adhoc - adhoc_b2321570.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: 347.8 s
total steps: 102

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

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see a red block on the left side of the table and a bowl to its right in the top camera. Moving the left arm forward and slightly right at a safe height to locate itself over the block.

move_to

left_x0.3500left_y-0.1000left_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, 0.7925, 0.6044, -0.3862, -0.0174, -0.0334, 0.9993, -0.0212, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4701, 10.2222, 1.9365, -0.1001, 0.1832, -0.0904, -0.335, -1.5795, 9.7573, 1.9121, -0.0513, 0.1245, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.1, "left_z": 0.12, "left_gripper": 1}, "note": "I see a red block on the left side of the table and a bowl to its right in the top camera. Moving the left arm forward and slightly right at a safe height to locate itself over the block."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe left wrist camera shows the red block just ahead of the open gripper, roughly centered. Moving forward and down to position the fingers around the block.

move_to

left_x0.4000left_y-0.0900left_z0.0500left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4625, 1.2434, 0.5579, -0.0364, -0.3538, -0.2756, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.333 left_y=-0.0936 left_z=0.0977 left_yaw=-0.0299 left_pitch=-0.0948 left_roll=0.0335 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.2667, -4.7385, 9.265, 1.8486, -0.3199, -0.0317, -0.0904, -0.0479, -1.5385, 6.8718, 2.0391, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.09, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The left wrist camera shows the red block just ahead of the open gripper, roughly centered. Moving forward and down to position the fingers around the block."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteThe wrist camera shows the block off to the right edge of view, so the gripper drifted left of it. Shifting the left arm in -y to line the fingers up with the block.

move_to

left_x0.4000left_y-0.1100left_z0.0300left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3637, 1.6386, 0.5457, 0.3637, -0.321, -0.2428, 0.9992, -0.0212, 0.8017, 0.6056, -0.4545, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3774 left_y=-0.0802 left_z=0.0272 left_yaw=0.0247 left_pitch=-0.1109 left_roll=0.042 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.4444, -7.1726, 7.5009, 2.0, -0.0269, 0.1538, -0.0171, -0.0752, -1.4291, 7.159, 1.9023, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.11, "left_z": 0.03, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist camera shows the block off to the right edge of view, so the gripper drifted left of it. Shifting the left arm in -y to line the fingers up with the block."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe block is still slightly right of the gripper fingers in the wrist view. Nudging further in -y and forward, and lowering to grasp height.

move_to

left_x0.3950left_y-0.1250left_z0.0050left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4194, 1.7508, 0.5468, 0.4976, -0.3386, -0.2607, 0.9992, -0.0208, 0.8032, 0.6056, -0.4625, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3828 left_y=-0.1025 left_z=0.0111 left_yaw=-0.0078 left_pitch=-0.0849 left_roll=0.0297 left_gripper=0.9992 right_x=0.2838 right_y=0.0012 right_z=0.1616 right_yaw=0.0004 right_pitch=-0.0759 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.6222, -6.9402, 7.2137, 2.1221, -0.3541, -0.0562, -0.0122, -0.0342, -1.347, 7.241, 1.7998, -0.0269, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.125, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The block is still slightly right of the gripper fingers in the wrist view. Nudging further in -y and forward, and lowering to grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe arm only reached y=-0.104 and the block still sits to the right of the fingers in the wrist view. Commanding again further in -y and down to grasp height so the block lands between the jaws.

move_to

left_x0.4000left_y-0.1350left_z0.0050left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.4812, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2809 right_y=0.0012 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.095 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.3487, -7.0085, 6.7214, 2.0391, -0.2466, -0.0073, -0.0122, -0.1162, -1.0325, 7.0222, 1.8779, -0.0513, -0.0806, -0.0073] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.135, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm only reached y=-0.104 and the block still sits to the right of the fingers in the wrist view. Commanding again further in -y and down to grasp height so the block lands between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe left arm did not move at all on the last command—likely an awkward IK target near the table. Raising slightly and aiming forward-right toward the block to unstick the arm.

move_to

left_x0.4200left_y-0.1300left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5003, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.1542 right_yaw=0.0001 right_pitch=-0.114 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.4308, -6.8581, 6.6393, 2.0635, -0.2613, 0.0073, -0.0122, -0.0479, -0.8547, 6.9265, 1.8339, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.04, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The left arm did not move at all on the last command\u2014likely an awkward IK target near the table. Raising slightly and aiming forward-right toward the block to unstick the arm."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe left arm hasn't moved for three commands—the IK seems stuck near this low pose. Retreating up and back toward a known-reachable pose to free the arm before re-approaching the block.

move_to

left_x0.3600left_y-0.1000left_z0.1200left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5102, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2763 right_y=0.0012 right_z=0.1524 right_yaw=0.0002 right_pitch=-0.124 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.335, -6.9949, 6.6393, 2.0635, -0.2222, 0.0024, -0.0122, -0.0479, -1.1692, 6.9265, 1.8046, -0.0269, -0.0464, -0.0122] 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": 0.36, "left_y": -0.1, "left_z": 0.12, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The left arm hasn't moved for three commands\u2014the IK seems stuck near this low pose. Retreating up and back toward a known-reachable pose to free the arm before re-approaching the block."})

tool

executing move_to over 7 steps (0.7s)

step 35

assistant

agent noteThe arm freed up and the wrist camera now shows the red block just ahead, slightly right of center between the fingers. Descending forward to straddle the block with the open gripper.

move_to

left_x0.4100left_y-0.1150left_z0.0300left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4515, 1.3411, 0.5755, 0.1371, -0.3649, -0.2863, 0.9992, -0.0212, 0.8074, 0.6056, -0.5426, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3606 left_y=-0.1008 left_z=0.1045 left_yaw=-0.0061 left_pitch=-0.0072 left_roll=-0.0087 left_gripper=0.9992 right_x=0.2711 right_y=0.0014 right_z=0.1454 right_yaw=0.0006 right_pitch=-0.1602 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [-0.759, -5.9282, 9.4564, 1.8974, -0.3199, 0.0269, -0.0122, -0.1573, -0.9231, 6.8991, 1.9267, -0.0317, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.115, "left_z": 0.03, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm freed up and the wrist camera now shows the red block just ahead, slightly right of center between the fingers. Descending forward to straddle the block with the open gripper."})

tool

executing move_to over 5 steps (0.5s)

step 40

assistant

agent noteThe block now shows at the right edge of the wrist view, which for this camera means it sits at a more positive y than the gripper. Shifting the left arm toward +y and down to grasp height to center the block between the jaws.

