adhoc - adhoc_bf238349.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 502.7 s
total steps: 114

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

I'll start by moving the left arm toward the red block to calibrate where things are in the arm's frame.

agent noteThe red block appears near the left arm in the left camera view, with the bowl further right. I'm moving the left arm forward and down toward the block area to see how the views change and localize the block.

move_to

left_x0.3600left_y-0.0200left_z0.0900left_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]: [-0.0189, 0.7929, 0.6052, -0.3843, -0.0193, -0.0326, 0.9992, -0.0212, 0.7948, 0.6071, -0.3958, -0.0174, -0.0124, 0.9996] state[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1799 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0004 right_z=0.1779 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3607, 10.2359, 1.8584, -0.0806, 0.1587, -0.0952, -0.335, -1.6615, 9.7026, 1.8974, -0.0464, -0.0317, -0.0562] 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 to calibrate where things are in the arm's frame.

move_to({"targets": {"left_x": 0.36, "left_y": -0.02, "left_z": 0.09, "left_gripper": 1}, "note": "The red block appears near the left arm in the left camera view, with the bowl further right. I'm moving the left arm forward and down toward the block area to see how the views change and localize the block."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

agent noteThe top camera shows the left arm has entered from the left; the red block is ahead and slightly to the arm's left. The wrist camera shows the block at its right edge. Moving forward and slightly left to get closer above the block.

move_to

left_x0.4200left_y0.0000left_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1066, 1.2495, 0.4511, 0.0929, -0.0834, -0.0818, 0.9992, -0.0212, 0.8001, 0.6132, -0.4206, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.3381 left_y=-0.0178 left_z=0.0694 left_yaw=-0.006 left_pitch=-0.1307 left_roll=0.0066 left_gripper=0.9992 right_x=0.2908 right_y=0.0008 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0236 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.5812, -4.7111, 5.8325, 1.8535, -0.1441, -0.0024, -0.0952, -0.1983, -1.4701, 6.5573, 2.0049, -0.0073, -0.0806, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": 0.0, "left_z": 0.07}, "note": "The top camera shows the left arm has entered from the left; the red block is ahead and slightly to the arm's left. The wrist camera shows the block at its right edge. Moving forward and slightly left to get closer above the block."})

tool

executing move_to over 7 steps (0.7s)

step 13

assistant

agent noteTop view shows the gripper approaching from the left with the red block still ahead of it; the wrist camera doesn't show the block yet, so it's likely still forward of the fingers. Continuing forward along +x at low height.

move_to

left_x0.4800left_y0.0000left_z0.0550

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0185, 1.5753, 0.6891, 0.1268, -0.0334, -0.0471, 0.9991, -0.0212, 0.8043, 0.6094, -0.4412, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.4017 left_y=0.0021 left_z=0.0545 left_yaw=0.0212 left_pitch=-0.1869 left_roll=0.0028 left_gripper=0.9991 right_x=0.2875 right_y=0.0009 right_z=0.1672 right_yaw=0.0017 right_pitch=-0.0522 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [0.253, -6.4068, 8.1162, 1.9023, 0.0855, 0.1929, -0.0171, -0.1299, -1.2923, 7.2957, 1.8632, -0.0269, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.48, "left_y": 0.0, "left_z": 0.055}, "note": "Top view shows the gripper approaching from the left with the red block still ahead of it; the wrist camera doesn't show the block yet, so it's likely still forward of the fingers. Continuing forward along +x at low height."})

tool

executing move_to over 7 steps (0.7s)

step 20

assistant

agent noteIn the top view the red block is still ahead of the gripper (to the image-right) and slightly toward the arm's -y side; the wrist camera still doesn't see it. Moving further forward and a bit to -y to bring the block between the fingers.

move_to

left_x0.5400left_y-0.0400left_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 1.8324, 0.9695, 0.0608, -0.0307, -0.0574, 0.9991, -0.0212, 0.8089, 0.6094, -0.4561, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4648 left_y=0.0002 left_z=0.0428 left_yaw=0.0246 left_pitch=-0.2297 left_roll=-0.0048 left_gripper=0.9991 right_x=0.2856 right_y=0.0011 right_z=0.163 right_yaw=0.0022 right_pitch=-0.0717 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.4581, -8.5402, 7.9521, 1.6972, -0.1099, 0.0806, -0.0073, -0.2256, -1.6479, 7.0906, 1.7802, -0.0513, -0.0073, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.54, "left_y": -0.04, "left_z": 0.05}, "note": "In the top view the red block is still ahead of the gripper (to the image-right) and slightly toward the arm's -y side; the wrist camera still doesn't see it. Moving further forward and a bit to -y to bring the block between the fingers."})

tool

executing move_to over 6 steps (0.6s)

step 26

assistant

agent noteThe wrist camera still shows only table between the fingers, so the block isn't directly ahead; I'm raising the gripper and pitching down to get a wider downward view to locate the block relative to the fingers.

move_to

left_x0.5000left_y-0.0400left_z0.1500left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1028, 2.0537, 1.306, -0.0837, -0.083, -0.1215, 0.9991, -0.0212, 0.8116, 0.6094, -0.4835, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.528 left_y=-0.0362 left_z=0.0415 left_yaw=0.0222 left_pitch=-0.2558 left_roll=-0.0084 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.157 right_yaw=0.0019 right_pitch=-0.1018 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [-0.5949, -10.906, 7.5419, 1.4921, -0.1343, -0.0269, -0.0122, -0.1983, -1.4564, 7.1043, 1.9072, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.04, "left_z": 0.15, "left_pitch": 0.3}, "note": "The wrist camera still shows only table between the fingers, so the block isn't directly ahead; I'm raising the gripper and pitching down to get a wider downward view to locate the block relative to the fingers."})

tool

executing move_to over 19 steps (1.9s)

step 45

assistant

agent noteThe wrist camera now looks forward over the table edge and the block isn't in front of the fingers; from the top camera the block sits to the arm's -y side. Moving forward and toward -y while staying high so I can watch the gripper's position relative to the block in the top view.

move_to

left_x0.5500left_y-0.1500left_z0.1200left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1371, 1.7855, 0.8566, 0.5583, -0.1478, -0.086, 0.9991, -0.0208, 0.8139, 0.6094, -0.5007, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4987 left_y=-0.0389 left_z=0.1212 left_yaw=0.0223 left_pitch=0.2055 left_roll=-0.0075 left_gripper=0.9991 right_x=0.2788 right_y=0.0013 right_z=0.1532 right_yaw=0.0024 right_pitch=-0.1212 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.4444, -11.5077, 5.641, 2.1172, -0.188, 0.1099, -0.0122, -0.0752, -1.0735, 7.1043, 1.8339, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.55, "left_y": -0.15, "left_z": 0.12, "left_pitch": 0.3}, "note": "The wrist camera now looks forward over the table edge and the block isn't in front of the fingers; from the top camera the block sits to the arm's -y side. Moving forward and toward -y while staying high so I can watch the gripper's position relative to the block in the top view."})

tool

executing move_to over 10 steps (1.0s)

step 55

assistant

agent noteTop view shows the gripper is now close to the red block, slightly behind and above it. Lowering to just above table height and nudging forward so the block should appear between the fingers.

