adhoc

completed
2026-09-03T04:28:43.145470+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
401.4 s
total steps
160
operator
1
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=1

Trial scores

trial 0 operator=1

Termination reasons

done

Operator judgements

y

Grader notes

trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start by moving the left arm toward the red block, which appears to the right (negative y) of the left arm's camera view.
agent noteThe red block appears near and to the right in the left wrist camera; the bowl appears near and to the left in the right wrist camera. Moving the left arm forward, right, and down toward the block to refine its position.
move_to
left_x0.3300left_y-0.1000left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3862, -0.0219, -0.0334, 0.9993, -0.0204, 0.7937, 0.6052, -0.3958, -0.0196, -0.0261, 0.9996] state[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.4427, 10.2906, 1.9414, -0.0415, 0.1636, -0.0855, -0.3897, -1.5795, 9.8803, 1.9365, -0.0562, 0.1294, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start by moving the left arm toward the red block, which appears to the right (negative y) of the left arm's camera view.
move_to({"targets": {"left_x": 0.33, "left_y": -0.1, "left_z": 0.1, "left_gripper": 1.0}, "note": "The red block appears near and to the right in the left wrist camera; the bowl appears near and to the left in the right wrist camera. Moving the left arm forward, right, and down toward the block to refine its position."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe block is now visible in the left wrist camera, ahead and to the right of the gripper; top camera shows it about 15 cm forward. Moving the left gripper forward and right to get above the block.
move_to
left_x0.4300left_y-0.1600left_z0.0700left_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]: [-0.5114, 1.2133, 0.4782, 0.0177, -0.3943, -0.3046, 0.9993, -0.0212, 0.7986, 0.6056, -0.4297, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3187 left_y=-0.0969 left_z=0.0864 left_yaw=-0.0345 left_pitch=-0.0782 left_roll=0.0297 left_gripper=0.9993 right_x=0.2884 right_y=0.001 right_z=0.1693 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.0479, -4.7111, 6.5709, 1.8779, -0.4078, -0.0659, -0.0904, -0.0752, -1.6342, 6.9675, 2.0049, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.16, "left_z": 0.07, "left_gripper": 1.0}, "note": "The block is now visible in the left wrist camera, ahead and to the right of the gripper; top camera shows it about 15 cm forward. Moving the left gripper forward and right to get above the block."})
tool
executing move_to over 9 steps (0.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe block is now at the bottom-right of the left wrist view, close to the right fingertip, so it is slightly behind and right of the grasp point. Shifting back and right a little and lowering to grasp height.
move_to
left_x0.4000left_y-0.1850left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5156, 1.7515, 0.8604, 0.1169, -0.4046, -0.3229, 0.9993, -0.0212, 0.8024, 0.6056, -0.4549, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.414 left_y=-0.1506 left_z=0.0565 left_yaw=-0.0178 left_pitch=-0.1247 left_roll=0.0483 left_gripper=0.9993 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=-0.0002 right_pitch=-0.0675 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.1299, -8.1983, 7.8427, 1.7802, -0.0855, 0.1441, -0.0855, -0.1709, -1.5385, 6.9675, 1.8828, -0.0464, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.185, "left_z": 0.03, "left_gripper": 1.0}, "note": "The block is now at the bottom-right of the left wrist view, close to the right fingertip, so it is slightly behind and right of the grasp point. Shifting back and right a little and lowering to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
The block is now centered between the fingers in the left wrist camera. Lowering to grasp height.
agent noteThe block sits centered between the gripper fingers in the left wrist camera. Lowering the gripper to table level so the fingers straddle the block.
move_to
left_x0.3950left_y-0.1900left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6212, 1.8336, 0.8635, 0.1452, -0.4507, -0.3859, 0.9993, -0.0212, 0.8024, 0.6056, -0.4683, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3982 left_y=-0.186 left_z=0.0306 left_yaw=-0.0493 left_pitch=-0.1493 left_roll=0.055 left_gripper=0.9993 right_x=0.2828 right_y=0.0011 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0808 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [0.2256, -8.1299, 5.1214, 1.7509, -0.4567, -0.1441, -0.0855, -0.1026, -1.0872, 6.9538, 1.8779, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
The block is now centered between the fingers in the left wrist camera. Lowering to grasp height.
move_to({"targets": {"left_x": 0.395, "left_y": -0.19, "left_z": 0.0, "left_gripper": 1.0}, "note": "The block sits centered between the gripper fingers in the left wrist camera. Lowering the gripper to table level so the fingers straddle the block."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe block is between the fingertips at the bottom of the left wrist view and the gripper is at table level (z stopped ~0.018, likely fingertip contact). Closing the gripper to grasp the block.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6346, 1.8812, 0.8513, 0.2142, -0.4679, -0.4057, 0.9993, -0.0212, 0.8024, 0.6056, -0.4824, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3992 left_y=-0.1905 left_z=0.0185 left_yaw=-0.0393 left_pitch=-0.1341 left_roll=0.0454 left_gripper=0.9993 right_x=0.2807 right_y=0.0012 right_z=0.1579 right_yaw=-0.0001 right_pitch=-0.095 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.5402, -7.241, 3.8906, 1.2821, -0.1392, 0.0513, -0.0855, -0.0752, -1.1966, 6.9538, 1.8046, -0.0757, -0.0073, -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_gripper": 0.0}, "note": "The block is between the fingertips at the bottom of the left wrist view and the gripper is at table level (z stopped ~0.018, likely fingertip contact). Closing the gripper to grasp the block."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteGripper closed to nearly 0, which suggests the block may have slipped out (it appears tilted in the wrist view). Lifting to check whether the block is in the gripper.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6346, 1.9087, 0.8322, 0.2035, -0.466, -0.4061, 0.0077, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3899 left_y=-0.184 left_z=-0.0006 left_yaw=-0.0354 left_pitch=-0.1822 left_roll=0.0765 left_gripper=0.0077 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=-0.0001 right_pitch=-0.1148 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.0615, -10.8923, 6.5162, 1.4823, -0.2076, -0.0317, 0.5641, -0.1709, -1.3607, 7.0359, 1.7607, -0.0317, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z": 0.08}, "note": "Gripper closed to nearly 0, which suggests the block may have slipped out (it appears tilted in the wrist view). Lifting to check whether the block is in the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe grasp missed: the block is still on the table, sitting just ahead of the fingertips in the wrist view. Opening the gripper and moving about 4 cm forward to center over the block.
move_to
left_x0.4250left_y-0.1850left_z0.0350left_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]: [-0.6346, 1.742, 0.9257, -0.0914, -0.4656, -0.4141, 0.0097, -0.0212, 0.8043, 0.6056, -0.5228, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3848 left_y=-0.1804 left_z=0.0552 left_yaw=-0.0273 left_pitch=-0.2106 left_roll=0.0905 left_gripper=0.0097 right_x=0.2743 right_y=0.0013 right_z=0.1498 right_yaw=-0.0004 right_pitch=-0.1373 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.0479, -10.441, 8.759, 1.58, -0.2808, 0.0611, 0.1978, -0.0205, -1.2103, 6.9265, 1.7998, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_y": -0.185, "left_z": 0.035, "left_gripper": 1.0}, "note": "The grasp missed: the block is still on the table, sitting just ahead of the fingertips in the wrist view. Opening the gripper and moving about 4 cm forward to center over the block."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe block now appears centered between the open fingers in the left wrist camera, just slightly ahead. Lowering to table level, moving slightly forward and levelling the pitch so the fingers straddle the block.