move_to

left_x0.4050left_y-0.0850left_z0.0050left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4305, 1.7672, 0.5915, 0.4271, -0.3603, -0.2852, 0.9992, -0.0212, 0.8104, 0.6056, -0.569, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3853 left_y=-0.1045 left_z=0.0078 left_yaw=0.0138 left_pitch=-0.117 left_roll=0.0414 left_gripper=0.9992 right_x=0.2668 right_y=0.0014 right_z=0.1399 right_yaw=0.0004 right_pitch=-0.1896 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [0.335, -7.8291, 6.9675, 2.0391, -0.1343, 0.1392, -0.0122, -0.0752, -1.4427, 6.8444, 1.7949, -0.0317, -0.0366, -0.0073] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.085, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The block now shows at the right edge of the wrist view, which for this camera means it sits at a more positive y than the gripper. Shifting the left arm toward +y and down to grasp height to center the block between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 44

assistant

agent noteMoving +y was wrong: the block nearly left the wrist view to the right, so image-right corresponds to -y for this wrist camera. Going back down and toward -y to bring the block between the fingers.

move_to

left_x0.4000left_y-0.1150left_z0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3794, 1.8011, 0.5583, 0.5457, -0.3367, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.5941, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3923 left_y=-0.0897 left_z=0.0045 left_yaw=0.0294 left_pitch=-0.0771 left_roll=0.0264 left_gripper=0.9992 right_x=0.2624 right_y=0.0016 right_z=0.1355 right_yaw=0.0008 right_pitch=-0.2151 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.4308, -6.5436, 4.3829, 1.917, -0.0366, 0.105, -0.0073, -0.0479, -1.2103, 6.8308, 1.79, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.4, "left_y": -0.115, "left_z": 0.0, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "Moving +y was wrong: the block nearly left the wrist view to the right, so image-right corresponds to -y for this wrist camera. Going back down and toward -y to bring the block between the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 47

assistant

agent noteThe arm stalls when commanded low near the table; top camera shows the block just beyond and slightly left of the gripper. Rising to hover directly over the block at x≈0.425, y≈-0.12 before descending vertically.

move_to

left_x0.4250left_y-0.1200left_z0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3798, 1.8011, 0.5579, 0.5457, -0.334, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3921 left_y=-0.0903 left_z=0.0043 left_yaw=0.0268 left_pitch=-0.0781 left_roll=0.0249 left_gripper=0.9992 right_x=0.259 right_y=0.0016 right_z=0.1323 right_yaw=0.0006 right_pitch=-0.2338 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.2803, -6.5162, 4.6291, 1.9121, -0.0806, 0.0904, -0.0073, -0.1983, -1.1282, 6.8034, 1.6777, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.12, "left_z": 0.06, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm stalls when commanded low near the table; top camera shows the block just beyond and slightly left of the gripper. Rising to hover directly over the block at x\u22480.425, y\u2248-0.12 before descending vertically."})

tool

executing move_to over 4 steps (0.4s)

step 51

assistant

agent noteThe left arm again didn't move; it appears stuck near the table, possibly with a finger contacting the surface. Lifting straight up to z=0.15 to free it before a clean vertical descent onto the block.

move_to

left_x0.3900left_y-0.1200left_z0.1500left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3801, 1.8011, 0.5568, 0.5461, -0.334, -0.2554, 0.9992, -0.0212, 0.8127, 0.6056, -0.6319, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3917 left_y=-0.0903 left_z=0.004 left_yaw=0.0246 left_pitch=-0.0789 left_roll=0.028 left_gripper=0.9992 right_x=0.2556 right_y=0.0016 right_z=0.1286 right_yaw=0.0007 right_pitch=-0.2548 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.2667, -6.5299, 4.4513, 1.9512, -0.0904, 0.0855, -0.0122, -0.0479, -1.2786, 7.0359, 1.6777, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.12, "left_z": 0.15, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The left arm again didn't move; it appears stuck near the table, possibly with a finger contacting the surface. Lifting straight up to z=0.15 to free it before a clean vertical descent onto the block."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe wrist camera now shows the red block sitting between the two fingers, slightly right of center. Descending vertically to z=0.05 with a small -y correction, then I will check alignment before the final grasp.

move_to

left_x0.3900left_y-0.1250left_z0.0500left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4686, 1.4342, 0.7727, -0.0025, -0.3832, -0.2993, 0.9992, -0.0212, 0.8158, 0.6056, -0.6571, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.387 left_y=-0.1179 left_z=0.1264 left_yaw=-0.001 left_pitch=-0.0342 left_roll=0.0061 left_gripper=0.9992 right_x=0.2509 right_y=0.0018 right_z=0.1238 right_yaw=0.0012 right_pitch=-0.283 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.4171, -7.3778, 9.0188, 1.7753, -0.2466, 0.0513, -0.0122, -0.0752, -1.347, 6.9402, 1.6923, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.125, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist camera now shows the red block sitting between the two fingers, slightly right of center. Descending vertically to z=0.05 with a small -y correction, then I will check alignment before the final grasp."})

tool

executing move_to over 5 steps (0.5s)

step 66

assistant

agent noteThe wrist view shows the block ahead and to the image-right of the gripper, which corresponds to more +x and -y. Moving forward and right while descending to grasp height.

move_to

left_x0.4000left_y-0.1330left_z0.0080left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4873, 1.6547, 0.6029, 0.2977, -0.3931, -0.3016, 0.9992, -0.0212, 0.8181, 0.6056, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3743 left_y=-0.1177 left_z=0.0326 left_yaw=-0.0075 left_pitch=-0.1113 left_roll=0.0512 left_gripper=0.9992 right_x=0.2473 right_y=0.0019 right_z=0.1203 right_yaw=0.0014 right_pitch=-0.3043 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [-0.4171, -7.0222, 5.2855, 2.0342, -0.3101, -0.0757, -0.0122, -0.1026, -1.2376, 6.7214, 1.5556, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.133, "left_z": 0.008, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist view shows the block ahead and to the image-right of the gripper, which corresponds to more +x and -y. Moving forward and right while descending to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 70

assistant

agent noteThe gripper is at table height and the block sits just ahead and slightly image-right in the wrist view. Sliding forward and slightly -y so the block sits between the jaws.