move_to

left_x0.5600left_y-0.1300left_z0.0500left_pitch0.3500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3817, 2.0483, 1.111, 0.5774, -0.374, -0.1513, 0.9991, -0.0208, 0.8173, 0.6094, -0.5243, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.5399 left_y=-0.1433 left_z=0.1021 left_yaw=0.0086 left_pitch=0.2378 left_roll=0.0063 left_gripper=0.9991 right_x=0.2751 right_y=0.0013 right_z=0.1479 right_yaw=0.0023 right_pitch=-0.1483 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.5675, -10.3179, 8.2256, 2.2295, -0.2125, 0.0073, -0.0122, -0.0205, -1.5385, 6.9949, 1.8095, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.56, "left_y": -0.13, "left_z": 0.05, "left_pitch": 0.35}, "note": "Top view shows the gripper is now close to the red block, slightly behind and above it. Lowering to just above table height and nudging forward so the block should appear between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 59

assistant

agent noteTop view shows the fingertips just short of the block, which sits slightly further forward and toward -y. Shifting slightly forward and to -y at grasp height so the block ends up between the fingers.

move_to

left_x0.5700left_y-0.1450left_z0.0200left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3405, 2.2776, 1.1042, 0.828, -0.3626, -0.1162, 0.9991, -0.0212, 0.8192, 0.6094, -0.5514, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5529 left_y=-0.1256 left_z=0.0306 left_yaw=0.0217 left_pitch=0.2494 left_roll=0.0313 left_gripper=0.9991 right_x=0.2706 right_y=0.0013 right_z=0.1425 right_yaw=0.0024 right_pitch=-0.1773 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.1573, -12.8615, 5.2718, 2.5714, 0.0708, 0.0513, -0.0122, -0.0889, -1.388, 6.8855, 1.8828, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.57, "left_y": -0.145, "left_z": 0.02, "left_pitch": 0.4}, "note": "Top view shows the fingertips just short of the block, which sits slightly further forward and toward -y. Shifting slightly forward and to -y at grasp height so the block ends up between the fingers."})

tool

executing move_to over 6 steps (0.6s)

step 65

assistant

agent noteTop view suggests the block is now slightly behind the fingertips, near the jaw base, while the wrist camera still shows clear table between the fingers. Backing up ~2 cm and settling to table height to bring the block between the jaws.

move_to

left_x0.5450left_y-0.1400left_z0.0100left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3683, 2.4306, 1.1683, 1.0233, -0.4061, -0.0971, 0.9991, -0.0212, 0.8211, 0.6094, -0.5762, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5653 left_y=-0.1395 left_z=0.0143 left_yaw=0.0334 left_pitch=0.3525 left_roll=0.0212 left_gripper=0.9991 right_x=0.2664 right_y=0.0014 right_z=0.1377 right_yaw=0.0025 right_pitch=-0.204 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.8137, -10.5641, 6.0786, 1.9023, -0.1099, 0.2076, -0.0122, -0.0342, -1.4017, 6.8581, 1.746, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.545, "left_y": -0.14, "left_z": 0.01, "left_pitch": 0.4}, "note": "Top view suggests the block is now slightly behind the fingertips, near the jaw base, while the wrist camera still shows clear table between the fingers. Backing up ~2 cm and settling to table height to bring the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 67

assistant

agent noteIn the top view the red block sits just above-left of the jaws, meaning it's slightly behind and toward +y of the fingers. Backing up ~2 cm and shifting +y ~2 cm to center the block between the jaws.

move_to

left_x0.5300left_y-0.1200left_z0.0150left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3763, 2.439, 1.1149, 1.1263, -0.421, -0.0914, 0.999, -0.0212, 0.8215, 0.6094, -0.5877, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5547 left_y=-0.1377 left_z=0.0145 left_yaw=0.0419 left_pitch=0.3915 left_roll=0.0127 left_gripper=0.999 right_x=0.2644 right_y=0.0015 right_z=0.1356 right_yaw=0.0024 right_pitch=-0.2158 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.8684, -11.535, 3.8632, 1.0134, -0.0317, 0.1978, -0.0171, -0.0615, -0.9915, 6.8444, 1.8486, -0.0366, -0.0562, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.53, "left_y": -0.12, "left_z": 0.015, "left_pitch": 0.4}, "note": "In the top view the red block sits just above-left of the jaws, meaning it's slightly behind and toward +y of the fingers. Backing up ~2 cm and shifting +y ~2 cm to center the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 69

assistant

agent noteThe top view shows the red block just below the gripper jaws in the image, which corresponds to more negative y in the arm frame, and the wrist camera confirms nothing between the fingers yet. Shifting about 3 cm toward -y at grasp height.

move_to

left_x0.5500left_y-0.1700left_z0.0200left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6125, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.26 right_y=0.0016 right_z=0.131 right_yaw=0.0025 right_pitch=-0.2421 right_roll=0.0078 right_gripper=0.9996 state[joint_eff]: [-0.4581, -11.1795, 3.4803, 1.9072, -0.1148, 0.0659, -0.0073, -0.0342, -1.1966, 6.8171, 1.6972, -0.022, -0.0269, -0.0073] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.55, "left_y": -0.17, "left_z": 0.02, "left_pitch": 0.4}, "note": "The top view shows the red block just below the gripper jaws in the image, which corresponds to more negative y in the arm frame, and the wrist camera confirms nothing between the fingers yet. Shifting about 3 cm toward -y at grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe arm barely moved last step and the block still sits just ahead of the fingertips in the top view, with nothing between the fingers in the wrist camera. Probing ~4 cm further forward and slightly -y at grasp height.

move_to

left_x0.5850left_y-0.1550left_z0.0150left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3859, 2.439, 1.0863, 1.174, -0.4248, -0.091, 0.999, -0.0212, 0.823, 0.6094, -0.6235, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5482 left_y=-0.1402 left_z=0.0156 left_yaw=0.0389 left_pitch=0.4092 left_roll=0.0054 left_gripper=0.999 right_x=0.258 right_y=0.0016 right_z=0.1292 right_yaw=0.0026 right_pitch=-0.2532 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.5949, -11.3573, 3.7949, 1.8877, -0.1587, 0.0366, -0.0073, -0.1573, -1.1966, 6.8308, 1.6386, -0.0415, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.585, "left_y": -0.155, "left_z": 0.015, "left_pitch": 0.4}, "note": "The arm barely moved last step and the block still sits just ahead of the fingertips in the top view, with nothing between the fingers in the wrist camera. Probing ~4 cm further forward and slightly -y at grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 75

assistant

agent noteThe arm didn't move at all last two commands—likely the IK can't extend further at this pitch. The block is ~3 cm forward of the grasp point in the top view. Pitching down more (0.55) so the wrist rises and the grasp point can reach forward to the block.