move_to
left_x0.4300left_y-0.1780left_z0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5823, 1.8969, 1.0092, -0.0597, -0.4381, -0.3832, 0.995, -0.0212, 0.8078, 0.6056, -0.561, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4107 left_y=-0.1764 left_z=0.0233 left_yaw=-0.0078 left_pitch=-0.2577 left_roll=0.1164 left_gripper=0.995 right_x=0.2681 right_y=0.0014 right_z=0.142 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [0.4308, -8.6359, 8.212, 1.6923, -0.1148, 0.1001, 0.0269, -0.0615, -1.4701, 6.9949, 1.9023, -0.0317, -0.0073, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.43, "left_y": -0.178, "left_z": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The block now appears centered between the open fingers in the left wrist camera, just slightly ahead. Lowering to table level, moving slightly forward and levelling the pitch so the fingers straddle the block."})
tool
executing move_to over 9 steps (0.9s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe block is now sitting between the two fingertips at the bottom of the left wrist view and the gripper is at table level. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5972, 2.0182, 0.8608, 0.445, -0.5346, -0.318, 0.9984, -0.0212, 0.8082, 0.6056, -0.5907, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4295 left_y=-0.1789 left_z=0.0047 left_yaw=-0.0029 left_pitch=-0.0265 left_roll=0.0955 left_gripper=0.9984 right_x=0.2629 right_y=0.0015 right_z=0.1367 right_yaw=-0.0001 right_pitch=-0.209 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.4444, -7.7607, 3.7402, 1.2723, -0.2808, 0.2418, -0.1734, -0.1299, -1.1419, 6.8581, 1.8193, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The block is now sitting between the two fingertips at the bottom of the left wrist view and the gripper is at table level. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
The gripper stopped at 0.45 with rising effort — the block is grasped. Lifting it now.
agent noteGripper closed to 0.45 with gripper effort rising to ~1.0, indicating the block is held between the fingers. Lifting the block well above the table before moving toward the bowl.
move_to
left_z0.1500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5968, 2.0308, 0.8524, 0.4755, -0.5434, -0.3264, 0.4459, -0.0212, 0.8082, 0.6056, -0.6163, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4299 left_y=-0.1774 left_z=0.0022 left_yaw=0.0086 left_pitch=-0.0149 left_roll=0.0879 left_gripper=0.4459 right_x=0.2583 right_y=0.0016 right_z=0.1323 right_yaw=0.0 right_pitch=-0.2346 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [-0.0342, -10.5368, 5.3675, 1.2381, -0.1392, 0.0415, 1.0379, -0.0889, -1.1009, 6.8308, 1.7656, -0.0415, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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
The gripper stopped at 0.45 with rising effort — the block is grasped. Lifting it now.
move_to({"targets": {"left_z": 0.15, "left_gripper": 0.0}, "note": "Gripper closed to 0.45 with gripper effort rising to ~1.0, indicating the block is held between the fingers. Lifting the block well above the table before moving toward the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe block is lifted and held in the left gripper. In the top camera the bowl is about 20 cm to the right (-y) and slightly forward of the gripper, so I'm moving the left arm over toward the bowl at a safe height.
move_to
left_x0.5000left_y-0.3500left_z0.1500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5968, 1.7172, 1.0588, -0.0875, -0.5434, -0.3378, 0.4458, -0.0212, 0.8101, 0.6056, -0.6353, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4269 left_y=-0.1753 left_z=0.1207 left_yaw=0.0156 left_pitch=-0.0496 left_roll=0.1032 left_gripper=0.4458 right_x=0.2549 right_y=0.0017 right_z=0.1287 right_yaw=0.0001 right_pitch=-0.2555 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [-0.1026, -10.7419, 9.0462, 1.6581, -0.2808, 0.0855, 1.033, -0.1846, -1.1145, 6.7897, 1.6288, -0.0317, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.35, "left_z": 0.15, "left_gripper": 0.0}, "note": "The block is lifted and held in the left gripper. In the top camera the bowl is about 20 cm to the right (-y) and slightly forward of the gripper, so I'm moving the left arm over toward the bowl at a safe height."})
tool
executing move_to over 16 steps (1.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe block is still held; in the top camera the gripper appears near the bowl but parallax from height makes the offset hard to judge, and the wrist camera doesn't yet show the bowl. Lowering to 9 cm so the wrist camera can reveal the bowl rim relative to the block.
move_to
left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7933, 2.3539, 2.1105, -0.6117, -0.667, -0.5201, 0.4458, -0.0212, 0.8116, 0.6056, -0.6582, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4982 left_y=-0.3453 left_z=0.1408 left_yaw=0.0121 left_pitch=-0.0638 left_roll=0.0942 left_gripper=0.4458 right_x=0.2507 right_y=0.0018 right_z=0.1246 right_yaw=0.0003 right_pitch=-0.2799 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.6359, -13.8051, 8.7453, 1.0232, -0.4811, 0.0464, 1.0281, -0.1983, -1.1966, 6.7624, 1.6435, -0.0464, -0.0513, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09, "left_gripper": 0.0}, "note": "The block is still held; in the top camera the gripper appears near the bowl but parallax from height makes the offset hard to judge, and the wrist camera doesn't yet show the bowl. Lowering to 9 cm so the wrist camera can reveal the bowl rim relative to the block."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe wrist camera shows only table, and in the top camera the bowl sits behind the gripper (back toward the arm base) and slightly to the right. Pulling the gripper back about 8 cm and 3 cm right to get over the bowl.
move_to
left_x0.4100left_y-0.3700left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7971, 2.3714, 1.9602, -0.4969, -0.6628, -0.5255, 0.4457, -0.0212, 0.8127, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4904 left_y=-0.3413 left_z=0.088 left_yaw=0.0115 left_pitch=-0.1024 left_roll=0.1262 left_gripper=0.4457 right_x=0.2473 right_y=0.0018 right_z=0.1215 right_yaw=0.0004 right_pitch=-0.299 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.2803, -13.3675, 6.4615, 1.5849, -0.3248, 0.0073, 1.033, -0.0752, -1.0735, 6.9128, 1.5849, -0.0513, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.37, "left_z": 0.1, "left_gripper": 0.0}, "note": "The wrist camera shows only table, and in the top camera the bowl sits behind the gripper (back toward the arm base) and slightly to the right. Pulling the gripper back about 8 cm and 3 cm right to get over the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe bowl rim now appears at the bottom-right of the left wrist view, meaning the bowl is behind and to the right of the held block. Moving back 5 cm and right 3 cm (to the y bound) while keeping height to get above the bowl.
move_to
left_x0.3600left_y-0.4000left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9501, 2.3177, 1.8381, -0.58, -0.7204, -0.6674, 0.4457, -0.0212, 0.8127, 0.6056, -0.6807, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.4139 left_y=-0.3723 left_z=0.0692 left_yaw=-0.0137 left_pitch=-0.1512 left_roll=0.1648 left_gripper=0.4457 right_x=0.2464 right_y=0.0018 right_z=0.1208 right_yaw=0.0001 right_pitch=-0.3036 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.6632, -17.306, 5.8051, 1.1648, -0.6374, -0.1538, 1.033, -0.212, -0.9368, 6.735, 1.453, -0.022, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.4, "left_z": 0.1, "left_gripper": 0.0}, "note": "The bowl rim now appears at the bottom-right of the left wrist view, meaning the bowl is behind and to the right of the held block. Moving back 5 cm and right 3 cm (to the y bound) while keeping height to get above the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe left arm is at its right-most y bound (-0.4) and the bowl rim is still a few cm further right of the held block, out of the left arm's reach. In the right wrist camera the bowl is ahead-left of the right arm, so I'll bring the right gripper (closed) down beside the bowl's right side to push it toward the left arm.
move_to
right_x0.3800right_y-0.0300right_z0.0500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-1.0637, 2.3009, 1.8992, -0.7563, -0.7464, -0.7853, 0.4457, -0.0212, 0.8162, 0.6056, -0.6949, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.363 left_y=-0.3991 left_z=0.0853 left_yaw=-0.0362 left_pitch=-0.1751 left_roll=0.1723 left_gripper=0.4457 right_x=0.2437 right_y=0.0019 right_z=0.1179 right_yaw=0.0006 right_pitch=-0.3211 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.2256, -13.3812, 8.9231, 1.0085, -0.7155, -0.0562, 1.0232, -0.0752, -1.3744, 6.7214, 1.5653, -0.0464, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": -0.03, "right_z": 0.05, "right_gripper": 0.0}, "note": "The left arm is at its right-most y bound (-0.4) and the bowl rim is still a few cm further right of the held block, out of the left arm's reach. In the right wrist camera the bowl is ahead-left of the right arm, so I'll bring the right gripper (closed) down beside the bowl's right side to push it toward the left arm."})
tool
executing move_to over 11 steps (1.1s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe right gripper is closed and at table level with the bowl to its left (+y), just out of the right camera's view. Sweeping the right gripper leftward along the table to nudge the bowl a few cm toward the left arm's held block.