move_to

left_x0.4200left_y-0.1350left_z0.0050left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4957, 1.8591, 0.5957, 0.5606, -0.4091, -0.3164, 0.9988, -0.0212, 0.8219, 0.6056, -0.6804, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3902 left_y=-0.127 left_z=-0.0002 left_yaw=0.0029 left_pitch=-0.0609 left_roll=0.0247 left_gripper=0.9988 right_x=0.2465 right_y=0.0019 right_z=0.1188 right_yaw=0.0014 right_pitch=-0.3123 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.4034, -6.8444, 5.1897, 1.409, -0.2173, 0.0464, -0.0562, -0.0752, -1.4427, 6.7624, 1.409, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.135, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The gripper is at table height and the block sits just ahead and slightly image-right in the wrist view. Sliding forward and slightly -y so the block sits between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 73

assistant

agent noteThe block is still ahead and to the image-right of the fingers, which maps to +x and -y in the arm frame. Continuing forward and right at grasp height to bring the block between the jaws.

move_to

left_x0.4250left_y-0.1480left_z0.0050left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6136, -0.4099, -0.3195, 0.9986, -0.0212, 0.8223, 0.6056, -0.6838, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3947 left_y=-0.1301 left_z=0.0015 left_yaw=0.0029 left_pitch=-0.0322 left_roll=0.0071 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1182 right_yaw=0.0011 right_pitch=-0.3162 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.3624, -7.5145, 4.6427, 1.9316, -0.2564, 0.0366, -0.0366, -0.0479, -1.0462, 6.735, 1.4481, -0.0366, -0.0415, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.148, "left_z": 0.005, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The block is still ahead and to the image-right of the fingers, which maps to +x and -y in the arm frame. Continuing forward and right at grasp height to bring the block between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 76

assistant

agent noteThe arm stalled again at table height; the IK cannot track very low targets in this region. Raising the target slightly to z=0.04 while continuing forward-right so the arm can keep moving toward the block.

move_to

left_x0.4300left_y-0.1450left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7013, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2425 right_y=0.002 right_z=0.1154 right_yaw=0.0016 right_pitch=-0.3345 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.3624, -7.4872, 4.6701, 1.9072, -0.2808, 0.0269, -0.0171, -0.1436, -1.1556, 6.694, 1.5116, -0.0464, -0.0562, -0.0073] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.145, "left_z": 0.04, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm stalled again at table height; the IK cannot track very low targets in this region. Raising the target slightly to z=0.04 while continuing forward-right so the arm can keep moving toward the block."})

tool

executing move_to over 3 steps (0.3s)

step 79

assistant

agent noteThe arm stalls whenever I command small moves at table height, but large lifts do track. Lifting to z=0.09 while shifting to hover directly over the block at x=0.42, y=-0.155, then I will descend in one motion.

move_to

left_x0.4200left_y-0.1550left_z0.0900left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7067, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2414 right_y=0.002 right_z=0.1146 right_yaw=0.0016 right_pitch=-0.3398 right_roll=0.0078 right_gripper=0.9996 state[joint_eff]: [-0.335, -7.5282, 4.6427, 1.9512, -0.2125, 0.0464, -0.0122, -0.1709, -0.9915, 6.6803, 1.4432, -0.0855, -0.0708, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.155, "left_z": 0.09, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm stalls whenever I command small moves at table height, but large lifts do track. Lifting to z=0.09 while shifting to hover directly over the block at x=0.42, y=-0.155, then I will descend in one motion."})

tool

executing move_to over 6 steps (0.6s)

step 85

assistant

agent noteThe wrist camera now shows the red block centered between the two fingertips. Descending straight down to table height so the jaws straddle the block, then I will close the gripper.

move_to

left_x0.4230left_y-0.1550left_z0.0020left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5262, 1.7142, 0.7986, 0.2905, -0.4316, -0.3389, 0.9985, -0.0212, 0.823, 0.6056, -0.7242, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4208 left_y=-0.1548 left_z=0.0809 left_yaw=0.0017 left_pitch=0.0138 left_roll=-0.02 left_gripper=0.9985 right_x=0.2379 right_y=0.0021 right_z=0.112 right_yaw=0.0018 right_pitch=-0.3574 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [-0.6359, -9.4154, 7.3504, 1.5263, -0.2027, 0.0562, -0.0122, -0.335, -1.1009, 7.0496, 1.5751, -0.0659, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.423, "left_y": -0.155, "left_z": 0.002, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist camera now shows the red block centered between the two fingertips. Descending straight down to table height so the jaws straddle the block, then I will close the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 91

assistant

agent noteThe block is between the jaws in the wrist view, slightly toward the right finger. Descending a touch lower with a small +y nudge and closing the gripper to grasp the block.

move_to

left_x0.4350left_y-0.1550left_z0.0150left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5251, 1.9274, 0.7521, 0.6205, -0.4435, -0.3565, 0.9985, -0.0212, 0.8249, 0.6056, -0.7364, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4354 left_y=-0.1605 left_z=0.0356 left_yaw=0.0236 left_pitch=0.077 left_roll=-0.0655 left_gripper=0.9985 right_x=0.2355 right_y=0.0021 right_z=0.1098 right_yaw=0.0019 right_pitch=-0.3715 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.5043, 3.0838, 0.4713, -0.1001, 0.2613, -0.0171, -0.1026, -1.2103, 6.653, 1.4139, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.155, "left_z": 0.015, "left_gripper": 0.0, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The block is between the jaws in the wrist view, slightly toward the right finger. Descending a touch lower with a small +y nudge and closing the gripper to grasp the block."})

tool

executing move_to over 10 steps (1.0s)

step 101

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5224, 1.9396, 0.7547, 0.6636, -0.4549, -0.3565, 0.0107, -0.0212, 0.8249, 0.6056, -0.7471, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4405 left_y=-0.1599 left_z=0.0401 left_yaw=0.0373 left_pitch=0.1087 left_roll=-0.0783 left_gripper=0.0107 right_x=0.2333 right_y=0.0022 right_z=0.1083 right_yaw=0.002 right_pitch=-0.3821 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [-0.0752, -9.3333, 5.2034, 1.1844, 0.0269, 0.0757, 0.9402, -0.1162, -1.0598, 6.7624, 1.3797, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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]

