7341c816668c213c2e92fba3e247446d9a250f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4c54a0365b27b84c5e07e11f6614529f8032c2974f193b5bea53a651ed2cc979"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d794f0b9c9c2bb6af43b7cafbf977d2f6ed29ad571dc237613c83595a9a8bb46"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 5.76 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3882, -0.0196, -0.0338, 0.9993, -0.0212, 0.7952, 0.6083, -0.3958, -0.0193, -0.0334, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=0.0008 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0004 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -1.4427, 10.1812, 1.9512, -0.0269, 0.1832, -0.0904, -0.5812, -1.6342, 9.6615, 1.9756, -0.0513, 0.2027, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.185, \"left_z\": 0.06}, \"note\": \"The block appears forward and slightly right of the left gripper in the wrist camera; I move forward-right and lower to line up above it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Dkk3BNdxGWcqGh2sCE2nqp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Dkk3BNdxGWcqGh2sCE2nqp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6392, 1.7428, 0.8043, 0.0776, -0.5049, -0.4206, 0.9992, -0.0212, 0.804, 0.6147, -0.4553, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1701 left_z=0.0397 left_yaw=-0.0022 left_pitch=-0.1519 left_roll=0.0845 left_gripper=0.9992 right_x=0.2861 right_y=0.0011 right_z=0.1669 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.7179, 7.7197, 1.6972, -0.1197, 0.2222, -0.0171, -0.0479, -1.5248, 7.3094, 1.8877, -0.0562, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:822bfcbd5f77db37f7fee5867aee0e9eadee586298eea94d4b2cd300166ed245"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7c96753d2cb6b15e05e9d77c46a5a535ada46fb899653666263479554abfa0c7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eccbc6b878fe7f6c923b99a555b9d416e62eeee177c9671574d0d11ea7d9a0b5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 6.918 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6437, 1.3674, 0.6556, -0.049, -0.5041, -0.4042, 0.9993, -0.0212, 0.8005, 0.6151, -0.4324, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3367 left_y=-0.1415 left_z=0.1011 left_yaw=-0.0229 left_pitch=-0.072 left_roll=0.0376 left_gripper=0.9993 right_x=0.2893 right_y=0.001 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3538, 8.5538, 1.7753, -0.4127, 0.0073, -0.0855, -0.0752, -1.6752, 6.4479, 2.0244, -0.0171, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.2, \"left_z\": 0.015}, \"note\": \"The block is still ahead and slightly right of the gripper in the left wrist camera; I advance and lower to just above grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Hj5CpKX5oyCwcKMDTzH5fa",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Hj5CpKX5oyCwcKMDTzH5fa"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6388, 1.766, 0.8238, 0.1196, -0.5018, -0.4206, 0.9992, -0.0212, 0.8051, 0.6147, -0.4706, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3875 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0072 left_pitch=-0.1225 left_roll=0.0598 left_gripper=0.9992 right_x=0.2839 right_y=0.0011 right_z=0.1636 right_yaw=0.0009 right_pitch=-0.0786 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.4034, 7.8564, 1.7265, -0.232, 0.1636, -0.0073, -0.0752, -1.3197, 7.0906, 1.9658, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27c4223ecc9a7b40af44ffb542a16c2a3ee65dcd39ce8f9e98bd30415f663911"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:777dc19561b1043071bbd9c3f4ad668ebace5c6e1d5d7bc5e28699b0dce202b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6798f15507a5a224f07199989a2fec760455ead461b8265341b5f9a407fddfe2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.732 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6392, 1.7428, 0.8043, 0.0776, -0.5049, -0.4206, 0.9992, -0.0212, 0.804, 0.6147, -0.4553, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1701 left_z=0.0397 left_yaw=-0.0022 left_pitch=-0.1519 left_roll=0.0845 left_gripper=0.9992 right_x=0.2861 right_y=0.0011 right_z=0.1669 