move_to
right_x0.3800right_y0.1500right_z0.0300right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-1.0786, 2.3009, 1.916, -0.8097, -0.7536, -0.8173, 0.4458, -0.1249, 1.5307, 0.7242, -0.202, -0.0803, -0.1093, 0.0077] state[eef_state]: left_x=0.3548 left_y=-0.3983 left_z=0.0875 left_yaw=-0.0246 left_pitch=-0.1846 left_roll=0.1841 left_gripper=0.4458 right_x=0.353 right_y=-0.0264 right_z=0.0324 right_yaw=0.003 right_pitch=-0.4194 right_roll=0.0165 right_gripper=0.0077 state[joint_eff]: [-0.0889, -13.559, 8.0342, 0.8864, -0.6569, -0.0952, 1.0232, -0.4308, -6.4889, 8.0889, 1.4823, -0.1148, -0.0415, 0.5788] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.15, "right_z": 0.03, "right_gripper": 0.0}, "note": "The right gripper is closed and at table level with the bowl to its left (+y), just out of the right camera's view. Sweeping the right gripper leftward along the table to nudge the bowl a few cm toward the left arm's held block."})
tool
executing move_to over 15 steps (1.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe right arm's sweep collided with the left arm (large base-joint efforts) and pushed it, rather than moving the bowl. Retracting the right arm up and away while moving the left arm back to its right-most bound above the bowl's near edge and lowering it.
move_to
right_x0.3000right_y0.0000right_z0.1500left_x0.3600left_y-0.4000left_z0.0500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9859, 2.294, 1.9041, -0.9024, -0.7383, -0.8173, 0.4464, 0.3157, 1.7348, 0.9222, -0.2806, 0.1978, 0.3504, 0.0066] state[eef_state]: left_x=0.3777 left_y=-0.3486 left_z=0.0795 left_yaw=0.0803 left_pitch=-0.245 left_roll=0.264 left_gripper=0.4464 right_x=0.3775 right_y=0.0905 right_z=0.0199 right_yaw=-0.0994 right_pitch=-0.4726 right_roll=-0.0012 right_gripper=0.0066 state[joint_eff]: [-7.7744, -12.3145, 7.0632, 1.8486, -0.6032, -0.0317, 1.033, 11.9453, -5.8462, 9.3197, 1.2869, 0.3101, 0.1636, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.15, "left_x": 0.36, "left_y": -0.4, "left_z": 0.05, "left_gripper": 0.0}, "note": "The right arm's sweep collided with the left arm (large base-joint efforts) and pushed it, rather than moving the bowl. Retracting the right arm up and away while moving the left arm back to its right-most bound above the bowl's near edge and lowering it."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
The bowl now fills the left wrist view directly beneath the block — the gripper is over the bowl. Releasing the block.
agent noteThe left wrist camera now shows the bowl interior directly under the held block, so the block is above the bowl at ~5 cm height. Opening the gripper to drop the block into the bowl.
move_to
left_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]: [-1.0622, 2.4847, 2.1429, -1.0176, -0.7383, -0.9295, 0.4459, 0.038, 1.2442, 0.9443, -0.7929, 0.0845, 0.1299, 0.0066] state[eef_state]: left_x=0.3612 left_y=-0.3963 left_z=0.0515 left_yaw=0.0802 left_pitch=-0.2592 left_roll=0.247 left_gripper=0.4459 right_x=0.3005 right_y=0.0001 right_z=0.1286 right_yaw=-0.1361 right_pitch=-0.5018 right_roll=-0.0115 right_gripper=0.0066 state[joint_eff]: [-0.8137, -12.4786, 7.7333, 0.5104, -0.5934, 0.0464, 1.0281, -0.1573, -5.2308, 9.9624, 1.453, -0.1685, -0.0366, 0.6716] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
The bowl now fills the left wrist view directly beneath the block — the gripper is over the bowl. Releasing the block.
move_to({"targets": {"left_gripper": 1.0}, "note": "The left wrist camera now shows the bowl interior directly under the held block, so the block is above the bowl at ~5 cm height. Opening the gripper to drop the block into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe gripper is partly open (0.6) and the block is tilting out of the fingers above the bowl interior. Opening fully and lifting so the block falls cleanly into the bowl.
move_to
left_gripper1.0000left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-1.0664, 2.4996, 2.1468, -1.029, -0.7376, -0.931, 0.5954, 0.0334, 1.2476, 0.9432, -0.8307, 0.0784, 0.1162, 0.0066] state[eef_state]: left_x=0.3583 left_y=-0.3958 left_z=0.0446 left_yaw=0.0821 left_pitch=-0.2689 left_roll=0.2668 left_gripper=0.5954 right_x=0.2919 right_y=-0.0005 right_z=0.1231 right_yaw=-0.1302 right_pitch=-0.5446 right_roll=-0.0206 right_gripper=0.0066 state[joint_eff]: [0.1162, -15.241, 5.6957, 0.7057, -0.4567, -0.0366, -0.1978, 0.1573, -4.4786, 6.5162, 1.4725, 0.0904, 0.1343, 0.6667] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12}, "note": "The gripper is partly open (0.6) and the block is tilting out of the fingers above the bowl interior. Opening fully and lifting so the block falls cleanly into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
The left wrist camera clearly shows the red block resting inside the bowl. Task complete.
agent noteGrasped the red block with the left arm (second attempt after a first miss ~4 cm short), carried it to the bowl at the left arm's right-most y bound, and released it; the left wrist camera confirms the block lying inside the bowl.
done
hindsightBlock was at approx left (x=0.43, y=-0.18), table surface at left_z≈0.0; grasp it with z≈0.0 and pitch 0 (gripper closed to ~0.45 when holding block, with gripper effort ~1.0 indicating a hold). The bowl is at the very edge of the left arm's reach (y≈-0.40 bound, x≈0.36); go there directly rather than overshooting forward. When the wrist camera looks straight down, objects at the bottom of the image are slightly behind the grasp point; a block appearing "between the fingertips" at the image bottom was actually ~4 cm behind — center it a bit higher in the frame. The top camera at gripper height 15 cm gives misleading parallax for x-offset. Sweeping the right arm to +y at low height collides with the left arm when the left is near y=-0.4 — the two arms share workspace there; avoid that.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-1.0664, 2.5122, 2.4313, -1.2713, -0.7269, -0.9447, 0.9961, 0.0326, 1.2476, 0.9432, -0.8448, 0.0814, 0.115, 0.0066] state[eef_state]: left_x=0.3602 left_y=-0.4022 left_z=0.1103 left_yaw=0.0789 left_pitch=-0.2643 left_roll=0.2247 left_gripper=0.9961 right_x=0.2887 right_y=-0.0014 right_z=0.1217 right_yaw=-0.1346 right_pitch=-0.558 right_roll=-0.0271 right_gripper=0.0066 state[joint_eff]: [-0.0342, -12.6701, 7.9795, 0.5397, -0.525, 0.0757, -0.0806, -0.1436, -4.1504, 6.4889, 1.1844, 0.0024, -0.0122, 0.6716] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
The left wrist camera clearly shows the red block resting inside the bowl. Task complete.
done({"summary": "Grasped the red block with the left arm (second attempt after a first miss ~4 cm short), carried it to the bowl at the left arm's right-most y bound, and released it; the left wrist camera confirms the block lying inside the bowl.", "hindsight": "Block was at approx left (x=0.43, y=-0.18), table surface at left_z\u22480.0; grasp it with z\u22480.0 and pitch 0 (gripper closed to ~0.45 when holding block, with gripper effort ~1.0 indicating a hold). The bowl is at the very edge of the left arm's reach (y\u2248-0.40 bound, x\u22480.36); go there directly rather than overshooting forward. When the wrist camera looks straight down, objects at the bottom of the image are slightly behind the grasp point; a block appearing \"between the fingertips\" at the image bottom was actually ~4 cm behind \u2014 center it a bit higher in the frame. The top camera at gripper height 15 cm gives misleading parallax for x-offset. Sweeping the right arm to +y at low height collides with the left arm when the left is near y=-0.4 \u2014 the two arms share workspace there; avoid that."})
tool
done: Grasped the red block with the left arm (second attempt after a first miss ~4 cm short), carried it to the bowl at the left arm's right-most y bound, and released it; the left wrist camera confirms the block lying inside the bowl.