move_to

left_x0.5750left_y-0.1450left_z0.0200left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6353, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.2558 right_y=0.0016 right_z=0.1272 right_yaw=0.0026 right_pitch=-0.265 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.5128, -11.3299, 3.5487, 1.873, -0.1392, 0.105, -0.0122, -0.1709, -1.1419, 6.9128, 1.5409, -0.0659, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.575, "left_y": -0.145, "left_z": 0.02, "left_pitch": 0.55}, "note": "The arm didn't move at all last two commands\u2014likely the IK can't extend further at this pitch. The block is ~3 cm forward of the grasp point in the top view. Pitching down more (0.55) so the wrist rises and the grasp point can reach forward to the block."})

tool

executing move_to over 5 steps (0.5s)

step 80

assistant

agent noteWith the extra pitch the arm reached further; the top view shows the block just ahead and slightly to -y of the fingertips. Advancing ~2 cm forward and 1 cm to -y at grasp height to put the block between the jaws.

move_to

left_x0.5900left_y-0.1550left_z0.0120left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.379, 2.5523, 1.2167, 1.2865, -0.4313, -0.0589, 0.999, -0.0212, 0.8288, 0.6075, -0.6586, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5726 left_y=-0.1447 left_z=0.0235 left_yaw=0.0599 left_pitch=0.5273 left_roll=-0.0189 left_gripper=0.999 right_x=0.2511 right_y=0.0017 right_z=0.1214 right_yaw=0.0029 right_pitch=-0.2959 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [0.4855, -10.441, 4.9436, 1.8193, 0.1099, 0.1685, -0.0171, -0.0342, -1.6342, 7.1726, 1.6581, -0.0366, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.59, "left_y": -0.155, "left_z": 0.012, "left_pitch": 0.55}, "note": "With the extra pitch the arm reached further; the top view shows the block just ahead and slightly to -y of the fingertips. Advancing ~2 cm forward and 1 cm to -y at grasp height to put the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 82

assistant

agent noteThe top view shows the red block just below (in image) the gripper jaws, which is toward -y; the wrist camera still shows empty table between the fingers. Shifting ~2 cm toward -y and staying low to bring the block between the jaws.

move_to

left_x0.5950left_y-0.1700left_z0.0150left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3798, 2.5961, 1.301, 1.3182, -0.4397, -0.0437, 0.999, -0.0212, 0.8288, 0.6067, -0.6674, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5867 left_y=-0.1494 left_z=0.0352 left_yaw=0.0773 left_pitch=0.5926 left_roll=-0.0377 left_gripper=0.999 right_x=0.2493 right_y=0.0018 right_z=0.1197 right_yaw=0.0031 right_pitch=-0.3054 right_roll=0.0091 right_gripper=0.9996 state[joint_eff]: [-0.7863, -10.1812, 4.1504, 1.5995, -0.0513, -0.0317, -0.0171, -0.0615, -1.1692, 6.8034, 1.6435, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.595, "left_y": -0.17, "left_z": 0.015, "left_pitch": 0.55}, "note": "The top view shows the red block just below (in image) the gripper jaws, which is toward -y; the wrist camera still shows empty table between the fingers. Shifting ~2 cm toward -y and staying low to bring the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 84

assistant

agent noteThe gripper barely moved; it may be near its reach limit at x=0.59. The block sits just to the -y side of the jaws in the top view. Pulling x back slightly to ease IK while pushing further to -y to slide the jaws over the block.

move_to

left_x0.5780left_y-0.1800left_z0.0180left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0208, 0.8314, 0.6067, -0.6765, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2476 right_y=0.0019 right_z=0.1177 right_yaw=0.0034 right_pitch=-0.3173 right_roll=0.0097 right_gripper=0.9996 state[joint_eff]: [-0.7453, -10.0718, 5.2855, 1.5214, -0.0317, 0.0171, -0.0122, -0.0752, -1.3744, 6.8581, 1.453, -0.0562, -0.0562, -0.0073] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.578, "left_y": -0.18, "left_z": 0.018, "left_pitch": 0.55}, "note": "The gripper barely moved; it may be near its reach limit at x=0.59. The block sits just to the -y side of the jaws in the top view. Pulling x back slightly to ease IK while pushing further to -y to slide the jaws over the block."})

tool

executing move_to over 3 steps (0.3s)

step 87

assistant

agent noteThe left arm froze for two commands—likely because I commanded z below the table while the fingers rested on it (actual z stuck at 0.035). Keeping z at 0.04 and moving laterally: the block appears ~3cm behind and ~3cm to -y of the fingertips in the top view, so targeting (0.565, -0.182).

move_to

left_x0.5650left_y-0.1820left_z0.0400left_yaw0.0000left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0212, 0.8341, 0.6056, -0.68, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2467 right_y=0.0018 right_z=0.1161 right_yaw=0.0033 right_pitch=-0.3245 right_roll=0.0096 right_gripper=0.9996 state[joint_eff]: [-0.7453, -10.1265, 5.2718, 1.5214, 0.022, 0.0317, -0.0171, 0.0615, -1.388, 6.9128, 1.3895, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.565, "left_y": -0.182, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.55}, "note": "The left arm froze for two commands\u2014likely because I commanded z below the table while the fingers rested on it (actual z stuck at 0.035). Keeping z at 0.04 and moving laterally: the block appears ~3cm behind and ~3cm to -y of the fingertips in the top view, so targeting (0.565, -0.182)."})

tool

executing move_to over 3 steps (0.3s)

step 90

assistant

agent noteThe left arm has been stuck for three commands, likely jammed with pitch at its 0.6 limit and fingers on the table. Retracting upward with less pitch to free it, positioning above the block for a clean top-down descent.

move_to

left_x0.5800left_y-0.1600left_z0.1500left_pitch0.3000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3813, 2.6087, 1.3323, 1.3041, -0.4427, -0.0532, 0.999, -0.0212, 0.8352, 0.6056, -0.7017, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.5918 left_y=-0.1519 left_z=0.0357 left_yaw=0.0865 left_pitch=0.5964 left_roll=-0.0517 left_gripper=0.999 right_x=0.2424 right_y=0.0019 right_z=0.1126 right_yaw=0.0035 right_pitch=-0.3474 right_roll=0.0102 right_gripper=0.9996 state[joint_eff]: [-0.5538, -10.2632, 5.4085, 1.5604, -0.0024, 0.0122, -0.0171, -0.0615, -1.2513, 6.6803, 1.5507, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.16, "left_z": 0.15, "left_pitch": 0.3, "left_yaw": 0.0}, "note": "The left arm has been stuck for three commands, likely jammed with pitch at its 0.6 limit and fingers on the table. Retracting upward with less pitch to free it, positioning above the block for a clean top-down descent."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteThe arm is freed and raised; I realize the raised gripper appears shifted in the top camera due to parallax, so the block is really slightly forward and to -y of my last grasp attempt. Descending to (0.585, -0.175) just above the table with pitch 0.5 to bring the block between the jaws.