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 · 10.53 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, 0.7925, 0.6044, -0.3862, -0.0174, -0.0334, 0.9993, -0.0212, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4701, 10.2222, 1.9365, -0.1001, 0.1832, -0.0904, -0.335, -1.5795, 9.7573, 1.9121, -0.0513, 0.1245, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b90927c047829b77a74a570081d0305e8e3aff7ed31621cb55c449c5a20eff6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:928afa11f6a7d84f57f46a601c96d7435a8421f0940654307d1df7a3a0b94ca7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01e389129d63daf925017f41a6bf0af8c6e137ea110a5465d4486da75a3098b6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 9.898 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.1, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"I see a red block on the left side of the table and a bowl to its right in the top camera. Moving the left arm forward and slightly right at a safe height to locate itself over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Nyq6U4sXbcDV42WUXUpih9",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01Nyq6U4sXbcDV42WUXUpih9"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4625, 1.2434, 0.5579, -0.0364, -0.3538, -0.2756, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.0936 left_z=0.0977 left_yaw=-0.0299 left_pitch=-0.0948 left_roll=0.0335 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.7385, 9.265, 1.8486, -0.3199, -0.0317, -0.0904, -0.0479, -1.5385, 6.8718, 2.0391, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e3d242b0a77e64ef771809dc51a05a02ce99a9d3d394aa0e67361ad4e7e9c4bd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27b939111a7e62d3eb91e080079bf940708dbb6f052556888e662fee16e93c0c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3a75135773c438b0e143610a8f4cee9888cd2e4467c64b2da36d6bb1de51ff0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 10.53 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, 0.7925, 0.6044, -0.3862, -0.0174, -0.0334, 0.9993, -0.0212, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4701, 10.2222, 1.9365, -0.1001, 0.1832, -0.0904, -0.335, -1.5795, 9.7573, 1.9121, -0.0513, 0.1245, -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\": -0.09, \"left_z\": 0.05, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The left wrist camera shows the red block just ahead of the open gripper, roughly centered. Moving forward and down to position the fingers around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01M6N8K4WNY9LzXzNUFyPUL4",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01M6N8K4WNY9LzXzNUFyPUL4"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3637, 1.6386, 0.5457, 0.3637, -0.321, -0.2428, 0.9992, -0.0212, 0.8017, 0.6056, -0.4545, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0802 left_z=0.0272 left_yaw=0.0247 left_pitch=-0.1109 left_roll=0.042 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.1726, 7.5009, 2.0, -0.0269, 0.1538, -0.0171, -0.0752, -1.4291, 7.159, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7cd1dab5847ebc06dc11653184634b79306d596f8df5ea5a346711f18a67896"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe1060824a2bd81d7466e5427893845b65a031fc89879de441cb02cdeb86d4fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5217c3d976093218fd78fef65c3425eaced1d2fbc37b6e14e29b5c1df94da09f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 12.26 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]: [-0.4625, 1.2434, 0.5579, -0.0364, -0.3538, -0.2756, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.0936 left_z=0.0977 left_yaw=-0.0299 left_pitch=-0.0948 left_roll=0.0335 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0003 right_pitch=-0.04 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.7385, 9.265, 1.8486, -0.3199, -0.0317, -0.0904, -0.0479, -1.5385, 6.8718, 2.0391, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.11, \"left_z\": 0.03, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The wrist camera shows the block off to the right edge of view, so the gripper drifted left of it. Shifting the left arm in -y to line the fingers up with the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_015csq2wSABGdanX6Dz7kP15",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_015csq2wSABGdanX6Dz7kP15"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4194, 1.7508, 0.5468, 0.4976, -0.3386, -0.2607, 0.9992, -0.0208, 0.8032, 0.6056, -0.4625, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3828 left_y=-0.1025 left_z=0.0111 left_yaw=-0.0078 left_pitch=-0.0849 left_roll=0.0297 left_gripper=0.9992 right_x=0.2838 right_y=0.0012 right_z=0.1616 right_yaw=0.0004 right_pitch=-0.0759 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -6.9402, 7.2137, 2.1221, -0.3541, -0.0562, -0.0122, -0.0342, -1.347, 7.241, 1.7998, -0.0269, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47119c612906b455f54ad5837eb93792fc1409ad56b60d4b2d8bee6bec82b5cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:474265231705613bea99cd3253602c807a260dde37345d9acd9159789a80c95e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:12fd34fe33ecb7f1b3fecd0b852f6f9e917539289f132be4884ac77fd908c0f0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 9.617 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]: [-0.3637, 1.6386, 0.5457, 0.3637, -0.321, -0.2428, 0.9992, -0.0212, 0.8017, 0.6056, -0.4545, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3774 left_y=-0.0802 left_z=0.0272 left_yaw=0.0247 left_pitch=-0.1109 left_roll=0.042 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1635 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.1726, 7.5009, 2.0, -0.0269, 0.1538, -0.0171, -0.0752, -1.4291, 7.159, 1.9023, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.125, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The block is still slightly right of the gripper fingers in the wrist view. Nudging further in -y and forward, and lowering to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P6RxcvX1vxFGFjbfiLn2wF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01P6RxcvX1vxFGFjbfiLn2wF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.4812, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2809 right_y=0.0012 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.095 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.0085, 6.7214, 2.0391, -0.2466, -0.0073, -0.0122, -0.1162, -1.0325, 7.0222, 1.8779, -0.0513, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f0ec73a911f0f0c7c4c05893c440430349f723c51faa803824d10b0f6c9fb02d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7844f3618d9a5c5c4dcf30b203735a4409b3469d3e8a7f61905d6ef7e3213679"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6322b9d42b65c7c00011ef6d9558d726290fe84dd034ee2336f99f3ce72d9d62"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 