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 · 46.12 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3862, -0.0219, -0.0334, 0.9993, -0.0204, 0.7937, 0.6052, -0.3958, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.4427, 10.2906, 1.9414, -0.0415, 0.1636, -0.0855, -0.3897, -1.5795, 9.8803, 1.9365, -0.0562, 0.1294, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55255af325347676e414b1204f7987adef247d9e6ae7fb05f0f3d2a501e8ca04"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94e7288e252229d962d573c05f622fd971c15a9a364e451c619ccfd8ad4778c0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b22a29117a4f207b91f20b5518859f2f13acf939b4ff2a87cc40e34174502514"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 55255af32534
wire blob 94e7288e2522
wire blob b22a29117a4f
call 1 attempt 0 · /chat/completions · status 200 · 14.04 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the left arm toward the red block, which appears to the right (negative y) of the left arm's camera view.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.33, \"left_y\": -0.1, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"The red block appears near and to the right in the left wrist camera; the bowl appears near and to the left in the right wrist camera. Moving the left arm forward, right, and down toward the block to refine its position.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UetyxTYGR65eoJNsvNyCHv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01UetyxTYGR65eoJNsvNyCHv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5114, 1.2133, 0.4782, 0.0177, -0.3943, -0.3046, 0.9993, -0.0212, 0.7986, 0.6056, -0.4297, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.0969 left_z=0.0864 left_yaw=-0.0345 left_pitch=-0.0782 left_roll=0.0297 left_gripper=0.9993 right_x=0.2884 right_y=0.001 right_z=0.1693 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.7111, 6.5709, 1.8779, -0.4078, -0.0659, -0.0904, -0.0752, -1.6342, 6.9675, 2.0049, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9aa181efc313640773939fe208ef1770f8c27e6a769fdd47b1684b08183ef7d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e7cdc68d30335d8670d26d8fb2d8fb8c743b10559f62efde692ccef312dcfc0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07cb9eb1e94c4601acbac691abcb4305799da86582e3e71bc4f8cd9c6ec2d21b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b9aa181efc31
wire blob 5e7cdc68d303
wire blob 07cb9eb1e94c
call 2 attempt 0 · /chat/completions · status 200 · 8.172 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3862, -0.0219, -0.0334, 0.9993, -0.0204, 0.7937, 0.6052, -0.3958, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.4427, 10.2906, 1.9414, -0.0415, 0.1636, -0.0855, -0.3897, -1.5795, 9.8803, 1.9365, -0.0562, 0.1294, -0.0513]",
      "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\": -0.16, \"left_z\": 0.07, \"left_gripper\": 1.0}, \"note\": \"The block is now visible in the left wrist camera, ahead and to the right of the gripper; top camera shows it about 15 cm forward. Moving the left gripper forward and right to get above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_014SG45rxqc7RSzWbiqbndGu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_014SG45rxqc7RSzWbiqbndGu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5156, 1.7515, 0.8604, 0.1169, -0.4046, -0.3229, 0.9993, -0.0212, 0.8024, 0.6056, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.414 left_y=-0.1506 left_z=0.0565 left_yaw=-0.0178 left_pitch=-0.1247 left_roll=0.0483 left_gripper=0.9993 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=-0.0002 right_pitch=-0.0675 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -8.1983, 7.8427, 1.7802, -0.0855, 0.1441, -0.0855, -0.1709, -1.5385, 6.9675, 1.8828, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d1526d281c51bb9fddfac43f307c6eb0be950762570a217d381b238992c22317"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5bdf88bed7503d2ea733b98a648782d27d5abd6a0ea4a064d8c7158d554b1362"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93e8ea127fb401b318df362f264a7f1dc7fa5cae9446cbe2fd4366b53e48a264"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d1526d281c51
wire blob 5bdf88bed750
wire blob 93e8ea127fb4
call 3 attempt 0 · /chat/completions · status 200 · 6.417 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5114, 1.2133, 0.4782, 0.0177, -0.3943, -0.3046, 0.9993, -0.0212, 0.7986, 0.6056, -0.4297, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.0969 left_z=0.0864 left_yaw=-0.0345 left_pitch=-0.0782 left_roll=0.0297 left_gripper=0.9993 right_x=0.2884 right_y=0.001 right_z=0.1693 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -4.7111, 6.5709, 1.8779, -0.4078, -0.0659, -0.0904, -0.0752, -1.6342, 6.9675, 2.0049, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.185, \"left_z\": 0.03, \"left_gripper\": 1.0}, \"note\": \"The block is now at the bottom-right of the left wrist view, close to the right fingertip, so it is slightly behind and right of the grasp point. Shifting back and right a little and lowering to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YZBFaGDveEtcSVaQ3owaw2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01YZBFaGDveEtcSVaQ3owaw2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.8336, 0.8635, 0.1452, -0.4507, -0.3859, 0.9993, -0.0212, 0.8024, 0.6056, -0.4683, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.186 left_z=0.0306 left_yaw=-0.0493 left_pitch=-0.1493 left_roll=0.055 left_gripper=0.9993 right_x=0.2828 right_y=0.0011 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0808 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -8.1299, 5.1214, 1.7509, -0.4567, -0.1441, -0.0855, -0.1026, -1.0872, 6.9538, 1.8779, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4677a2b7f6d906e649111902675a8a59dfcdd408502576411fb5354b872a6845"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9853d84a38bea386ef9ea0a76b7e79679bcb972afc88e4def4b957c8747a9f0c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:326e5d0dcc3ae9118b7506840632c1385b5819d4000c0b8066b5626a6a4e12be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4677a2b7f6d9
wire blob 9853d84a38be
wire blob 326e5d0dcc3a
call 4 attempt 0 · /chat/completions · status 200 · 7.666 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5156, 1.7515, 0.8604, 0.1169, -0.4046, -0.3229, 0.9993, -0.0212, 0.8024, 0.6056, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.414 left_y=-0.1506 left_z=0.0565 left_yaw=-0.0178 left_pitch=-0.1247 left_roll=0.0483 left_gripper=0.9993 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=-0.0002 right_pitch=-0.0675 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -8.1983, 7.8427, 1.7802, -0.0855, 0.1441, -0.0855, -0.1709, -1.5385, 6.9675, 1.8828, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now centered between the fingers in the left wrist camera. Lowering to grasp height.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.19, \"left_z\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block sits centered between the gripper fingers in the left wrist camera. Lowering the gripper to table level so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PWvQbd2jbEHVcDSGaNvUu9",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01PWvQbd2jbEHVcDSGaNvUu9"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.8812, 0.8513, 0.2142, -0.4679, -0.4057, 0.9993, -0.0212, 0.8024, 0.6056, -0.4824, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.1905 left_z=0.0185 left_yaw=-0.0393 left_pitch=-0.1341 left_roll=0.0454 left_gripper=0.9993 right_x=0.2807 right_y=0.0012 right_z=0.1579 right_yaw=-0.0001 right_pitch=-0.095 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.241, 3.8906, 1.2821, -0.1392, 0.0513, -0.0855, -0.0752, -1.1966, 6.9538, 1.8046, -0.0757, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4e6850d9220272b7a623932ea4127166c019eea05a82c8fdfea14226847c3ab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c5c0c070e66993c955da307c0a2b87ddfbf2134d2bab345777c5d8d078d6986"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4d245283e64dcac70b98c7cadd875876d5257f6236e3aaf5850c65ed201d379"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e4e6850d9220