move_to

left_x0.5850left_y-0.1750left_z0.0500left_pitch0.5000left_yaw0.0000left_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]: [-0.3771, 2.1559, 1.2961, 0.5728, -0.3683, -0.1692, 0.999, -0.0208, 0.8371, 0.6056, -0.7219, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.5795 left_y=-0.1572 left_z=0.1193 left_yaw=0.0261 left_pitch=0.3042 left_roll=-0.0424 left_gripper=0.999 right_x=0.2384 right_y=0.0022 right_z=0.1092 right_yaw=0.0042 right_pitch=-0.3695 right_roll=0.0113 right_gripper=0.9996 state[joint_eff]: [0.5538, -16.7316, 9.2103, 2.127, 0.2076, 0.0513, -0.0122, -0.0342, -1.3333, 6.7624, 1.4969, -0.0562, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.585, "left_y": -0.175, "left_z": 0.05, "left_pitch": 0.5, "left_yaw": 0.0, "left_gripper": 1}, "note": "The arm is freed and raised; I realize the raised gripper appears shifted in the top camera due to parallax, so the block is really slightly forward and to -y of my last grasp attempt. Descending to (0.585, -0.175) just above the table with pitch 0.5 to bring the block between the jaws."})

tool

executing move_to over 7 steps (0.7s)

step 107

assistant

agent noteTop view shows the block just forward and slightly +y of the jaw tips; the wrist camera can't see close objects near the palm. Moving to (0.595, -0.155) at grasp height with more pitch so the block lands between the jaws, then I'll close.

move_to

left_x0.5950left_y-0.1550left_z0.0300left_pitch0.5500left_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]: [-0.3981, 2.4493, 1.2617, 1.0, -0.382, -0.1089, 0.9992, -0.0212, 0.8398, 0.6056, -0.7322, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5806 left_y=-0.1688 left_z=0.0324 left_yaw=-0.0032 left_pitch=0.398 left_roll=-0.0178 left_gripper=0.9992 right_x=0.2363 right_y=0.0021 right_z=0.1072 right_yaw=0.0036 right_pitch=-0.3825 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [-0.759, -11.8222, 6.735, 2.3272, -0.1294, 0.1343, -0.0952, -0.0342, -1.388, 6.6393, 1.37, -0.0171, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.595, "left_y": -0.155, "left_z": 0.03, "left_pitch": 0.55, "left_gripper": 1}, "note": "Top view shows the block just forward and slightly +y of the jaw tips; the wrist camera can't see close objects near the palm. Moving to (0.595, -0.155) at grasp height with more pitch so the block lands between the jaws, then I'll close."})

tool

executing move_to over 6 steps (0.6s)

step 113

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3676, 2.5637, 1.3014, 1.1858, -0.3702, -0.0658, 0.9992, -0.0212, 0.8398, 0.6056, -0.7441, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.5908 left_y=-0.1551 left_z=0.0233 left_yaw=0.0105 left_pitch=0.5006 left_roll=-0.0183 left_gripper=0.9992 right_x=0.2339 right_y=0.0021 right_z=0.1055 right_yaw=0.0037 right_pitch=-0.3943 right_roll=0.0117 right_gripper=0.9996 state[joint_eff]: [0.7863, -11.535, 6.1607, 1.956, 0.149, 0.1099, -0.0952, -0.1573, -1.1556, 6.6393, 1.4042, -0.0513, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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]

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 · 21.09 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6052, -0.3843, -0.0193, -0.0326, 0.9992, -0.0212, 0.7948, 0.6071, -0.3958, -0.0174, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1799 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0004 right_z=0.1779 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.2359, 1.8584, -0.0806, 0.1587, -0.0952, -0.335, -1.6615, 9.7026, 1.8974, -0.0464, -0.0317, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43649b19858afc941adc62c1ea6579166679c2f15cb41d0b6553ee861eb734e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3424f542eec53a5ce55ed8443250fca1ff187612df503d4bc6c3f298ed1bf97f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4997ad50c7280cae97dd21a6c6ff89ded3be82347c2359b161f272b5d7399170"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 10.75 s

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

{
  "content": "I'll start by moving the left arm toward the red block to calibrate where things are in the arm's frame.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.02, \"left_z\": 0.09, \"left_gripper\": 1}, \"note\": \"The red block appears near the left arm in the left camera view, with the bowl further right. I'm moving the left arm forward and down toward the block area to see how the views change and localize the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V2Hr37wpS5tU8iSnMpbaxi",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01V2Hr37wpS5tU8iSnMpbaxi"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1066, 1.2495, 0.4511, 0.0929, -0.0834, -0.0818, 0.9992, -0.0212, 0.8001, 0.6132, -0.4206, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.0178 left_z=0.0694 left_yaw=-0.006 left_pitch=-0.1307 left_roll=0.0066 left_gripper=0.9992 right_x=0.2908 right_y=0.0008 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0236 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -4.7111, 5.8325, 1.8535, -0.1441, -0.0024, -0.0952, -0.1983, -1.4701, 6.5573, 2.0049, -0.0073, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eacb4440b27d258b78dac8cb969f736395bebbf8313f241650c88a575e5ffcb0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:753f508136dc6cc6edf7ca510a5abc3c14fba1a771b9fb87f09d5c947429d231"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4775ef93e52f0f1f1496b537e2f1df642d7ed5934acdc90ff2767d8de1cc9c0e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 13.47 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6052, -0.3843, -0.0193, -0.0326, 0.9992, -0.0212, 0.7948, 0.6071, -0.3958, -0.0174, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1799 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0004 right_z=0.1779 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.2359, 1.8584, -0.0806, 0.1587, -0.0952, -0.335, -1.6615, 9.7026, 1.8974, -0.0464, -0.0317, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": 0.0, \"left_z\": 0.07}, \"note\": \"The top camera shows the left arm has entered from the left; the red block is ahead and slightly to the arm's left. The wrist camera shows the block at its right edge. Moving forward and slightly left to get closer above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LFynHabhgnfZdPhNZ5afLA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01LFynHabhgnfZdPhNZ5afLA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0185, 1.5753, 0.6891, 0.1268, -0.0334, -0.0471, 0.9991, -0.0212, 0.8043, 0.6094, -0.4412, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4017 left_y=0.0021 left_z=0.0545 left_yaw=0.0212 left_pitch=-0.1869 left_roll=0.0028 left_gripper=0.9991 right_x=0.2875 right_y=0.0009 right_z=0.1672 right_yaw=0.0017 right_pitch=-0.0522 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.4068, 8.1162, 1.9023, 0.0855, 0.1929, -0.0171, -0.1299, -1.2923, 7.2957, 1.8632, -0.0269, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e5200494edbcdd0fcca25e5b87034569c3f21ca18e349028090dc1d8c05bee78"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a672fc942b89d2e25348ac3062b2979e0dfef061a7afbad7f9d4bebff3a0461e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b0c42ac865f0f8ab818c2cf3b7510e1cd5954f7aa1ed2c4b62d71422dfc12792"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 14.5 s