12.98 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]: [-0.4194, 1.7508, 0.5468, 0.4976, -0.3386, -0.2607, 0.9992, -0.0208, 0.8032, 0.6056, -0.4625, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3828 left_y=-0.1025 left_z=0.0111 left_yaw=-0.0078 left_pitch=-0.0849 left_roll=0.0297 left_gripper=0.9992 right_x=0.2838 right_y=0.0012 right_z=0.1616 right_yaw=0.0004 right_pitch=-0.0759 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -6.9402, 7.2137, 2.1221, -0.3541, -0.0562, -0.0122, -0.0342, -1.347, 7.241, 1.7998, -0.0269, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.135, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The arm only reached y=-0.104 and the block still sits to the right of the fingers in the wrist view. Commanding again further in -y and down to grasp height so the block lands between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VFAByHpF1Ea6zhvLfvMAC3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01VFAByHpF1Ea6zhvLfvMAC3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.1542 right_yaw=0.0001 right_pitch=-0.114 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.8581, 6.6393, 2.0635, -0.2613, 0.0073, -0.0122, -0.0479, -0.8547, 6.9265, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee9139ea49ff98c0337587084c9218834bd44a39eacca290ad01f138180e9b4a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d7930c91150d40f4b399e139d179b1324f544b7e7b5a64507776ac6026203ac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42c6a0efc7807c67b144b907ba71d24cb781834b3d4f3d1399bfff8073189981"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 7.973 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]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.4812, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2809 right_y=0.0012 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.095 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.0085, 6.7214, 2.0391, -0.2466, -0.0073, -0.0122, -0.1162, -1.0325, 7.0222, 1.8779, -0.0513, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.13, \"left_z\": 0.04, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The left arm did not move at all on the last command\\u2014likely an awkward IK target near the table. Raising slightly and aiming forward-right toward the block to unstick the arm.\"}",
        "name": "move_to"
      },
      "id": "toolu_01U4BBRExc47MAjQvi7k499T",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01U4BBRExc47MAjQvi7k499T"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5102, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2763 right_y=0.0012 right_z=0.1524 right_yaw=0.0002 right_pitch=-0.124 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.9949, 6.6393, 2.0635, -0.2222, 0.0024, -0.0122, -0.0479, -1.1692, 6.9265, 1.8046, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f3e6bec82371f3196ee028882fd978aa1a44925eea36272a4dec2eebe9f5b43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a94bf8eca512227d1bb42e6d37426dbd988983aa2c078dc064ff9c0c9738ff7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c635565241fbfead3bc0dd73b728a8fbf5cd0ac1720a54d11be183b7fdde5ce"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 8.392 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]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.1542 right_yaw=0.0001 right_pitch=-0.114 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.8581, 6.6393, 2.0635, -0.2613, 0.0073, -0.0122, -0.0479, -0.8547, 6.9265, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.1, \"left_z\": 0.12, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The left arm hasn't moved for three commands\\u2014the IK seems stuck near this low pose. Retreating up and back toward a known-reachable pose to free the arm before re-approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V97xXrs771D8YFb3piQMBj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01V97xXrs771D8YFb3piQMBj"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4515, 1.3411, 0.5755, 0.1371, -0.3649, -0.2863, 0.9992, -0.0212, 0.8074, 0.6056, -0.5426, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.1008 left_z=0.1045 left_yaw=-0.0061 left_pitch=-0.0072 left_roll=-0.0087 left_gripper=0.9992 right_x=0.2711 right_y=0.0014 right_z=0.1454 right_yaw=0.0006 right_pitch=-0.1602 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -5.9282, 9.4564, 1.8974, -0.3199, 0.0269, -0.0122, -0.1573, -0.9231, 6.8991, 1.9267, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6dae45e1ccfb5c825f43ed24dfd8e84194f8a1acc795c942888857a276152fdd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b10fd0ca17c73c36c9379d44a6dfdaff0001ec1461aa098b014a8df9c3e96db"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e4938442e67e50831ac420f790c00846458fbf6170afeab0dc9311dd9f0f9ed"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 18.77 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]: [-0.4244, 1.7611, 0.5507, 0.5236, -0.35, -0.271, 0.9992, -0.0212, 0.8036, 0.6056, -0.5102, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3865 left_y=-0.1042 left_z=0.0136 left_yaw=0.0015 left_pitch=-0.064 left_roll=0.0202 left_gripper=0.9992 right_x=0.2763 right_y=0.0012 right_z=0.1524 right_yaw=0.0002 right_pitch=-0.124 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.9949, 6.6393, 2.0635, -0.2222, 0.0024, -0.0122, -0.0479, -1.1692, 6.9265, 1.8046, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.115, \"left_z\": 0.03, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The arm freed up and the wrist camera now shows the red block just ahead, slightly right of center between the fingers. Descending forward to straddle the block with the open gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CqnjjutoU3sjK4gWkvo44w",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01CqnjjutoU3sjK4gWkvo44w"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4305, 1.7672, 0.5915, 0.4271, -0.3603, -0.2852, 0.9992, -0.0212, 0.8104, 0.6056, -0.569, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.1045 left_z=0.0078 left_yaw=0.0138 left_pitch=-0.117 left_roll=0.0414 left_gripper=0.9992 right_x=0.2668 right_y=0.0014 right_z=0.1399 right_yaw=0.0004 right_pitch=-0.1896 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.8291, 6.9675, 2.0391, -0.1343, 0.1392, -0.0122, -0.0752, -1.4427, 6.8444, 1.7949, -0.0317, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b5d27b90b3315e1024cac54bc5f0021035bbc82969169e1cabdf0c99c2c8a9f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac00c9d86508b5b418078ab6c1d000c76b0f16c661653f9710a0b0e79bf5344c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:14472b4ee08c27d29bda0a02d1df858df1218bbcb3f403e82319bd2459f850ff"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 