wire blob 5c5c0c070e66
wire blob e4d245283e64
call 5 attempt 0 · /chat/completions · status 200 · 8.218 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6212, 1.8336, 0.8635, 0.1452, -0.4507, -0.3859, 0.9993, -0.0212, 0.8024, 0.6056, -0.4683, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3982 left_y=-0.186 left_z=0.0306 left_yaw=-0.0493 left_pitch=-0.1493 left_roll=0.055 left_gripper=0.9993 right_x=0.2828 right_y=0.0011 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0808 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -8.1299, 5.1214, 1.7509, -0.4567, -0.1441, -0.0855, -0.1026, -1.0872, 6.9538, 1.8779, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is between the fingertips at the bottom of the left wrist view and the gripper is at table level (z stopped ~0.018, likely fingertip contact). Closing the gripper to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_014DU6VZbHR6pM2roQGzQu1u",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014DU6VZbHR6pM2roQGzQu1u"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.9087, 0.8322, 0.2035, -0.466, -0.4061, 0.0077, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3899 left_y=-0.184 left_z=-0.0006 left_yaw=-0.0354 left_pitch=-0.1822 left_roll=0.0765 left_gripper=0.0077 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=-0.0001 right_pitch=-0.1148 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.8923, 6.5162, 1.4823, -0.2076, -0.0317, 0.5641, -0.1709, -1.3607, 7.0359, 1.7607, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b23129701e138a4955b718ff54e532811c522e65895b604b3f4516511aa57b02"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:014c2c93105fc348567ea6a10cd5b83d38978c709d82ac93baa4697798ba3460"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc4d223700becc654ef0fdff88f7aa7c95df5d466c61c105e208227f4c57b542"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b23129701e13
wire blob 014c2c93105f
wire blob dc4d223700be
call 6 attempt 0 · /chat/completions · status 200 · 11.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.8812, 0.8513, 0.2142, -0.4679, -0.4057, 0.9993, -0.0212, 0.8024, 0.6056, -0.4824, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.1905 left_z=0.0185 left_yaw=-0.0393 left_pitch=-0.1341 left_roll=0.0454 left_gripper=0.9993 right_x=0.2807 right_y=0.0012 right_z=0.1579 right_yaw=-0.0001 right_pitch=-0.095 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.241, 3.8906, 1.2821, -0.1392, 0.0513, -0.0855, -0.0752, -1.1966, 6.9538, 1.8046, -0.0757, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.08}, \"note\": \"Gripper closed to nearly 0, which suggests the block may have slipped out (it appears tilted in the wrist view). Lifting to check whether the block is in the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HYvZnSLTwdaRGrQMq3Sqs5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01HYvZnSLTwdaRGrQMq3Sqs5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.742, 0.9257, -0.0914, -0.4656, -0.4141, 0.0097, -0.0212, 0.8043, 0.6056, -0.5228, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3848 left_y=-0.1804 left_z=0.0552 left_yaw=-0.0273 left_pitch=-0.2106 left_roll=0.0905 left_gripper=0.0097 right_x=0.2743 right_y=0.0013 right_z=0.1498 right_yaw=-0.0004 right_pitch=-0.1373 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.441, 8.759, 1.58, -0.2808, 0.0611, 0.1978, -0.0205, -1.2103, 6.9265, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:46dc95ad79465b812d6462a4fd4846be5f29450c45cacddba849447a8d8e2432"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e59860558e9b59de47147286ab1ece4683e8d9c577021ee776227034bc19aa1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e73cfb8290100e7741b94d7a6a4681ce23f873b84ae6add669c5a34964ba0ed5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 46dc95ad7946
wire blob 3e59860558e9
wire blob e73cfb829010
call 7 attempt 0 · /chat/completions · status 200 · 9.401 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.9087, 0.8322, 0.2035, -0.466, -0.4061, 0.0077, -0.0212, 0.8043, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3899 left_y=-0.184 left_z=-0.0006 left_yaw=-0.0354 left_pitch=-0.1822 left_roll=0.0765 left_gripper=0.0077 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=-0.0001 right_pitch=-0.1148 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.8923, 6.5162, 1.4823, -0.2076, -0.0317, 0.5641, -0.1709, -1.3607, 7.0359, 1.7607, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.185, \"left_z\": 0.035, \"left_gripper\": 1.0}, \"note\": \"The grasp missed: the block is still on the table, sitting just ahead of the fingertips in the wrist view. Opening the gripper and moving about 4 cm forward to center over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_011Wenu7jihqegxpv3XCq7tY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011Wenu7jihqegxpv3XCq7tY"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5823, 1.8969, 1.0092, -0.0597, -0.4381, -0.3832, 0.995, -0.0212, 0.8078, 0.6056, -0.561, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=-0.1764 left_z=0.0233 left_yaw=-0.0078 left_pitch=-0.2577 left_roll=0.1164 left_gripper=0.995 right_x=0.2681 right_y=0.0014 right_z=0.142 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.6359, 8.212, 1.6923, -0.1148, 0.1001, 0.0269, -0.0615, -1.4701, 6.9949, 1.9023, -0.0317, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20db5ea61494935379079063697acaed7d809dbfbdc9f29e03f40a24ccb25d57"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f596114f78e42ecbda99fc2805e2d77aa5de97edb68463de097abe016a33880f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:049876a9ac403fd4c2448dce65e231a3e521db9232066984890753d192937ec4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 20db5ea61494
wire blob f596114f78e4
wire blob 049876a9ac40
call 8 attempt 0 · /chat/completions · status 200 · 8.902 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6346, 1.742, 0.9257, -0.0914, -0.4656, -0.4141, 0.0097, -0.0212, 0.8043, 0.6056, -0.5228, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3848 left_y=-0.1804 left_z=0.0552 left_yaw=-0.0273 left_pitch=-0.2106 left_roll=0.0905 left_gripper=0.0097 right_x=0.2743 right_y=0.0013 right_z=0.1498 right_yaw=-0.0004 right_pitch=-0.1373 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.441, 8.759, 1.58, -0.2808, 0.0611, 0.1978, -0.0205, -1.2103, 6.9265, 1.7998, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.178, \"left_z\": 0.0, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block now appears centered between the open fingers in the left wrist camera, just slightly ahead. Lowering to table level, moving slightly forward and levelling the pitch so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HEBMzB9PvV65kZYXzC5nFS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01HEBMzB9PvV65kZYXzC5nFS"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5972, 2.0182, 0.8608, 0.445, -0.5346, -0.318, 0.9984, -0.0212, 0.8082, 0.6056, -0.5907, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4295 left_y=-0.1789 left_z=0.0047 left_yaw=-0.0029 left_pitch=-0.0265 left_roll=0.0955 left_gripper=0.9984 right_x=0.2629 right_y=0.0015 right_z=0.1367 right_yaw=-0.0001 right_pitch=-0.209 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.7607, 3.7402, 1.2723, -0.2808, 0.2418, -0.1734, -0.1299, -1.1419, 6.8581, 1.8193, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c50e0c43228d3d030a0515b2b7674c2dc3a64347b4a142f781e53c27d39c20f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6bbd9a8f16f827ae0bc8d7eb54da95bf9491b2c0b1bba70ac124a0035e33669d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1627c9e3f364fe4c5b5b9fbb9073c30363e58297dc23c4aee0342a5b1ef90b57"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1c50e0c43228