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.7179, 7.7197, 1.6972, -0.1197, 0.2222, -0.0171, -0.0479, -1.5248, 7.3094, 1.8877, -0.0562, 0.0024, -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\": 0.44, \"left_y\": -0.19, \"left_z\": 0.01}, \"note\": \"The block sits ahead and slightly left between the fingers in the wrist view; the last move was clamped, so I command again to advance and lower to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Wrq3u7J1pKC5CTa2j7bkTH",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Wrq3u7J1pKC5CTa2j7bkTH"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6392, 1.766, 0.8238, 0.1196, -0.5022, -0.4206, 0.9992, -0.0212, 0.8051, 0.6151, -0.4984, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3874 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0073 left_pitch=-0.1224 left_roll=0.06 left_gripper=0.9992 right_x=0.2797 right_y=0.0012 right_z=0.1584 right_yaw=0.001 right_pitch=-0.106 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.3761, 7.8974, 1.8046, -0.1929, 0.232, -0.0122, -0.1709, -1.2513, 7.0359, 1.8877, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:12019cff7b7240537f70faef21d2f0665d65b5f4303154886dfb5cddd8d540a8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2021468cd3ce7eb02515bcbf2739240789e6931e932de9df884cc382b1ffd1ef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdf515c2e1e596f44f2debd4ae688e2c770402ae44a75e0ab1b254134f3b74c9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 5.175 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6388, 1.766, 0.8238, 0.1196, -0.5018, -0.4206, 0.9992, -0.0212, 0.8051, 0.6147, -0.4706, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3875 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0072 left_pitch=-0.1225 left_roll=0.0598 left_gripper=0.9992 right_x=0.2839 right_y=0.0011 right_z=0.1636 right_yaw=0.0009 right_pitch=-0.0786 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.4034, 7.8564, 1.7265, -0.232, 0.1636, -0.0073, -0.0752, -1.3197, 7.0906, 1.9658, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.185, \"left_z\": 0.025, \"left_pitch\": 0}, \"note\": \"The left arm didn't move last step (target may have been clamped), so I take a smaller step toward the block and level the pitch back to zero.\"}",
        "name": "move_to"
      },
      "id": "toolu_0197anhSomseLaKKbCynT9wG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_0197anhSomseLaKKbCynT9wG"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6399, 1.9091, 0.7963, 0.3168, -0.5278, -0.3828, 0.9992, -0.0212, 0.8082, 0.6147, -0.5194, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3967 left_y=-0.1799 left_z=0.0088 left_yaw=-0.0111 left_pitch=-0.0916 left_roll=0.0887 left_gripper=0.9992 right_x=0.2764 right_y=0.0012 right_z=0.1535 right_yaw=0.0005 right_pitch=-0.1304 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.9231, 4.9983, 1.9853, -0.3883, 0.0562, -0.0122, -0.1299, -1.4427, 6.9538, 1.8584, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:592698078b46bd8df33d291e8a9a9df88d0e5b096101ac71e77e55d32bc440c0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94cc23393194ef81ddf4814363e8baa1d6650353912976456ce18af858b506dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f2a7592b85220d331f959e343a7779d18b9fd15884147b3b8474e3078bdc7a2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 4.767 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6392, 1.766, 0.8238, 0.1196, -0.5022, -0.4206, 0.9992, -0.0212, 0.8051, 0.6151, -0.4984, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3874 left_y=-0.1775 left_z=0.0434 left_yaw=-0.0073 left_pitch=-0.1224 left_roll=0.06 left_gripper=0.9992 right_x=0.2797 right_y=0.0012 right_z=0.1584 right_yaw=0.001 right_pitch=-0.106 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.3761, 7.8974, 1.8046, -0.1929, 0.232, -0.0122, -0.1709, -1.2513, 7.0359, 1.8877, -0.0366, -0.0757, -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\": 0.43, \"left_y\": -0.192, \"left_z\": 0.005}, \"note\": \"The block is just ahead and slightly right of the open fingers in the left wrist view; I advance a few cm and shift