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

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1066, 1.2495, 0.4511, 0.0929, -0.0834, -0.0818, 0.9992, -0.0212, 0.8001, 0.6132, -0.4206, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.0178 left_z=0.0694 left_yaw=-0.006 left_pitch=-0.1307 left_roll=0.0066 left_gripper=0.9992 right_x=0.2908 right_y=0.0008 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0236 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -4.7111, 5.8325, 1.8535, -0.1441, -0.0024, -0.0952, -0.1983, -1.4701, 6.5573, 2.0049, -0.0073, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": 0.0, \"left_z\": 0.055}, \"note\": \"Top view shows the gripper approaching from the left with the red block still ahead of it; the wrist camera doesn't show the block yet, so it's likely still forward of the fingers. Continuing forward along +x at low height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TeoCSJdngg8bxbXYctsxYQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01TeoCSJdngg8bxbXYctsxYQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.8324, 0.9695, 0.0608, -0.0307, -0.0574, 0.9991, -0.0212, 0.8089, 0.6094, -0.4561, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=0.0002 left_z=0.0428 left_yaw=0.0246 left_pitch=-0.2297 left_roll=-0.0048 left_gripper=0.9991 right_x=0.2856 right_y=0.0011 right_z=0.163 right_yaw=0.0022 right_pitch=-0.0717 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.5402, 7.9521, 1.6972, -0.1099, 0.0806, -0.0073, -0.2256, -1.6479, 7.0906, 1.7802, -0.0513, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad7a8145d234843c974a104ac02e0d2c144cd07f38955b082b47a4df28a32426"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b56c7a746fb25b77981d1ac46f7f47223c693c397725ba84b68f134a83d489e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27f6846e36953acae86b505ae09e8bbfd3adba25f1a8e00bfde5affc06f2a285"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 23.48 s

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

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0185, 1.5753, 0.6891, 0.1268, -0.0334, -0.0471, 0.9991, -0.0212, 0.8043, 0.6094, -0.4412, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4017 left_y=0.0021 left_z=0.0545 left_yaw=0.0212 left_pitch=-0.1869 left_roll=0.0028 left_gripper=0.9991 right_x=0.2875 right_y=0.0009 right_z=0.1672 right_yaw=0.0017 right_pitch=-0.0522 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.4068, 8.1162, 1.9023, 0.0855, 0.1929, -0.0171, -0.1299, -1.2923, 7.2957, 1.8632, -0.0269, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.54, \"left_y\": -0.04, \"left_z\": 0.05}, \"note\": \"In the top view the red block is still ahead of the gripper (to the image-right) and slightly toward the arm's -y side; the wrist camera still doesn't see it. Moving further forward and a bit to -y to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YDPqi7xMGLuRcagN8UCaiE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01YDPqi7xMGLuRcagN8UCaiE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1028, 2.0537, 1.306, -0.0837, -0.083, -0.1215, 0.9991, -0.0212, 0.8116, 0.6094, -0.4835, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.528 left_y=-0.0362 left_z=0.0415 left_yaw=0.0222 left_pitch=-0.2558 left_roll=-0.0084 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.157 right_yaw=0.0019 right_pitch=-0.1018 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -10.906, 7.5419, 1.4921, -0.1343, -0.0269, -0.0122, -0.1983, -1.4564, 7.1043, 1.9072, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:542ec03fd08a5ef63269a78929407e0b11ae787b7a61a68b0b88f5bfb6d77a48"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c41a3bf1a3679d9cbb246b8c3996bc6190930e983d985f197fe9100172bf04de"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9d2837e881cc003a0b201a68e8f26737fc1e8224c5b0a035f578764455bf8b4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 40.27 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.8324, 0.9695, 0.0608, -0.0307, -0.0574, 0.9991, -0.0212, 0.8089, 0.6094, -0.4561, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4648 left_y=0.0002 left_z=0.0428 left_yaw=0.0246 left_pitch=-0.2297 left_roll=-0.0048 left_gripper=0.9991 right_x=0.2856 right_y=0.0011 right_z=0.163 right_yaw=0.0022 right_pitch=-0.0717 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -8.5402, 7.9521, 1.6972, -0.1099, 0.0806, -0.0073, -0.2256, -1.6479, 7.0906, 1.7802, -0.0513, -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_x\": 0.5, \"left_y\": -0.04, \"left_z\": 0.15, \"left_pitch\": 0.3}, \"note\": \"The wrist camera still shows only table between the fingers, so the block isn't directly ahead; I'm raising the gripper and pitching down to get a wider downward view to locate the block relative to the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_015NEgx9gmNuT47LwXpGvLpx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 19 steps (1.9s)",
  "role": "tool",
  "tool_call_id": "toolu_015NEgx9gmNuT47LwXpGvLpx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1371, 1.7855, 0.8566, 0.5583, -0.1478, -0.086, 0.9991, -0.0208, 0.8139, 0.6094, -0.5007, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4987 left_y=-0.0389 left_z=0.1212 left_yaw=0.0223 left_pitch=0.2055 left_roll=-0.0075 left_gripper=0.9991 right_x=0.2788 right_y=0.0013 right_z=0.1532 right_yaw=0.0024 right_pitch=-0.1212 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -11.5077, 5.641, 2.1172, -0.188, 0.1099, -0.0122, -0.0752, -1.0735, 7.1043, 1.8339, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:711bacda1a8e7f143db3ed5bd265caf1e45b63d25fd5eff235b3d44df1f3e6f7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5229bb787409440d78707098620f5a32eb61cb1d47acc4b07c384514ef94033"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:357ea841d32ce77b3524cc6220ef44e04245f7ce20f8f40a6e0661c42449af20"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 15.3 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1028, 2.0537, 1.306, -0.0837, -0.083, -0.1215, 0.9991, -0.0212, 0.8116, 0.6094, -0.4835, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.528 left_y=-0.0362 left_z=0.0415 left_yaw=0.0222 left_pitch=-0.2558 left_roll=-0.0084 left_gripper=0.9991 right_x=0.2815 right_y=0.0011 right_z=0.157 right_yaw=0.0019 right_pitch=-0.1018 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -10.906, 7.5419, 1.4921, -0.1343, -0.0269, -0.0122, -0.1983, -1.4564, 7.1043, 1.9072, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.15, \"left_z\": 0.12, \"left_pitch\": 0.3}, \"note\": \"The wrist camera now looks forward over the table edge and the block isn't in front of the fingers; from the top camera the block sits to the arm's -y side. Moving forward and toward -y while staying high so I can watch the gripper's position relative to the block in the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VEx3TQauBsqVhav8cxqmAZ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01VEx3TQauBsqVhav8cxqmAZ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3817, 2.0483, 1.111, 0.5774, -0.374, -0.1513, 0.9991, -0.0208, 0.8173, 0.6094, -0.5243, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5399 left_y=-0.1433 left_z=0.1021 left_yaw=0.0086 left_pitch=0.2378 left_roll=0.0063 left_gripper=0.9991 right_x=0.2751 right_y=0.0013 right_z=0.1479 right_yaw=0.0023 right_pitch=-0.1483 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3179, 8.2256, 2.2295, -0.2125, 0.0073, -0.0122, -0.0205, -1.5385, 6.9949, 1.8095, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:901df5d58dc37177f55618400b4260a9eb0426e1ced0176c580d5bf87e46e237"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ffbbd8c766359a1a1ce984c75cfba89d0ea2180f9afad9901e3a80d3db384f33"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e64bd22a9c665419fbecb7fec2c2c9e7415b984e48ea8f015ae17a2be228bf9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 13.95 s