24.21 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]: [-0.4515, 1.3411, 0.5755, 0.1371, -0.3649, -0.2863, 0.9992, -0.0212, 0.8074, 0.6056, -0.5426, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.1008 left_z=0.1045 left_yaw=-0.0061 left_pitch=-0.0072 left_roll=-0.0087 left_gripper=0.9992 right_x=0.2711 right_y=0.0014 right_z=0.1454 right_yaw=0.0006 right_pitch=-0.1602 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -5.9282, 9.4564, 1.8974, -0.3199, 0.0269, -0.0122, -0.1573, -0.9231, 6.8991, 1.9267, -0.0317, -0.0171, -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\": 0.405, \"left_y\": -0.085, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The block now shows at the right edge of the wrist view, which for this camera means it sits at a more positive y than the gripper. Shifting the left arm toward +y and down to grasp height to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LEpQocABSdyvmdo4wqD1UB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01LEpQocABSdyvmdo4wqD1UB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3794, 1.8011, 0.5583, 0.5457, -0.3367, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.5941, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3923 left_y=-0.0897 left_z=0.0045 left_yaw=0.0294 left_pitch=-0.0771 left_roll=0.0264 left_gripper=0.9992 right_x=0.2624 right_y=0.0016 right_z=0.1355 right_yaw=0.0008 right_pitch=-0.2151 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.5436, 4.3829, 1.917, -0.0366, 0.105, -0.0073, -0.0479, -1.2103, 6.8308, 1.79, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28de71066192afaea44de43029636a1d8ec124a92609b05ce3a620c4e2a8a0f7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a2ba0f8f67df6e6ff565546539cf95d0e4768804ad1aac825e3952e2e9474f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8315d58f74aed3d2a69437beba7af3c456d3940c6547be38b9e9a6a97be7c85c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 18.94 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]: [-0.4305, 1.7672, 0.5915, 0.4271, -0.3603, -0.2852, 0.9992, -0.0212, 0.8104, 0.6056, -0.569, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.1045 left_z=0.0078 left_yaw=0.0138 left_pitch=-0.117 left_roll=0.0414 left_gripper=0.9992 right_x=0.2668 right_y=0.0014 right_z=0.1399 right_yaw=0.0004 right_pitch=-0.1896 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.8291, 6.9675, 2.0391, -0.1343, 0.1392, -0.0122, -0.0752, -1.4427, 6.8444, 1.7949, -0.0317, -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\": 0.4, \"left_y\": -0.115, \"left_z\": 0.0, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"Moving +y was wrong: the block nearly left the wrist view to the right, so image-right corresponds to -y for this wrist camera. Going back down and toward -y to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Ao8VvGL5RHuMbViYLEk6xw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Ao8VvGL5RHuMbViYLEk6xw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3798, 1.8011, 0.5579, 0.5457, -0.334, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=-0.0903 left_z=0.0043 left_yaw=0.0268 left_pitch=-0.0781 left_roll=0.0249 left_gripper=0.9992 right_x=0.259 right_y=0.0016 right_z=0.1323 right_yaw=0.0006 right_pitch=-0.2338 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5162, 4.6291, 1.9121, -0.0806, 0.0904, -0.0073, -0.1983, -1.1282, 6.8034, 1.6777, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a6b077b96e83e474fa0c83d8ce5552b1225a84d77f4bcfc9088e128b52460f8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0ff14b9a097e7f2c7dc0d3dd6ac1ab98e3690735459387034bfb379c96500821"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac1119268b70ddc8cc7716054a1cce5204f0ed2f21328a38988a0269a6beee7e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 29.5 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]: [-0.3794, 1.8011, 0.5583, 0.5457, -0.3367, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.5941, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3923 left_y=-0.0897 left_z=0.0045 left_yaw=0.0294 left_pitch=-0.0771 left_roll=0.0264 left_gripper=0.9992 right_x=0.2624 right_y=0.0016 right_z=0.1355 right_yaw=0.0008 right_pitch=-0.2151 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.5436, 4.3829, 1.917, -0.0366, 0.105, -0.0073, -0.0479, -1.2103, 6.8308, 1.79, -0.0366, -0.0659, -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\": 0.425, \"left_y\": -0.12, \"left_z\": 0.06, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The arm stalls when commanded low near the table; top camera shows the block just beyond and slightly left of the gripper. Rising to hover directly over the block at x\\u22480.425, y\\u2248-0.12 before descending vertically.\"}",
        "name": "move_to"
      },
      "id": "toolu_017YHUiw7y1tRsJpMn1WDS9m",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_017YHUiw7y1tRsJpMn1WDS9m"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3801, 1.8011, 0.5568, 0.5461, -0.334, -0.2554, 0.9992, -0.0212, 0.8127, 0.6056, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3917 left_y=-0.0903 left_z=0.004 left_yaw=0.0246 left_pitch=-0.0789 left_roll=0.028 left_gripper=0.9992 right_x=0.2556 right_y=0.0016 right_z=0.1286 right_yaw=0.0007 right_pitch=-0.2548 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.5299, 4.4513, 1.9512, -0.0904, 0.0855, -0.0122, -0.0479, -1.2786, 7.0359, 1.6777, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b46dcdaccaba90123e6b469e4501cda925d259bf88ce5931860d43f8058d3032"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ed6e4c881aecb981def16606257c6085ce8ccafa96bf84de47c73681303e533"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f382c4df9f1ff0efff314130b51b6b37a19d0d502da94476a04f90290577f12d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 14.71 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]: [-0.3798, 1.8011, 0.5579, 0.5457, -0.334, -0.2588, 0.9992, -0.0212, 0.8108, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=-0.0903 left_z=0.0043 left_yaw=0.0268 left_pitch=-0.0781 left_roll=0.0249 left_gripper=0.9992 right_x=0.259 right_y=0.0016 right_z=0.1323 right_yaw=0.0006 right_pitch=-0.2338 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.5162, 4.6291, 1.9121, -0.0806, 0.0904, -0.0073, -0.1983, -1.1282, 6.8034, 1.6777, -0.0317, -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\": 0.39, \"left_y\": -0.12, \"left_z\": 0.15, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The left arm again didn't move; it appears stuck near the table, possibly with a finger contacting the surface. Lifting straight up to z=0.15 to free it before a clean vertical descent onto the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XUoNacikJdhMGAFNd9eWx8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XUoNacikJdhMGAFNd9eWx8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4686, 