right so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011FHGFwfjgVtqwMLzFPXcaL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011FHGFwfjgVtqwMLzFPXcaL"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6193, 2.0003, 0.9031, 0.3176, -0.5282, -0.379, 0.9991, -0.0212, 0.8101, 0.6147, -0.5365, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.423 left_y=-0.1879 left_z=0.005 left_yaw=0.0068 left_pitch=-0.0783 left_roll=0.0823 left_gripper=0.9991 right_x=0.2737 right_y=0.0013 right_z=0.1498 right_yaw=0.0008 right_pitch=-0.1495 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -8.7453, 6.3111, 1.4774, -0.149, 0.1148, -0.0171, -0.1162, -1.347, 6.8855, 1.956, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf604a0af9ba3a94ebca4af6c168c41006c7d8baf521dbbd503b0b9952de80bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f9840b83c1407221662137b963d8db3b82e4548d8bd80ab87cfda70217c12de"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d055fab81a8849cff8417fac597ccd96394df94e6e097e95d29bb13e6d87e58c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 7.243 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6399, 1.9091, 0.7963, 0.3168, -0.5278, -0.3828, 0.9992, -0.0212, 0.8082, 0.6147, -0.5194, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3967 left_y=-0.1799 left_z=0.0088 left_yaw=-0.0111 left_pitch=-0.0916 left_roll=0.0887 left_gripper=0.9992 right_x=0.2764 right_y=0.0012 right_z=0.1535 right_yaw=0.0005 right_pitch=-0.1304 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -8.9231, 4.9983, 1.9853, -0.3883, 0.0562, -0.0122, -0.1299, -1.4427, 6.9538, 1.8584, -0.0366, -0.022, -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\": 0.445, \"left_y\": -0.196, \"left_z\": 0.005}, \"note\": \"The block is nearly between the jaws but a bit forward and to the right; small advance to center it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_017pJLJVgWyZDzz8tF21AwwV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_017pJLJVgWyZDzz8tF21AwwV"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0121, 0.9276, 0.2985, -0.5213, -0.3828, 0.9991, -0.0212, 0.8116, 0.6147, -0.5594, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4273 left_y=-0.189 left_z=0.0043 left_yaw=0.0098 left_pitch=-0.0862 left_roll=0.0791 left_gripper=0.9991 right_x=0.2699 right_y=0.0014 right_z=0.1453 right_yaw=0.001 right_pitch=-0.1739 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.0342, 7.3504, 1.4921, -0.2662, 0.1099, -0.0073, -0.0615, -1.3197, 6.8718, 1.9121, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9bdd9f4ec96be1bea1739495821b18851020124d18203a30b9f11c52e659c4ea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1be59f1ada932b3137aba97d4461f38834c5f280094b7004a280410eb5c65fc2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e473bc0456656b2daeda210bba17f351a2a2798099d95f9a419df443cf5839b1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 9.881 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6193, 2.0003, 0.9031, 0.3176, -0.5282, -0.379, 0.9991, -0.0212, 0.8101, 0.6147, -0.5365, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.423 left_y=-0.1879 left_z=0.005 left_yaw=0.0068 left_pitch=-0.0783 left_roll=0.0823 left_gripper=0.9991 right_x=0.2737 right_y=0.0013 right_z=0.1498 right_yaw=0.0008 right_pitch=-0.1495 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -8.7453, 6.3111, 1.4774, -0.149, 0.1148, -0.0171, -0.1162, -1.347, 6.8855, 1.956, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.2, \"left_z\": 0.003}, \"note\": \"The block is still just beyond the fingertips in the wrist view; I advance another ~3 cm forward-right to get it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Eq53jXGe4jyDva9YcQvTRV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Eq53jXGe4jyDva9YcQvTRV"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6151, -0.5762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.1907 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -8.4171, 7.0085, 1.5214, -0.2906, 0.0708, -0.0122, -0.1299, -0.8821, 6.8444, 