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

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1371, 1.7855, 0.8566, 0.5583, -0.1478, -0.086, 0.9991, -0.0208, 0.8139, 0.6094, -0.5007, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4987 left_y=-0.0389 left_z=0.1212 left_yaw=0.0223 left_pitch=0.2055 left_roll=-0.0075 left_gripper=0.9991 right_x=0.2788 right_y=0.0013 right_z=0.1532 right_yaw=0.0024 right_pitch=-0.1212 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -11.5077, 5.641, 2.1172, -0.188, 0.1099, -0.0122, -0.0752, -1.0735, 7.1043, 1.8339, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.56, \"left_y\": -0.13, \"left_z\": 0.05, \"left_pitch\": 0.35}, \"note\": \"Top view shows the gripper is now close to the red block, slightly behind and above it. Lowering to just above table height and nudging forward so the block should appear between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MNkbRvQFft7tmj352Fao5m",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01MNkbRvQFft7tmj352Fao5m"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3405, 2.2776, 1.1042, 0.828, -0.3626, -0.1162, 0.9991, -0.0212, 0.8192, 0.6094, -0.5514, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5529 left_y=-0.1256 left_z=0.0306 left_yaw=0.0217 left_pitch=0.2494 left_roll=0.0313 left_gripper=0.9991 right_x=0.2706 right_y=0.0013 right_z=0.1425 right_yaw=0.0024 right_pitch=-0.1773 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -12.8615, 5.2718, 2.5714, 0.0708, 0.0513, -0.0122, -0.0889, -1.388, 6.8855, 1.8828, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8527d1dd1e6e78830f2cfb0e237272338f28fa2a1c06e3008f133755231b83e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fca3637f36fe3667f8a45f27d34b427b8a5c5d3b837e36ab86c3767d9dd45da7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2cf8a4f264d71d3863bd688b38ba7981ff0d18458f9c1f59198c01dbe90478d1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 17.2 s

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

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3817, 2.0483, 1.111, 0.5774, -0.374, -0.1513, 0.9991, -0.0208, 0.8173, 0.6094, -0.5243, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5399 left_y=-0.1433 left_z=0.1021 left_yaw=0.0086 left_pitch=0.2378 left_roll=0.0063 left_gripper=0.9991 right_x=0.2751 right_y=0.0013 right_z=0.1479 right_yaw=0.0023 right_pitch=-0.1483 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.3179, 8.2256, 2.2295, -0.2125, 0.0073, -0.0122, -0.0205, -1.5385, 6.9949, 1.8095, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.57, \"left_y\": -0.145, \"left_z\": 0.02, \"left_pitch\": 0.4}, \"note\": \"Top view shows the fingertips just short of the block, which sits slightly further forward and toward -y. Shifting slightly forward and to -y at grasp height so the block ends up between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_014zhG1pdrBWssZ7tqcs2sEY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_014zhG1pdrBWssZ7tqcs2sEY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3683, 2.4306, 1.1683, 1.0233, -0.4061, -0.0971, 0.9991, -0.0212, 0.8211, 0.6094, -0.5762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5653 left_y=-0.1395 left_z=0.0143 left_yaw=0.0334 left_pitch=0.3525 left_roll=0.0212 left_gripper=0.9991 right_x=0.2664 right_y=0.0014 right_z=0.1377 right_yaw=0.0025 right_pitch=-0.204 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.5641, 6.0786, 1.9023, -0.1099, 0.2076, -0.0122, -0.0342, -1.4017, 6.8581, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29e4d934a8f2ec670283a8c0becbc8067413afaa0953a9262a3079400f28a1b5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2cdbca163ed5db43f75300a9187f64ed1162e1e717c6de3663126960a307f38c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3226362261c4a5be499b7f50d50d6a8f9d7cfd75495259bad0231233f7ac8e6b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 21.69 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3405, 2.2776, 1.1042, 0.828, -0.3626, -0.1162, 0.9991, -0.0212, 0.8192, 0.6094, -0.5514, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5529 left_y=-0.1256 left_z=0.0306 left_yaw=0.0217 left_pitch=0.2494 left_roll=0.0313 left_gripper=0.9991 right_x=0.2706 right_y=0.0013 right_z=0.1425 right_yaw=0.0024 right_pitch=-0.1773 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -12.8615, 5.2718, 2.5714, 0.0708, 0.0513, -0.0122, -0.0889, -1.388, 6.8855, 1.8828, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.545, \"left_y\": -0.14, \"left_z\": 0.01, \"left_pitch\": 0.4}, \"note\": \"Top view suggests the block is now slightly behind the fingertips, near the jaw base, while the wrist camera still shows clear table between the fingers. Backing up ~2 cm and settling to table height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019JJ9MqP165MT5kYRGb5xEf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_019JJ9MqP165MT5kYRGb5xEf"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3763, 2.439, 1.1149, 1.1263, -0.421, -0.0914, 0.999, -0.0212, 0.8215, 0.6094, -0.5877, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5547 left_y=-0.1377 left_z=0.0145 left_yaw=0.0419 left_pitch=0.3915 left_roll=0.0127 left_gripper=0.999 right_x=0.2644 right_y=0.0015 right_z=0.1356 right_yaw=0.0024 right_pitch=-0.2158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.8684, -11.535, 3.8632, 1.0134, -0.0317, 0.1978, -0.0171, -0.0615, -0.9915, 6.8444, 1.8486, -0.0366, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9cc9fd47bba0e16fc15d0c152ad4e46aa3bf5723b775c463247eda1e8104bf6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc66ef3b84fe4c301e8eb268d7eaaace14fc75eb679a7fca49769d06e1acc032"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c4b7e50bcc5e717b0c836a63ae3ecafa7fae4b02b21430a5adc573ec9f7b2ffb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 25.37 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3683, 2.4306, 1.1683, 1.0233, -0.4061, -0.0971, 0.9991, -0.0212, 0.8211, 0.6094, -0.5762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5653 left_y=-0.1395 left_z=0.0143 left_yaw=0.0334 left_pitch=0.3525 left_roll=0.0212 left_gripper=0.9991 right_x=0.2664 right_y=0.0014 right_z=0.1377 right_yaw=0.0025 right_pitch=-0.204 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.5641, 6.0786, 1.9023, -0.1099, 0.2076, -0.0122, -0.0342, -1.4017, 6.8581, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.12, \"left_z\": 0.015, \"left_pitch\": 0.4}, \"note\": \"In the top view the red block sits just above-left of the jaws, meaning it's slightly behind and toward +y of the fingers. Backing up ~2 cm and shifting +y ~2 cm to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Kb1qqP39Z4NU4YLquwmfmM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Kb1qqP39Z4NU4YLquwmfmM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6125, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.26 right_y=0.0016 right_z=0.131 right_yaw=0.0025 right_pitch=-0.2421 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 3.4803, 1.9072, -0.1148, 0.0659, -0.0073, -0.0342, -1.1966, 6.8171, 1.6972, -0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28562389ef2080f3522903da6892473c34af12a7ed65b10caee0893697b0f9d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf97e925fb81aeb4ae78d9523d06e6f76716528253ffcf0e86e8045694c3dce8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:066be2da1f7aac2fa5c37c4cc61cb448a341e5c3efa0b10cd9bd7724b024cc36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 21.06 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3763, 2.439, 1.1149, 1.1263, -0.421, -0.0914, 0.999, -0.0212, 0.8215, 0.6094, -0.5877, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5547 left_y=-0.1377 left_z=0.0145 left_yaw=0.0419 left_pitch=0.3915 left_roll=0.0127 left_gripper=0.999 right_x=0.2644 right_y=0.0015 right_z=0.1356 right_yaw=0.0024 right_pitch=-0.2158 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.8684, -11.535, 3.8632, 1.0134, -0.0317, 0.1978, -0.0171, -0.0615, -0.9915, 6.8444, 1.8486, -0.0366, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.17, \"left_z\": 0.02, \"left_pitch\": 0.4}, \"note\": \"The top view shows the red block just below the gripper jaws in the image, which corresponds to more negative y in the arm frame, and the wrist camera confirms nothing between the fingers yet. Shifting about 3 cm toward -y at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WyTtZujb8LE5d1yMNzbWBf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01WyTtZujb8LE5d1yMNzbWBf"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.174, -0.4248, -0.091, 0.999, -0.0212, 0.823, 0.6094, -0.6235, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1402 left_z=0.0156 left_yaw=0.0389 left_pitch=0.4092 left_roll=0.0054 left_gripper=0.999 right_x=0.258 right_y=0.0016 right_z=0.1292 right_yaw=0.0026 right_pitch=-0.2532 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -11.3573, 3.7949, 1.8877, -0.1587, 0.0366, -0.0073, -0.1573, -1.1966, 6.8308, 1.6386, -0.0415, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f740f7d7723b8153420401177f317a79d00b036636ee0f848c93a87aa734942b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7be4d5a0a19be6fc1a62545114c9b8643532686694d7970aeacf4dd2ccb03ce"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1eabe256d8563eff34b3934d23611c3a580da2801c71cb80a194204b92b3bea2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 27.21 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6125, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.26 right_y=0.0016 right_z=0.131 right_yaw=0.0025 right_pitch=-0.2421 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 3.4803, 1.9072, -0.1148, 0.0659, -0.0073, -0.0342, -1.1966, 6.8171, 1.6972, -0.022, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.585, \"left_y\": -0.155, \"left_z\": 0.015, \"left_pitch\": 0.4}, \"note\": \"The arm barely moved last step and the block still sits just ahead of the fingertips in the top view, with nothing between the fingers in the wrist camera. Probing ~4 cm further forward and slightly -y at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TBP214pF2ar7JCNSegBC1B",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TBP214pF2ar7JCNSegBC1B"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6353, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.2558 right_y=0.0016 right_z=0.1272 right_yaw=0.0026 right_pitch=-0.265 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -11.3299, 3.5487, 1.873, -0.1392, 0.105, -0.0122, -0.1709, -1.1419, 6.9128, 1.5409, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1233f974001dc02722bb44f46c4f7ffb22759bdf01865c1f8bbfc32b9ce4d942"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4c54370e315626111c906e5bc6922bc57bf2372dc2869f5124c6c754bc28526c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53d44b39122a7fab1c436a7a7f503362dfc59523d52a813eb374060ee042844a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 17.46 s