1.4342, 0.7727, -0.0025, -0.3832, -0.2993, 0.9992, -0.0212, 0.8158, 0.6056, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.1179 left_z=0.1264 left_yaw=-0.001 left_pitch=-0.0342 left_roll=0.0061 left_gripper=0.9992 right_x=0.2509 right_y=0.0018 right_z=0.1238 right_yaw=0.0012 right_pitch=-0.283 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.3778, 9.0188, 1.7753, -0.2466, 0.0513, -0.0122, -0.0752, -1.347, 6.9402, 1.6923, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f988143d2840fe359dc5087be434be80e8b1eed948d215c7eee221c1612bdeb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f15c5c3c97063ef0815b64898777106e4bd5f0792642b97098d021d68177e2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af41b3c3abc33ca0f0fa1089998ecb3d3f82d5825b0cc5fc6ce45c3173409f35"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 9.698 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]: [-0.3801, 1.8011, 0.5568, 0.5461, -0.334, -0.2554, 0.9992, -0.0212, 0.8127, 0.6056, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3917 left_y=-0.0903 left_z=0.004 left_yaw=0.0246 left_pitch=-0.0789 left_roll=0.028 left_gripper=0.9992 right_x=0.2556 right_y=0.0016 right_z=0.1286 right_yaw=0.0007 right_pitch=-0.2548 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.5299, 4.4513, 1.9512, -0.0904, 0.0855, -0.0122, -0.0479, -1.2786, 7.0359, 1.6777, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.125, \"left_z\": 0.05, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The wrist camera now shows the red block sitting between the two fingers, slightly right of center. Descending vertically to z=0.05 with a small -y correction, then I will check alignment before the final grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QEiBqFAUUwqYGzCL3Aweff",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01QEiBqFAUUwqYGzCL3Aweff"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4873, 1.6547, 0.6029, 0.2977, -0.3931, -0.3016, 0.9992, -0.0212, 0.8181, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3743 left_y=-0.1177 left_z=0.0326 left_yaw=-0.0075 left_pitch=-0.1113 left_roll=0.0512 left_gripper=0.9992 right_x=0.2473 right_y=0.0019 right_z=0.1203 right_yaw=0.0014 right_pitch=-0.3043 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.0222, 5.2855, 2.0342, -0.3101, -0.0757, -0.0122, -0.1026, -1.2376, 6.7214, 1.5556, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3ae88f3c9f97d4503a051a93fbceb7adf466b400c9dde7eafe07442c4a8adba8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:99d00e4b679e8e1dd03cf5e4bfb583ed406fda1c42886fd807d0ae124efb690f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b74e5d359282efc28ad5a785605e73b29c13975ebb136ab5eaa0c219862bb38e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 7.736 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]: [-0.4686, 1.4342, 0.7727, -0.0025, -0.3832, -0.2993, 0.9992, -0.0212, 0.8158, 0.6056, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.1179 left_z=0.1264 left_yaw=-0.001 left_pitch=-0.0342 left_roll=0.0061 left_gripper=0.9992 right_x=0.2509 right_y=0.0018 right_z=0.1238 right_yaw=0.0012 right_pitch=-0.283 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.3778, 9.0188, 1.7753, -0.2466, 0.0513, -0.0122, -0.0752, -1.347, 6.9402, 1.6923, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.133, \"left_z\": 0.008, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The wrist view shows the block ahead and to the image-right of the gripper, which corresponds to more +x and -y. Moving forward and right while descending to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LEafkNHiENVt2pipfoZND6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01LEafkNHiENVt2pipfoZND6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4957, 1.8591, 0.5957, 0.5606, -0.4091, -0.3164, 0.9988, -0.0212, 0.8219, 0.6056, -0.6804, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3902 left_y=-0.127 left_z=-0.0002 left_yaw=0.0029 left_pitch=-0.0609 left_roll=0.0247 left_gripper=0.9988 right_x=0.2465 right_y=0.0019 right_z=0.1188 right_yaw=0.0014 right_pitch=-0.3123 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.8444, 5.1897, 1.409, -0.2173, 0.0464, -0.0562, -0.0752, -1.4427, 6.7624, 1.409, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d6be4097751ad6809ca77ea8721a23bd4f94ef6329e71f64de8cb8d7961020be"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11030cac4e3ffa7d90af68c3b95841cee0b091f08881eef4778d70efc22dcb08"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8635ebc664b611e869be89e11bb896da45dc9dba882bb6d2037e6f2b6940e17c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 11.5 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]: [-0.4873, 1.6547, 0.6029, 0.2977, -0.3931, -0.3016, 0.9992, -0.0212, 0.8181, 0.6056, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3743 left_y=-0.1177 left_z=0.0326 left_yaw=-0.0075 left_pitch=-0.1113 left_roll=0.0512 left_gripper=0.9992 right_x=0.2473 right_y=0.0019 right_z=0.1203 right_yaw=0.0014 right_pitch=-0.3043 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.0222, 5.2855, 2.0342, -0.3101, -0.0757, -0.0122, -0.1026, -1.2376, 6.7214, 1.5556, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.135, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The gripper is at table height and the block sits just ahead and slightly image-right in the wrist view. Sliding forward and slightly -y so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_013byWVAKKuHxjAdJ7mLCUaZ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_013byWVAKKuHxjAdJ7mLCUaZ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6136, -0.4099, -0.3195, 0.9986, -0.0212, 0.8223, 0.6056, -0.6838, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3947 left_y=-0.1301 left_z=0.0015 left_yaw=0.0029 left_pitch=-0.0322 left_roll=0.0071 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1182 right_yaw=0.0011 right_pitch=-0.3162 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.5145, 4.6427, 1.9316, -0.2564, 0.0366, -0.0366, -0.0479, -1.0462, 6.735, 1.4481, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:10c3432811fc9afce3d8b8c9672ab660f50c7dbf4fb2796ddf823c4b64a4689e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e486525479e7b7815c67be352c5a9d7c6721369f64da5ffea0fdd72fd1e4c60"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:74018b8bb66131761cb7b5bf0e9b978ac07edede0e2a53aa82464fce0aa977ac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 9.302 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]: [-0.4957, 1.8591, 0.5957, 0.5606, -0.4091, -0.3164, 0.9988, -0.0212, 0.8219, 0.6056, -0.6804, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3902 left_y=-0.127 left_z=-0.0002 left_yaw=0.0029 left_pitch=-0.0609 