1.7558, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5663ecb6a86d0b650a63ebc173510e0a80cebdd10e86802f078710b8968426fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b7eff8f325411f7b01ba2e5787dae3e0d2e8da0e2f23f966fb9ff02f14f420e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:176e992eb83869c7d700e5887e8606ced8e4a9df808d6a21540d8c699c05af92"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 12.13 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0121, 0.9276, 0.2985, -0.5213, -0.3828, 0.9991, -0.0212, 0.8116, 0.6147, -0.5594, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4273 left_y=-0.189 left_z=0.0043 left_yaw=0.0098 left_pitch=-0.0862 left_roll=0.0791 left_gripper=0.9991 right_x=0.2699 right_y=0.0014 right_z=0.1453 right_yaw=0.001 right_pitch=-0.1739 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -8.0342, 7.3504, 1.4921, -0.2662, 0.1099, -0.0073, -0.0615, -1.3197, 6.8718, 1.9121, -0.0513, -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\": 0.46, \"left_y\": -0.205, \"left_z\": 0.012}, \"note\": \"The arm barely advanced, possibly the fingertips are dragging the table; I raise slightly and push forward again to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_012sD2AokMnSMza8nKauuQ7n",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_012sD2AokMnSMza8nKauuQ7n"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6147, -0.5968, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2634 right_y=0.0015 right_z=0.1386 right_yaw=0.0008 right_pitch=-0.2117 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.4308, 6.8444, 1.536, -0.2564, 0.0757, -0.0073, -0.1026, -1.1145, 6.8581, 1.79, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c20c496514386bdce945d4e297a05c0ac4b104d7498256195e9875d903ce68d8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7400d37874a40a46437c8e49de43c7b846caece23a194aaae08872acde005e44"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73a56606eb941ad7f694605d5cb56e5e293ea8857339b7e9adf58c43692e92ca"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 5.368 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6151, -0.5762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2671 right_y=0.0014 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.1907 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -8.4171, 7.0085, 1.5214, -0.2906, 0.0708, -0.0122, -0.1299, -0.8821, 6.8444, 1.7558, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.21, \"left_z\": 0.06, \"left_pitch\": 0.3}, \"note\": \"The left arm has stopped tracking, likely an awkward IK pose near the table; I lift to 6 cm and pitch the tool down while moving over the block to re-approach from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GFQ8ibwHeBF9XLAMyGxMZ1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01GFQ8ibwHeBF9XLAMyGxMZ1"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6537, 2.088, 0.8997, 0.7624, -0.672, -0.2165, 0.9992, -0.0212, 0.8139, 0.6147, -0.6132, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4561 left_y=-0.2063 left_z=0.0507 left_yaw=0.0154 left_pitch=0.2456 left_roll=0.0785 left_gripper=0.9992 right_x=0.2606 right_y=0.0016 right_z=0.1353 right_yaw=0.0012 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.0188, 5.0667, 2.0586, -0.2662, 0.1441, -0.0073, -0.0889, -1.306, 7.1453, 1.6532, -0.0464, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:727ab4057bc45623f93ee56e53aa3824ef8b0aec8cebf1350fb9fbc393e933d9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a2c5c8a201a6cf96f17331ddfc3c33ba9be11a05d73e2647f94608de5bbfaadf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0f57ae215bea27637ceafd2f2ff61f84b2ddaf9d0ff1b4884f3d3e63cb116a7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 3.744 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6136, 2.0144, 0.9321, 0.2981, -0.5209, -0.3832, 0.9991, -0.0212, 0.812, 0.6147, -0.5968, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4283 left_y=-0.1898 left_z=0.0047 left_yaw=0.0096 left_pitch=-0.0848 left_roll=0.0775 left_gripper=0.9991 right_x=0.2634 right_y=0.0015 right_z=0.1386 right_yaw=0.0008 right_pitch=-0.2117 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.4308, 6.8444, 1.536, -0.2564, 