wire blob 6bbd9a8f16f8
wire blob 1627c9e3f364
call 9 attempt 0 · /chat/completions · status 200 · 15.05 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5823, 1.8969, 1.0092, -0.0597, -0.4381, -0.3832, 0.995, -0.0212, 0.8078, 0.6056, -0.561, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=-0.1764 left_z=0.0233 left_yaw=-0.0078 left_pitch=-0.2577 left_roll=0.1164 left_gripper=0.995 right_x=0.2681 right_y=0.0014 right_z=0.142 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.6359, 8.212, 1.6923, -0.1148, 0.1001, 0.0269, -0.0615, -1.4701, 6.9949, 1.9023, -0.0317, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is now sitting between the two fingertips at the bottom of the left wrist view and the gripper is at table level. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LzuqZf1rYizaxprH2qvMXx",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01LzuqZf1rYizaxprH2qvMXx"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5968, 2.0308, 0.8524, 0.4755, -0.5434, -0.3264, 0.4459, -0.0212, 0.8082, 0.6056, -0.6163, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.1774 left_z=0.0022 left_yaw=0.0086 left_pitch=-0.0149 left_roll=0.0879 left_gripper=0.4459 right_x=0.2583 right_y=0.0016 right_z=0.1323 right_yaw=0.0 right_pitch=-0.2346 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.5368, 5.3675, 1.2381, -0.1392, 0.0415, 1.0379, -0.0889, -1.1009, 6.8308, 1.7656, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e5eaa0058d971d4ae6f9e2e2562822296e2a8b95ad01a7220c7c900974d1ef9d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79469d2115e85ddf20a6d3635fad9b3f9303930d17c61430484b42e6702831a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56bd62998e4504abe52164181df9d5152a91b68ecc61671012fd572def079f73"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e5eaa0058d97
wire blob 79469d2115e8
wire blob 56bd62998e45
call 10 attempt 0 · /chat/completions · status 200 · 17.6 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5972, 2.0182, 0.8608, 0.445, -0.5346, -0.318, 0.9984, -0.0212, 0.8082, 0.6056, -0.5907, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4295 left_y=-0.1789 left_z=0.0047 left_yaw=-0.0029 left_pitch=-0.0265 left_roll=0.0955 left_gripper=0.9984 right_x=0.2629 right_y=0.0015 right_z=0.1367 right_yaw=-0.0001 right_pitch=-0.209 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.7607, 3.7402, 1.2723, -0.2808, 0.2418, -0.1734, -0.1299, -1.1419, 6.8581, 1.8193, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper stopped at 0.45 with rising effort — the block is grasped. Lifting it now.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Gripper closed to 0.45 with gripper effort rising to ~1.0, indicating the block is held between the fingers. Lifting the block well above the table before moving toward the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CUjnuB18bmmVH32YZP8cj8",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01CUjnuB18bmmVH32YZP8cj8"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5968, 1.7172, 1.0588, -0.0875, -0.5434, -0.3378, 0.4458, -0.0212, 0.8101, 0.6056, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.1753 left_z=0.1207 left_yaw=0.0156 left_pitch=-0.0496 left_roll=0.1032 left_gripper=0.4458 right_x=0.2549 right_y=0.0017 right_z=0.1287 right_yaw=0.0001 right_pitch=-0.2555 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.7419, 9.0462, 1.6581, -0.2808, 0.0855, 1.033, -0.1846, -1.1145, 6.7897, 1.6288, -0.0317, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ee4417baca5650e1bcaa5ac61f265f98c24026b34c6b8cb452a895e57fcb101"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8442926426d74639aeab93ab506c8559dff619aaebbb898fbad436f73414b914"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a82ae62dd8015487cdb702be0cd046b42dfd5d5982e3cceba7b8d9c21aaaea6f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7ee4417baca5
wire blob 8442926426d7
wire blob a82ae62dd801
call 11 attempt 0 · /chat/completions · status 200 · 37.14 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5968, 2.0308, 0.8524, 0.4755, -0.5434, -0.3264, 0.4459, -0.0212, 0.8082, 0.6056, -0.6163, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.1774 left_z=0.0022 left_yaw=0.0086 left_pitch=-0.0149 left_roll=0.0879 left_gripper=0.4459 right_x=0.2583 right_y=0.0016 right_z=0.1323 right_yaw=0.0 right_pitch=-0.2346 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.5368, 5.3675, 1.2381, -0.1392, 0.0415, 1.0379, -0.0889, -1.1009, 6.8308, 1.7656, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.35, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"The block is lifted and held in the left gripper. In the top camera the bowl is about 20 cm to the right (-y) and slightly forward of the gripper, so I'm moving the left arm over toward the bowl at a safe height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WWPf8YAfqPjHXvEMXFbgUg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 16 steps (1.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01WWPf8YAfqPjHXvEMXFbgUg"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7933, 2.3539, 2.1105, -0.6117, -0.667, -0.5201, 0.4458, -0.0212, 0.8116, 0.6056, -0.6582, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4982 left_y=-0.3453 left_z=0.1408 left_yaw=0.0121 left_pitch=-0.0638 left_roll=0.0942 left_gripper=0.4458 right_x=0.2507 right_y=0.0018 right_z=0.1246 right_yaw=0.0003 right_pitch=-0.2799 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -13.8051, 8.7453, 1.0232, -0.4811, 0.0464, 1.0281, -0.1983, -1.1966, 6.7624, 1.6435, -0.0464, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8038e1580f652f82946f13cd55ed2c9cbb0cd4ad41305d8376ee92789a7ca17"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:862be3744b8a90506da4636c60372e2ef0646b810818f83d40610fc6dde3c533"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62906e053b84dff900cd69211e919f02a9a2f6e4f846231358db75a7bc6fabee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c8038e1580f6
wire blob 862be3744b8a
wire blob 62906e053b84
call 12 attempt 0 · /chat/completions · status 200 · 16.92 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5968, 1.7172, 1.0588, -0.0875, -0.5434, -0.3378, 0.4458, -0.0212, 0.8101, 0.6056, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.1753 left_z=0.1207 left_yaw=0.0156 left_pitch=-0.0496 left_roll=0.1032 left_gripper=0.4458 right_x=0.2549 right_y=0.0017 right_z=0.1287 right_yaw=0.0001 right_pitch=-0.2555 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.7419, 9.0462, 1.6581, -0.2808, 0.0855, 1.033, -0.1846, -1.1145, 6.7897, 1.6288, -0.0317, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.09, \"left_gripper\": 0.0}, \"note\": \"The block is still held; in the top camera the gripper appears near the bowl but parallax from height makes the offset hard to judge, and the wrist camera doesn't yet show the bowl. Lowering to 9 cm so the wrist camera can reveal the bowl rim relative to the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NYjv5KRMdW1cjZWjntZL8x",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01NYjv5KRMdW1cjZWjntZL8x"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7971, 2.3714, 1.9602, -0.4969, -0.6628, -0.5255, 0.4457, -0.0212, 0.8127, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4904 left_y=-0.3413 left_z=0.088 left_yaw=0.0115 left_pitch=-0.1024 left_roll=0.1262 left_gripper=0.4457 right_x=0.2473 right_y=0.0018 right_z=0.1215 right_yaw=0.0004 right_pitch=-0.299 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -13.3675, 6.4615, 1.5849, -0.3248, 0.0073, 1.033, -0.0752, -1.0735, 6.9128, 1.5849, -0.0513, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56b7e8cf122a1dd0ad57398e83caec9d7061b80ff4d6565d6c7c85863090f32c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b0c4a158c73f5e9e25e8e99899c5f19cce944e7e4b5478ddd109b21d79c3541"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:547207ce8651257070ee187f29ed92c7228a762d84ae3b1f17a1f6129d1143af"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 56b7e8cf122a