left_roll=0.0247 left_gripper=0.9988 right_x=0.2465 right_y=0.0019 right_z=0.1188 right_yaw=0.0014 right_pitch=-0.3123 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.8444, 5.1897, 1.409, -0.2173, 0.0464, -0.0562, -0.0752, -1.4427, 6.7624, 1.409, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.148, \"left_z\": 0.005, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The block is still ahead and to the image-right of the fingers, which maps to +x and -y in the arm frame. Continuing forward and right at grasp height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XoffB8MC2CHX8N7XnkMt43",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01XoffB8MC2CHX8N7XnkMt43"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2425 right_y=0.002 right_z=0.1154 right_yaw=0.0016 right_pitch=-0.3345 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.4872, 4.6701, 1.9072, -0.2808, 0.0269, -0.0171, -0.1436, -1.1556, 6.694, 1.5116, -0.0464, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fbaf71475f5a9c667eab1d2cfd12093d46751697f28d88ba5026bb0566b63c5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:10d35cc4ead9facb755d5952bc4f12d7b28c91c83069956520dee913e6e1418a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9b9bced05bb1c5872d364679696ede12d2894eaed1ad6e766806570053f8c08"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 25.88 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]: [-0.4973, 1.8793, 0.5953, 0.6136, -0.4099, -0.3195, 0.9986, -0.0212, 0.8223, 0.6056, -0.6838, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3947 left_y=-0.1301 left_z=0.0015 left_yaw=0.0029 left_pitch=-0.0322 left_roll=0.0071 left_gripper=0.9986 right_x=0.2459 right_y=0.0019 right_z=0.1182 right_yaw=0.0011 right_pitch=-0.3162 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.5145, 4.6427, 1.9316, -0.2564, 0.0366, -0.0366, -0.0479, -1.0462, 6.735, 1.4481, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.145, \"left_z\": 0.04, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The arm stalled again at table height; the IK cannot track very low targets in this region. Raising the target slightly to z=0.04 while continuing forward-right so the arm can keep moving toward the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CSV4wqSRwKsHTPM6BDimXa",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CSV4wqSRwKsHTPM6BDimXa"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7067, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2414 right_y=0.002 right_z=0.1146 right_yaw=0.0016 right_pitch=-0.3398 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.5282, 4.6427, 1.9512, -0.2125, 0.0464, -0.0122, -0.1709, -0.9915, 6.6803, 1.4432, -0.0855, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bff46c32ddcf2249b7a36aaa0e64aeb57cebaa6be397f5e0a9dd5669fa3603a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21bd7ad7fdeb4ba57e2961446828197b469284f11ade0626d6650afebd99e0d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64eeee7bc501652dd603761cc9a76f221cf27b4ecb8750f40ef29d08290cd6f6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 8.575 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]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2425 right_y=0.002 right_z=0.1154 right_yaw=0.0016 right_pitch=-0.3345 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.4872, 4.6701, 1.9072, -0.2808, 0.0269, -0.0171, -0.1436, -1.1556, 6.694, 1.5116, -0.0464, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.155, \"left_z\": 0.09, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The arm stalls whenever I command small moves at table height, but large lifts do track. Lifting to z=0.09 while shifting to hover directly over the block at x=0.42, y=-0.155, then I will descend in one motion.\"}",
        "name": "move_to"
      },
      "id": "toolu_01USjAmyiGVatxobF12biRCP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01USjAmyiGVatxobF12biRCP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5262, 1.7142, 0.7986, 0.2905, -0.4316, -0.3389, 0.9985, -0.0212, 0.823, 0.6056, -0.7242, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.1548 left_z=0.0809 left_yaw=0.0017 left_pitch=0.0138 left_roll=-0.02 left_gripper=0.9985 right_x=0.2379 right_y=0.0021 right_z=0.112 right_yaw=0.0018 right_pitch=-0.3574 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -9.4154, 7.3504, 1.5263, -0.2027, 0.0562, -0.0122, -0.335, -1.1009, 7.0496, 1.5751, -0.0659, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe73e3d7bc09b90c88db969b266da3cf226689b3c6560dbe130ec9f040f258fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a097cfbb9d62c00cfeeb0714821f994bfa13428fa893ccebc120b881ecb338d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d94cd39eeb0f6c9c09502b2a84a8585490a86e2b72308d2a4a6cd94dd667ab1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 8.754 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]: [-0.4973, 1.8793, 0.5953, 0.6144, -0.4099, -0.3195, 0.9985, -0.0212, 0.823, 0.6056, -0.7067, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3948 left_y=-0.1301 left_z=0.0016 left_yaw=0.0029 left_pitch=-0.0315 left_roll=0.0068 left_gripper=0.9985 right_x=0.2414 right_y=0.002 right_z=0.1146 right_yaw=0.0016 right_pitch=-0.3398 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -7.5282, 4.6427, 1.9512, -0.2125, 0.0464, -0.0122, -0.1709, -0.9915, 6.6803, 1.4432, -0.0855, -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\": 0.423, \"left_y\": -0.155, \"left_z\": 0.002, \"left_pitch\": 0, \"left_roll\": 0, \"left_yaw\": 0}, \"note\": \"The wrist camera now shows the red block centered between the two fingertips. Descending straight down to table height so the jaws straddle the block, then I will close the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_019NsUDLq4LaeQ6xe9o9UasW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019NsUDLq4LaeQ6xe9o9UasW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5251, 1.9274, 0.7521, 0.6205, -0.4435, -0.3565, 0.9985, -0.0212, 0.8249, 0.6056, -0.7364, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4354 left_y=-0.1605 left_z=0.0356 left_yaw=0.0236 left_pitch=0.077 left_roll=-0.0655 left_gripper=0.9985 right_x=0.2355 right_y=0.0021 right_z=0.1098 right_yaw=0.0019 right_pitch=-0.3715 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.5043, 3.0838, 0.4713, -0.1001, 0.2613, -0.0171, -0.1026, -1.2103, 6.653, 1.4139, -0.0073, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbf42f842331e1b5e407cb4753bfe45c713bab37e296c6df809f769fb7253b5e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29f86cb6feea4eb87536e6c8bf67505988bc65c7a5c8f44e90f66b5daed35944"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f2ded3f9d7a27dd71c14d17e3bc4332e24396ee82b17cc56d4a1c13b5190e78"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}