0.0757, -0.0073, -0.1026, -1.1145, 6.8581, 1.79, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.462, \"left_y\": -0.208, \"left_z\": 0.008}, \"note\": \"The block now sits centered between the jaws in the left wrist camera; I lower straight down to grasp height before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LZUop1wzH767nYiR6XrEfL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01LZUop1wzH767nYiR6XrEfL"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6533, 2.2208, 0.9081, 0.8608, -0.6735, -0.2104, 0.9992, -0.0212, 0.8173, 0.6147, -0.6239, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4565 left_y=-0.2061 left_z=0.0099 left_yaw=0.0098 left_pitch=0.2253 left_roll=0.1014 left_gripper=0.9992 right_x=0.2587 right_y=0.0016 right_z=0.1327 right_yaw=0.0013 right_pitch=-0.2441 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.294, -11.0427, 6.0513, 2.1758, -0.1538, -0.0952, -0.0171, -0.0615, -1.4154, 6.7897, 1.6532, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2fb3f3fdd6718fd917a87580c0f3affe5536780a97dd3a85146b35bf7ff56099"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2ee8482fdcc83752644e665ac7221c518b23ad96d8c0cd929725871c40140cee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db8ac4a965482e45443039b0ba2c2679d75b1c4c7f9aca283ee081aaf0dc8ca0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 8.566 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6537, 2.088, 0.8997, 0.7624, -0.672, -0.2165, 0.9992, -0.0212, 0.8139, 0.6147, -0.6132, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4561 left_y=-0.2063 left_z=0.0507 left_yaw=0.0154 left_pitch=0.2456 left_roll=0.0785 left_gripper=0.9992 right_x=0.2606 right_y=0.0016 right_z=0.1353 right_yaw=0.0012 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -9.0188, 5.0667, 2.0586, -0.2662, 0.1441, -0.0073, -0.0889, -1.306, 7.1453, 1.6532, -0.0464, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.2}, \"note\": \"The red block is between the jaws at grasp height in the left wrist camera; I close the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_019cqUQAWGAkCnAyGJZqyYa6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_019cqUQAWGAkCnAyGJZqyYa6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6521, 2.2425, 0.9108, 0.8906, -0.6708, -0.2214, 0.6065, -0.0212, 0.8173, 0.6147, -0.6365, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4577 left_y=-0.2068 left_z=0.006 left_yaw=0.0165 left_pitch=0.2336 left_roll=0.083 left_gripper=0.6065 right_x=0.2564 right_y=0.0017 right_z=0.1306 right_yaw=0.0014 right_pitch=-0.2567 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.8803, 5.135, 1.79, -0.1783, 0.0415, 0.9792, -0.0889, -1.1692, 6.8034, 1.5604, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb6dba0dd5ca3f95b17c8f1540cf71d59d81a589f1181416f5bd529daec62111"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:253d22a75c7f602de60f9d479a639de9443b88dc520c05963deed0491cb5fb41"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa71a6cb5989fe3467ba68ae4e1a9a8ffe304f6934363189c35d2fdad0d9d1e3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 19.16 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6533, 2.2208, 0.9081, 0.8608, -0.6735, -0.2104, 0.9992, -0.0212, 0.8173, 0.6147, -0.6239, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4565 left_y=-0.2061 left_z=0.0099 left_yaw=0.0098 left_pitch=0.2253 left_roll=0.1014 left_gripper=0.9992 right_x=0.2587 right_y=0.0016 right_z=0.1327 right_yaw=0.0013 right_pitch=-0.2441 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.294, -11.0427, 6.0513, 2.1758, -0.1538, -0.0952, -0.0171, -0.0615, -1.4154, 6.7897, 1.6532, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.15, \"left_gripper\": 0.2}, \"note\": \"The gripper closed to ~0.6 with rising effort, indicating the block is grasped; I lift straight up to clear the table and then locate the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_017QDm3vWQv1xbhKAetomBMp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_017QDm3vWQv1xbhKAetomBMp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6533, 1.8713, 0.9878, 0.3767, -0.6743, -0.2325, 