wire blob 8b0c4a158c73
wire blob 547207ce8651
call 13 attempt 0 · /chat/completions · status 200 · 9.021 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7933, 2.3539, 2.1105, -0.6117, -0.667, -0.5201, 0.4458, -0.0212, 0.8116, 0.6056, -0.6582, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4982 left_y=-0.3453 left_z=0.1408 left_yaw=0.0121 left_pitch=-0.0638 left_roll=0.0942 left_gripper=0.4458 right_x=0.2507 right_y=0.0018 right_z=0.1246 right_yaw=0.0003 right_pitch=-0.2799 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -13.8051, 8.7453, 1.0232, -0.4811, 0.0464, 1.0281, -0.1983, -1.1966, 6.7624, 1.6435, -0.0464, -0.0513, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.37, \"left_z\": 0.1, \"left_gripper\": 0.0}, \"note\": \"The wrist camera shows only table, and in the top camera the bowl sits behind the gripper (back toward the arm base) and slightly to the right. Pulling the gripper back about 8 cm and 3 cm right to get over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DBEQ5w1M6VuJfHBpPUTruB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01DBEQ5w1M6VuJfHBpPUTruB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9501, 2.3177, 1.8381, -0.58, -0.7204, -0.6674, 0.4457, -0.0212, 0.8127, 0.6056, -0.6807, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.3723 left_z=0.0692 left_yaw=-0.0137 left_pitch=-0.1512 left_roll=0.1648 left_gripper=0.4457 right_x=0.2464 right_y=0.0018 right_z=0.1208 right_yaw=0.0001 right_pitch=-0.3036 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -17.306, 5.8051, 1.1648, -0.6374, -0.1538, 1.033, -0.212, -0.9368, 6.735, 1.453, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36412f315f038f39d134651918566a34e32430dc88e6ad439e5d9770b1221220"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:880314798ed9d14847a1f0d01c3a783c30740affee04864347785529e9184471"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:71f1cbb74f3c6c16632ddfbbefac872484379622a1d4d8bde671cf2278ea59b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 36412f315f03
wire blob 880314798ed9
wire blob 71f1cbb74f3c
call 14 attempt 0 · /chat/completions · status 200 · 47.62 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7971, 2.3714, 1.9602, -0.4969, -0.6628, -0.5255, 0.4457, -0.0212, 0.8127, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4904 left_y=-0.3413 left_z=0.088 left_yaw=0.0115 left_pitch=-0.1024 left_roll=0.1262 left_gripper=0.4457 right_x=0.2473 right_y=0.0018 right_z=0.1215 right_yaw=0.0004 right_pitch=-0.299 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -13.3675, 6.4615, 1.5849, -0.3248, 0.0073, 1.033, -0.0752, -1.0735, 6.9128, 1.5849, -0.0513, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.4, \"left_z\": 0.1, \"left_gripper\": 0.0}, \"note\": \"The bowl rim now appears at the bottom-right of the left wrist view, meaning the bowl is behind and to the right of the held block. Moving back 5 cm and right 3 cm (to the y bound) while keeping height to get above the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SumvvJ7DsfNwntcUrkb2Yb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01SumvvJ7DsfNwntcUrkb2Yb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0637, 2.3009, 1.8992, -0.7563, -0.7464, -0.7853, 0.4457, -0.0212, 0.8162, 0.6056, -0.6949, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.363 left_y=-0.3991 left_z=0.0853 left_yaw=-0.0362 left_pitch=-0.1751 left_roll=0.1723 left_gripper=0.4457 right_x=0.2437 right_y=0.0019 right_z=0.1179 right_yaw=0.0006 right_pitch=-0.3211 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.3812, 8.9231, 1.0085, -0.7155, -0.0562, 1.0232, -0.0752, -1.3744, 6.7214, 1.5653, -0.0464, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7070652976a4d08afdd2d52e5c3b2f1fc7a8e3efbc9c3d39ebb08a651edd8182"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a77debdd941fb7522a962d056c43125a9027a9634117a07cc22ecc22a842c33c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d367f934b35a605c8feb62252816ec831a56ad6cd5f85f7f46e6dda15b8c934"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7070652976a4
wire blob a77debdd941f
wire blob 1d367f934b35
call 15 attempt 0 · /chat/completions · status 200 · 20.61 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9501, 2.3177, 1.8381, -0.58, -0.7204, -0.6674, 0.4457, -0.0212, 0.8127, 0.6056, -0.6807, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.3723 left_z=0.0692 left_yaw=-0.0137 left_pitch=-0.1512 left_roll=0.1648 left_gripper=0.4457 right_x=0.2464 right_y=0.0018 right_z=0.1208 right_yaw=0.0001 right_pitch=-0.3036 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -17.306, 5.8051, 1.1648, -0.6374, -0.1538, 1.033, -0.212, -0.9368, 6.735, 1.453, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": -0.03, \"right_z\": 0.05, \"right_gripper\": 0.0}, \"note\": \"The left arm is at its right-most y bound (-0.4) and the bowl rim is still a few cm further right of the held block, out of the left arm's reach. In the right wrist camera the bowl is ahead-left of the right arm, so I'll bring the right gripper (closed) down beside the bowl's right side to push it toward the left arm.\"}",
        "name": "move_to"
      },
      "id": "toolu_01R9TEW1SK5BkXZQpSSrkPTp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01R9TEW1SK5BkXZQpSSrkPTp"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0786, 2.3009, 1.916, -0.8097, -0.7536, -0.8173, 0.4458, -0.1249, 1.5307, 0.7242, -0.202, -0.0803, -0.1093, 0.0077]\nstate[eef_state]: left_x=0.3548 left_y=-0.3983 left_z=0.0875 left_yaw=-0.0246 left_pitch=-0.1846 left_roll=0.1841 left_gripper=0.4458 right_x=0.353 right_y=-0.0264 right_z=0.0324 right_yaw=0.003 right_pitch=-0.4194 right_roll=0.0165 right_gripper=0.0077\nstate[joint_eff]: [-0.0889, -13.559, 8.0342, 0.8864, -0.6569, -0.0952, 1.0232, -0.4308, -6.4889, 8.0889, 1.4823, -0.1148, -0.0415, 0.5788]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a2feb1a5269c104d36d21fd71f1b2f472808f5bfeec94c8117cf9989fa7173b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d11cb4085c25855d19fef57893371a86614030568987f2281df519473a60f59b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aeec71c693d397b812b6bb061cd96f69d39cd26fa8e21aa2fcd276825933591d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6a2feb1a5269
wire blob d11cb4085c25
wire blob aeec71c693d3