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

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.174, -0.4248, -0.091, 0.999, -0.0212, 0.823, 0.6094, -0.6235, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1402 left_z=0.0156 left_yaw=0.0389 left_pitch=0.4092 left_roll=0.0054 left_gripper=0.999 right_x=0.258 right_y=0.0016 right_z=0.1292 right_yaw=0.0026 right_pitch=-0.2532 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -11.3573, 3.7949, 1.8877, -0.1587, 0.0366, -0.0073, -0.1573, -1.1966, 6.8308, 1.6386, -0.0415, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.575, \"left_y\": -0.145, \"left_z\": 0.02, \"left_pitch\": 0.55}, \"note\": \"The arm didn't move at all last two commands\\u2014likely the IK can't extend further at this pitch. The block is ~3 cm forward of the grasp point in the top view. Pitching down more (0.55) so the wrist rises and the grasp point can reach forward to the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W6cfMeBmmNMtN3gK55BG5z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01W6cfMeBmmNMtN3gK55BG5z"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.379, 2.5523, 1.2167, 1.2865, -0.4313, -0.0589, 0.999, -0.0212, 0.8288, 0.6075, -0.6586, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5726 left_y=-0.1447 left_z=0.0235 left_yaw=0.0599 left_pitch=0.5273 left_roll=-0.0189 left_gripper=0.999 right_x=0.2511 right_y=0.0017 right_z=0.1214 right_yaw=0.0029 right_pitch=-0.2959 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.441, 4.9436, 1.8193, 0.1099, 0.1685, -0.0171, -0.0342, -1.6342, 7.1726, 1.6581, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:98ff240d9cdf298b6161532754897149726865bbd7a07cb825e3dab9169373da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e0bc25e39484619c814017593c345ee897c0e09eac7c7d9655a24c179c3bc33"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a0c266296cf2450ea25f10d3bf03e2348de88d2019a17857ca4dbc8fb21dafa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 15.05 s

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

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3859, 2.439, 1.0863, 1.1744, -0.4248, -0.0906, 0.999, -0.0212, 0.823, 0.6094, -0.6353, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5482 left_y=-0.1403 left_z=0.0157 left_yaw=0.0387 left_pitch=0.4095 left_roll=0.0056 left_gripper=0.999 right_x=0.2558 right_y=0.0016 right_z=0.1272 right_yaw=0.0026 right_pitch=-0.265 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -11.3299, 3.5487, 1.873, -0.1392, 0.105, -0.0122, -0.1709, -1.1419, 6.9128, 1.5409, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.59, \"left_y\": -0.155, \"left_z\": 0.012, \"left_pitch\": 0.55}, \"note\": \"With the extra pitch the arm reached further; the top view shows the block just ahead and slightly to -y of the fingertips. Advancing ~2 cm forward and 1 cm to -y at grasp height to put the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0124G8rmK1uzVgVdkef9Gyx3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0124G8rmK1uzVgVdkef9Gyx3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3798, 2.5961, 1.301, 1.3182, -0.4397, -0.0437, 0.999, -0.0212, 0.8288, 0.6067, -0.6674, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5867 left_y=-0.1494 left_z=0.0352 left_yaw=0.0773 left_pitch=0.5926 left_roll=-0.0377 left_gripper=0.999 right_x=0.2493 right_y=0.0018 right_z=0.1197 right_yaw=0.0031 right_pitch=-0.3054 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -10.1812, 4.1504, 1.5995, -0.0513, -0.0317, -0.0171, -0.0615, -1.1692, 6.8034, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f23bdfcbc9ec27d2999ed5bfa81b19dc545be318b7865ff0a1b7eb2146a2b5f4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9997cf577e4b64f8af372e1d1fc99741f9560b2ea0b93d5111b6c9256181c18"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f48db9544c895c4eab5f2fb0608b17edafad68310e2e8617680ae2f68c47ea4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 31.69 s