0.6014, -0.0212, 0.8181, 0.6147, -0.6575, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.452 left_y=-0.2026 left_z=0.112 left_yaw=0.0156 left_pitch=0.1837 left_roll=0.1153 left_gripper=0.6014 right_x=0.2525 right_y=0.0017 right_z=0.127 right_yaw=0.0012 right_pitch=-0.2784 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -12.5333, 9.3197, 1.9267, -0.2173, 0.0562, 1.0281, -0.1162, -1.2239, 6.735, 1.707, -0.0464, -0.022, -0.0073]\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,$blob:bbedac5d9e1cbffb56d749b2a1aba3706c2ae7e7d3daac31c63ab7b83be62b3b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af3fb01f3c334a35c659f7080e72ad92e81078f3de225c9f45dea1769282b378"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:182a701c3b10e491adb29adb3480d707ffb73f249f35a64580e4ba0bab6d8f75"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 20.86 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6521, 2.2425, 0.9108, 0.8906, -0.6708, -0.2214, 0.6065, -0.0212, 0.8173, 0.6147, -0.6365, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4577 left_y=-0.2068 left_z=0.006 left_yaw=0.0165 left_pitch=0.2336 left_roll=0.083 left_gripper=0.6065 right_x=0.2564 right_y=0.0017 right_z=0.1306 right_yaw=0.0014 right_pitch=-0.2567 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.8803, 5.135, 1.79, -0.1783, 0.0415, 0.9792, -0.0889, -1.1692, 6.8034, 1.5604, -0.0415, -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\": 0.5, \"left_y\": -0.08, \"left_z\": 0.15, \"left_gripper\": 0.2}, \"note\": \"The block is lifted and held; the top camera shows the bowl forward-left of the gripper's current spot, so I move the left arm toward it while staying high.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CSn4fephvBt6zAs1DLaH4L",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01CSn4fephvBt6zAs1DLaH4L"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2977, 1.7931, 0.9562, 0.3336, -0.3866, -0.078, 0.6014, -0.0212, 0.8219, 0.6147, -0.6762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4907 left_y=-0.0771 left_z=0.1152 left_yaw=0.0525 left_pitch=0.1078 left_roll=0.1329 left_gripper=0.6014 right_x=0.249 right_y=0.0018 right_z=0.1232 right_yaw=0.0015 right_pitch=-0.3009 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.1778, 8.5675, 1.9316, -0.0073, 0.2808, 1.0281, -0.0479, -1.4701, 6.9265, 1.6044, -0.0317, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e1dd3a571286e9fc5d5fd33961b3fca76b2c44ec9e41ec849a4768bdd4114123"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5e7ca23c25f98816164577aa56dfbfa87f62b790f496f71d08ae66f3adf83ae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ff1fe3438085bdfc25b6fba1e665b87080948e0b94b5d75b1aff50881ac23d3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 12.87 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6533, 1.8713, 0.9878, 0.3767, -0.6743, -0.2325, 0.6014, -0.0212, 0.8181, 0.6147, -0.6575, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.452 left_y=-0.2026 left_z=0.112 left_yaw=0.0156 left_pitch=0.1837 left_roll=0.1153 left_gripper=0.6014 right_x=0.2525 right_y=0.0017 right_z=0.127 right_yaw=0.0012 right_pitch=-0.2784 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -12.5333, 9.3197, 1.9267, -0.2173, 0.0562, 1.0281, -0.1162, -1.2239, 6.735, 1.707, -0.0464, -0.022, -0.0073]\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\": 0.55, \"left_y\": -0.03, \"left_z\": 0.15, \"left_gripper\": 0.2}, \"note\": \"Block secure in the left gripper; the bowl appears further ahead in the top camera, so I move forward and left a bit more, keeping height, and will check alignment above the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ViHhdUcxLuYuYHxwUB5veU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01ViHhdUcxLuYuYHxwUB5veU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.149, 1.879, 1.1893, 0.1913, -0.2874, -0.0296, 0.6008, -0.0212, 0.823, 0.6147, -0.6846, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5398 left_y=-0.0267 left_z=0.1397 left_yaw=0.0928 left_pitch=0.0951 left_roll=0.129 left_gripper=0.6008 right_x=0.2474 right_y=0.0019 right_z=0.1216 right_yaw=0.0017 