call 16 attempt 0 · /chat/completions · status 200 · 16.78 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0637, 2.3009, 1.8992, -0.7563, -0.7464, -0.7853, 0.4457, -0.0212, 0.8162, 0.6056, -0.6949, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.363 left_y=-0.3991 left_z=0.0853 left_yaw=-0.0362 left_pitch=-0.1751 left_roll=0.1723 left_gripper=0.4457 right_x=0.2437 right_y=0.0019 right_z=0.1179 right_yaw=0.0006 right_pitch=-0.3211 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.3812, 8.9231, 1.0085, -0.7155, -0.0562, 1.0232, -0.0752, -1.3744, 6.7214, 1.5653, -0.0464, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.15, \"right_z\": 0.03, \"right_gripper\": 0.0}, \"note\": \"The right gripper is closed and at table level with the bowl to its left (+y), just out of the right camera's view. Sweeping the right gripper leftward along the table to nudge the bowl a few cm toward the left arm's held block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0145g3hGGofP2q3Ty2tatSD7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_0145g3hGGofP2q3Ty2tatSD7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9859, 2.294, 1.9041, -0.9024, -0.7383, -0.8173, 0.4464, 0.3157, 1.7348, 0.9222, -0.2806, 0.1978, 0.3504, 0.0066]\nstate[eef_state]: left_x=0.3777 left_y=-0.3486 left_z=0.0795 left_yaw=0.0803 left_pitch=-0.245 left_roll=0.264 left_gripper=0.4464 right_x=0.3775 right_y=0.0905 right_z=0.0199 right_yaw=-0.0994 right_pitch=-0.4726 right_roll=-0.0012 right_gripper=0.0066\nstate[joint_eff]: [-7.7744, -12.3145, 7.0632, 1.8486, -0.6032, -0.0317, 1.033, 11.9453, -5.8462, 9.3197, 1.2869, 0.3101, 0.1636, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5657f7762045f0c28b8ab3214cc950f2f56c349e96f2d142350e44f57cf2d28c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df6c57265f716df2d4d425aa20c7acd4b11b486871e17d507dbeaba97f66de34"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:826b9477dbc04468fa6911fa46a59a74db326e5cda6bf51d9be1f211556adaba"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5657f7762045
wire blob df6c57265f71
wire blob 826b9477dbc0
call 17 attempt 0 · /chat/completions · status 200 · 9.161 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0786, 2.3009, 1.916, -0.8097, -0.7536, -0.8173, 0.4458, -0.1249, 1.5307, 0.7242, -0.202, -0.0803, -0.1093, 0.0077]\nstate[eef_state]: left_x=0.3548 left_y=-0.3983 left_z=0.0875 left_yaw=-0.0246 left_pitch=-0.1846 left_roll=0.1841 left_gripper=0.4458 right_x=0.353 right_y=-0.0264 right_z=0.0324 right_yaw=0.003 right_pitch=-0.4194 right_roll=0.0165 right_gripper=0.0077\nstate[joint_eff]: [-0.0889, -13.559, 8.0342, 0.8864, -0.6569, -0.0952, 1.0232, -0.4308, -6.4889, 8.0889, 1.4823, -0.1148, -0.0415, 0.5788]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.3, \"right_y\": 0.0, \"right_z\": 0.15, \"left_x\": 0.36, \"left_y\": -0.4, \"left_z\": 0.05, \"left_gripper\": 0.0}, \"note\": \"The right arm's sweep collided with the left arm (large base-joint efforts) and pushed it, rather than moving the bowl. Retracting the right arm up and away while moving the left arm back to its right-most bound above the bowl's near edge and lowering it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FsVNMNXCvB6exPUZsK12FF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01FsVNMNXCvB6exPUZsK12FF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0622, 2.4847, 2.1429, -1.0176, -0.7383, -0.9295, 0.4459, 0.038, 1.2442, 0.9443, -0.7929, 0.0845, 0.1299, 0.0066]\nstate[eef_state]: left_x=0.3612 left_y=-0.3963 left_z=0.0515 left_yaw=0.0802 left_pitch=-0.2592 left_roll=0.247 left_gripper=0.4459 right_x=0.3005 right_y=0.0001 right_z=0.1286 right_yaw=-0.1361 right_pitch=-0.5018 right_roll=-0.0115 right_gripper=0.0066\nstate[joint_eff]: [-0.8137, -12.4786, 7.7333, 0.5104, -0.5934, 0.0464, 1.0281, -0.1573, -5.2308, 9.9624, 1.453, -0.1685, -0.0366, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88f7c131f3081dc6043a78a277a7b0f6a0994b136bfd99e1c9ce652ac8c8ceda"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:788c6a539f1499f388fe74341c417251c608dd32c4e9ebf03df246d1449be786"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01a0650179b1b92b3784c853531386da36feeeea7e05cec8f275af38b6330056"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 88f7c131f308
wire blob 788c6a539f14
wire blob 01a0650179b1
call 18 attempt 0 · /chat/completions · status 200 · 10.48 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9859, 2.294, 1.9041, -0.9024, -0.7383, -0.8173, 0.4464, 0.3157, 1.7348, 0.9222, -0.2806, 0.1978, 0.3504, 0.0066]\nstate[eef_state]: left_x=0.3777 left_y=-0.3486 left_z=0.0795 left_yaw=0.0803 left_pitch=-0.245 left_roll=0.264 left_gripper=0.4464 right_x=0.3775 right_y=0.0905 right_z=0.0199 right_yaw=-0.0994 right_pitch=-0.4726 right_roll=-0.0012 right_gripper=0.0066\nstate[joint_eff]: [-7.7744, -12.3145, 7.0632, 1.8486, -0.6032, -0.0317, 1.033, 11.9453, -5.8462, 9.3197, 1.2869, 0.3101, 0.1636, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The bowl now fills the left wrist view directly beneath the block — the gripper is over the bowl. Releasing the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0}, \"note\": \"The left wrist camera now shows the bowl interior directly under the held block, so the block is above the bowl at ~5 cm height. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_0155SWqubupf3txwm7zS8yAU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_0155SWqubupf3txwm7zS8yAU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0664, 2.4996, 2.1468, -1.029, -0.7376, -0.931, 0.5954, 0.0334, 1.2476, 0.9432, -0.8307, 0.0784, 0.1162, 0.0066]\nstate[eef_state]: left_x=0.3583 left_y=-0.3958 left_z=0.0446 left_yaw=0.0821 left_pitch=-0.2689 left_roll=0.2668 left_gripper=0.5954 right_x=0.2919 right_y=-0.0005 right_z=0.1231 right_yaw=-0.1302 right_pitch=-0.5446 right_roll=-0.0206 right_gripper=0.0066\nstate[joint_eff]: [0.1162, -15.241, 5.6957, 0.7057, -0.4567, -0.0366, -0.1978, 0.1573, -4.4786, 6.5162, 1.4725, 0.0904, 0.1343, 0.6667]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:982c9f5bc358be6de8cbb8a4e7b9fed501f321915c778366818eaae9f839b4b5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f16122101dd296d28ae5729d5ea078cc5d2f678254963b01918a9efc93f58de"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a18535cbd85d67ec0a1d20e167d4ae87b0826383b4a5c7ef45af5b67a49d654"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 982c9f5bc358
wire blob 1f16122101dd
wire blob 7a18535cbd85
call 19 attempt 0 · /chat/completions · status 200 · 11.93 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0622, 2.4847, 2.1429, -1.0176, -0.7383, -0.9295, 0.4459, 0.038, 1.2442, 0.9443, -0.7929, 0.0845, 0.1299, 0.0066]\nstate[eef_state]: left_x=0.3612 left_y=-0.3963 left_z=0.0515 left_yaw=0.0802 left_pitch=-0.2592 left_roll=0.247 left_gripper=0.4459 right_x=0.3005 right_y=0.0001 right_z=0.1286 right_yaw=-0.1361 right_pitch=-0.5018 right_roll=-0.0115 right_gripper=0.0066\nstate[joint_eff]: [-0.8137, -12.4786, 7.7333, 0.5104, -0.5934, 0.0464, 1.0281, -0.1573, -5.2308, 9.9624, 1.453, -0.1685, -0.0366, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_z\": 0.12}, \"note\": \"The gripper is partly open (0.6) and the block is tilting out of the fingers above the bowl interior. Opening fully and lifting so the block falls cleanly into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_0116RkLUwnNSW5Gsx6ofZt9k",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_0116RkLUwnNSW5Gsx6ofZt9k"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0664, 2.5122, 2.4313, -1.2713, -0.7269, -0.9447, 0.9961, 0.0326, 1.2476, 0.9432, -0.8448, 0.0814, 0.115, 0.0066]\nstate[eef_state]: left_x=0.3602 left_y=-0.4022 left_z=0.1103 left_yaw=0.0789 left_pitch=-0.2643 left_roll=0.2247 left_gripper=0.9961 right_x=0.2887 right_y=-0.0014 right_z=0.1217 right_yaw=-0.1346 right_pitch=-0.558 right_roll=-0.0271 right_gripper=0.0066\nstate[joint_eff]: [-0.0342, -12.6701, 7.9795, 0.5397, -0.525, 0.0757, -0.0806, -0.1436, -4.1504, 6.4889, 1.1844, 0.0024, -0.0122, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b777a9c865806743bdb620f75e3cd0f20e5bf0f72641716e48e188bfbdf062aa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc69b0333ab8c0715a6f43894fb0131c30a8881cb2320ca8733b2452354951a5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5af903ef8c58285b93a630370218ca30e6fb11f77ec16dc18e7d55c4b7f57fc9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b777a9c86580
wire blob dc69b0333ab8
wire blob 5af903ef8c58