right_pitch=-0.3104 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -9.4974, 8.4034, 1.7167, 0.1148, 0.1197, 1.033, -0.0752, -1.2239, 6.7077, 1.4676, -0.0024, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8afc2a59360749daf073c6777033ebeaa3e6111aecb8efd32e0e68275253b3af"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:805608015c8e82563a8caf2798cadba8e6ffd474b631e2b2e5113bb9d48d4dd0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e71a436d1e7e67b13aabc6ddfeac7ef1f2dbc0d06d7da5e45adefac4fbc368b2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 10.95 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2977, 1.7931, 0.9562, 0.3336, -0.3866, -0.078, 0.6014, -0.0212, 0.8219, 0.6147, -0.6762, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4907 left_y=-0.0771 left_z=0.1152 left_yaw=0.0525 left_pitch=0.1078 left_roll=0.1329 left_gripper=0.6014 right_x=0.249 right_y=0.0018 right_z=0.1232 right_yaw=0.0015 right_pitch=-0.3009 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.1778, 8.5675, 1.9316, -0.0073, 0.2808, 1.0281, -0.0479, -1.4701, 6.9265, 1.6044, -0.0317, -0.0513, -0.0073]\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\": 0.53, \"left_y\": 0.05, \"left_z\": 0.15, \"left_gripper\": 0.2}, \"note\": \"Top camera shows the bowl still to the left of the held block; I shift the left arm further left (toward +y limit) while keeping height to get over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NSK7NdNvT7HcaWZexn69iT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01NSK7NdNvT7HcaWZexn69iT"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1387, 1.8927, 1.2133, 0.1486, -0.2577, -0.0113, 0.6007, -0.0212, 0.8238, 0.6147, -0.7017, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5413 left_y=-0.0265 left_z=0.1334 left_yaw=0.0678 left_pitch=0.0588 left_roll=0.138 left_gripper=0.6007 right_x=0.2441 right_y=0.002 right_z=0.1188 right_yaw=0.0019 right_pitch=-0.3284 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.0991, 8.6632, 2.0049, -0.0562, 0.0659, 1.033, -0.2256, -1.2103, 6.735, 1.5214, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6e07d50698ec183b1fdb8f5242348f74233fa62b540dae88459f7c23f59b315b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0cf68298da1efa1251d593407fb0f28130c81d1629b6424a653ea7ef5b16b263"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c6846c7172e806f5cd08bef5b5ca072e685e4ca454ceb546e8abcdf9a85b1af7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 17.28 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.149, 1.879, 1.1893, 0.1913, -0.2874, -0.0296, 0.6008, -0.0212, 0.823, 0.6147, -0.6846, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5398 left_y=-0.0267 left_z=0.1397 left_yaw=0.0928 left_pitch=0.0951 left_roll=0.129 left_gripper=0.6008 right_x=0.2474 right_y=0.0019 right_z=0.1216 right_yaw=0.0017 right_pitch=-0.3104 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -9.4974, 8.4034, 1.7167, 0.1148, 0.1197, 1.033, -0.0752, -1.2239, 6.7077, 1.4676, -0.0024, -0.0415, -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\": 0.5, \"left_y\": 0.05, \"left_z\": 0.2, \"left_gripper\": 0.2}, \"note\": \"The left arm didn't track the last lateral move\\u2014likely an awkward IK pose; I raise higher and retry moving left toward the bowl seen at top-center of the overhead camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K2GbKwBsHttFRr9WA4QrPU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01K2GbKwBsHttFRr9WA4QrPU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0727, 1.6814, 1.177, -0.0242, -0.1406, 0.0559, 0.6006, -0.0212, 0.8268, 0.6147, -0.7238, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=0.0649 left_z=0.1852 left_yaw=0.1449 left_pitch=0.0476 left_roll=0.1372 left_gripper=0.6006 right_x=0.2398 right_y=0.002 right_z=0.1148 right_yaw=0.0021 right_pitch=-0.3535 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-1.9624, -8.4855, 8.7179, 1.7216, 0.3883, 0.1587, 1.0281, -0.0615, -0.9504, 6.7761, 1.5458, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:06eba304fc9071b6c976acabf11793a7aa0ea7595393435479224a6fa86cc9cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f46937aa2089e978a0fc5081ff15094dbfbfd4b135a7ad7a0e5e8cef39c65f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65db7b6a4af3877ec43dda54cbd8beb3d3d39c2b4a27473d2157126364d4b20d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 49.53 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1387, 1.8927, 1.2133, 0.1486, -0.2577, -0.0113, 0.6007, -0.0212, 0.8238, 0.6147, -0.7017, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5413 left_y=-0.0265 left_z=0.1334 left_yaw=0.0678 left_pitch=0.0588 left_roll=0.138 left_gripper=0.6007 right_x=0.2441 right_y=0.002 right_z=0.1188 right_yaw=0.0019 right_pitch=-0.3284 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.0991, 8.6632, 2.0049, -0.0562, 0.0659, 1.033, -0.2256, -1.2103, 6.735, 1.5214, -0.0269, -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\": 0.58, \"left_y\": 0.05, \"left_z\": 0.2, \"left_gripper\": 0.2}, \"note\": \"The left arm is at its leftward y-limit; the bowl looks further forward in the overhead view, so I extend the left arm forward to 0.58 m while staying high with the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_019q9T4tXhX9e44BX4P8ADLe",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_019q9T4tXhX9e44BX4P8ADLe"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0265, 1.9438, 1.5387, -0.173, -0.1772, 0.0219, 0.6001, -0.0212, 0.8303, 0.6147, -0.7418, -0.02, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.5684 left_y=0.0498 left_z=0.1833 left_yaw=0.1476 left_pitch=0.0027 left_roll=0.1322 left_gripper=0.6001 right_x=0.2362 right_y=0.0021 right_z=0.1115 right_yaw=0.0025 right_pitch=-0.3749 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -10.6598, 9.1282, 1.7753, -0.1832, 0.0562, 1.0281, -0.1299, -1.2239, 6.8718, 1.4774, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40bfdde4408f2aa5093e28bcbee8414017d94248463cb5349fe635e4b64ec0d7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f47d118694b97d731bd00d3abf8c64b82bb8f6c80078328612e1b2cb7cf0b275"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab98c666f78503a3dd436b680ea8eea7b291d27ee64c6c0212a2434e37225186"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 42.74 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0727, 1.6814, 1.177, -0.0242, -0.1406, 0.0559, 0.6006, -0.0212, 0.8268, 0.6147, -0.7238, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5009 left_y=0.0649 left_z=0.1852 left_yaw=0.1449 left_pitch=0.0476 left_roll=0.1372 left_gripper=0.6006 right_x=0.2398 right_y=0.002 right_z=0.1148 right_yaw=0.0021 right_pitch=-0.3535 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-1.9624, -8.4855, 8.7179, 1.7216, 0.3883, 0.1587, 1.0281, -0.0615, -0.9504, 6.7761, 1.5458, -0.0464, -0.0562, -0.0073]\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\": 0.6, \"left_y\": 0.05, \"left_z\": 0.13, \"left_gripper\": 0.2}, \"note\": \"The bowl appears forward of the held block in the overhead view and the left arm is at its leftward limit; I extend fully forward and lower slightly to check if the bowl comes under the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KJc6CjRkcKA4o7ZDXFsBxx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KJc6CjRkcKA4o7ZDXFsBxx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0265, 2.101, 1.5562, -0.1017, -0.1768, 0.0181, 0.6001, -0.0212, 0.8307, 0.6147, -0.7475, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.5879 left_y=0.0503 left_z=0.1173 left_yaw=0.1496 left_pitch=-0.0648 left_roll=0.1372 left_gripper=0.6001 right_x=0.235 right_y=0.0021 right_z=0.1106 right_yaw=0.0022 right_pitch=-0.381 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -12.4923, 7.9385, 2.1954, -0.0757, 0.0024, 1.033, -0.1846, -1.1282, 6.6256, 1.3651, -0.0269, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c745f17f797173114c1740b87caaf5cefc1d401270abe1468f557338f085606"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:02ca404e3d94b6d47695314bf61c8a8540bf2d065df3cfbac189b3b240eaf91b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f219ca065348170c5f7cfeca3e24fbf04eff851ff81b91f80f444eb9994846ee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}