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

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.379, 2.5523, 1.2167, 1.2865, -0.4313, -0.0589, 0.999, -0.0212, 0.8288, 0.6075, -0.6586, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5726 left_y=-0.1447 left_z=0.0235 left_yaw=0.0599 left_pitch=0.5273 left_roll=-0.0189 left_gripper=0.999 right_x=0.2511 right_y=0.0017 right_z=0.1214 right_yaw=0.0029 right_pitch=-0.2959 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -10.441, 4.9436, 1.8193, 0.1099, 0.1685, -0.0171, -0.0342, -1.6342, 7.1726, 1.6581, -0.0366, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.595, \"left_y\": -0.17, \"left_z\": 0.015, \"left_pitch\": 0.55}, \"note\": \"The top view shows the red block just below (in image) the gripper jaws, which is toward -y; the wrist camera still shows empty table between the fingers. Shifting ~2 cm toward -y and staying low to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BeK9ukkAXquDehMWEWSewt",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BeK9ukkAXquDehMWEWSewt"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0208, 0.8314, 0.6067, -0.6765, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2476 right_y=0.0019 right_z=0.1177 right_yaw=0.0034 right_pitch=-0.3173 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.0718, 5.2855, 1.5214, -0.0317, 0.0171, -0.0122, -0.0752, -1.3744, 6.8581, 1.453, -0.0562, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c74b85948d35ff551955afb07e7801ef6a65a5e8b22a9761f74dcdecadc0805"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd72c7a46f45dc411e2097a2a1a293641b5bf82b5f6dcf64130f409e57187425"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa61a423216025421b6d83c53bf60750eee91816b02777e8a7060d1c72e9305a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 57.48 s

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

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3798, 2.5961, 1.301, 1.3182, -0.4397, -0.0437, 0.999, -0.0212, 0.8288, 0.6067, -0.6674, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5867 left_y=-0.1494 left_z=0.0352 left_yaw=0.0773 left_pitch=0.5926 left_roll=-0.0377 left_gripper=0.999 right_x=0.2493 right_y=0.0018 right_z=0.1197 right_yaw=0.0031 right_pitch=-0.3054 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -10.1812, 4.1504, 1.5995, -0.0513, -0.0317, -0.0171, -0.0615, -1.1692, 6.8034, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.578, \"left_y\": -0.18, \"left_z\": 0.018, \"left_pitch\": 0.55}, \"note\": \"The gripper barely moved; it may be near its reach limit at x=0.59. The block sits just to the -y side of the jaws in the top view. Pulling x back slightly to ease IK while pushing further to -y to slide the jaws over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RxEwXUrrK3sLQsT72TcMDA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RxEwXUrrK3sLQsT72TcMDA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0212, 0.8341, 0.6056, -0.68, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2467 right_y=0.0018 right_z=0.1161 right_yaw=0.0033 right_pitch=-0.3245 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.1265, 5.2718, 1.5214, 0.022, 0.0317, -0.0171, 0.0615, -1.388, 6.9128, 1.3895, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b42f478be39c1771826fcfefc84dda4e52baeec05b28cd12138895fc218f93a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f691a5155ba2308dbbb79e7fb1df4054dca07c2f963ab5b0c2afc4102e591f3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0776b7ebccf1b56c33f52087734c9c5195d68451b2c48fe2e1a61b38f7ada019"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 32.53 s

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

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0208, 0.8314, 0.6067, -0.6765, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2476 right_y=0.0019 right_z=0.1177 right_yaw=0.0034 right_pitch=-0.3173 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.0718, 5.2855, 1.5214, -0.0317, 0.0171, -0.0122, -0.0752, -1.3744, 6.8581, 1.453, -0.0562, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.565, \"left_y\": -0.182, \"left_z\": 0.04, \"left_yaw\": 0.0, \"left_pitch\": 0.55}, \"note\": \"The left arm froze for two commands\\u2014likely because I commanded z below the table while the fingers rested on it (actual z stuck at 0.035). Keeping z at 0.04 and moving laterally: the block appears ~3cm behind and ~3cm to -y of the fingertips in the top view, so targeting (0.565, -0.182).\"}",
        "name": "move_to"
      },
      "id": "toolu_01PB6y5JpBFSvvpzudCYhS23",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PB6y5JpBFSvvpzudCYhS23"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3323, 1.3041, -0.4427, -0.0532, 0.999, -0.0212, 0.8352, 0.6056, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5918 left_y=-0.1519 left_z=0.0357 left_yaw=0.0865 left_pitch=0.5964 left_roll=-0.0517 left_gripper=0.999 right_x=0.2424 right_y=0.0019 right_z=0.1126 right_yaw=0.0035 right_pitch=-0.3474 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -10.2632, 5.4085, 1.5604, -0.0024, 0.0122, -0.0171, -0.0615, -1.2513, 6.6803, 1.5507, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d28f09a3156ccb0c2b4096be45552e187b0f6e60783cc29b09c107012c3bffaa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bb6d82a2a517b8c567332350ece2b4036bbe228cb0f436ad88ccead7b583eab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b553289cf6b6a033dce3866bfabaf37fd7fd1772fd74b28b56a207357a9ed311"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 28 s

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

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3315, 1.3045, -0.4427, -0.0532, 0.999, -0.0212, 0.8341, 0.6056, -0.68, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5917 left_y=-0.1518 left_z=0.0355 left_yaw=0.0864 left_pitch=0.5961 left_roll=-0.0515 left_gripper=0.999 right_x=0.2467 right_y=0.0018 right_z=0.1161 right_yaw=0.0033 right_pitch=-0.3245 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.1265, 5.2718, 1.5214, 0.022, 0.0317, -0.0171, 0.0615, -1.388, 6.9128, 1.3895, -0.0611, -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\": 0.58, \"left_y\": -0.16, \"left_z\": 0.15, \"left_pitch\": 0.3, \"left_yaw\": 0.0}, \"note\": \"The left arm has been stuck for three commands, likely jammed with pitch at its 0.6 limit and fingers on the table. Retracting upward with less pitch to free it, positioning above the block for a clean top-down descent.\"}",
        "name": "move_to"
      },
      "id": "toolu_011yfFo5jbFnV36SYDQNGCTc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011yfFo5jbFnV36SYDQNGCTc"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3771, 2.1559, 1.2961, 0.5728, -0.3683, -0.1692, 0.999, -0.0208, 0.8371, 0.6056, -0.7219, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5795 left_y=-0.1572 left_z=0.1193 left_yaw=0.0261 left_pitch=0.3042 left_roll=-0.0424 left_gripper=0.999 right_x=0.2384 right_y=0.0022 right_z=0.1092 right_yaw=0.0042 right_pitch=-0.3695 right_roll=0.0113 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -16.7316, 9.2103, 2.127, 0.2076, 0.0513, -0.0122, -0.0342, -1.3333, 6.7624, 1.4969, -0.0562, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aff867ebf32908260a5a783a0822487cef66c18f783fd4b6ff2ca299233435e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c16f5c7a25ed769efc551eff630b541475d83fb98dbdbd1ce15a18d940f5f2ac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:445801fd7806f8788e1b59c9f91ff91fb060b0847aa15763d35ea8554fedc749"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 20.04 s

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

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.6087, 1.3323, 1.3041, -0.4427, -0.0532, 0.999, -0.0212, 0.8352, 0.6056, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5918 left_y=-0.1519 left_z=0.0357 left_yaw=0.0865 left_pitch=0.5964 left_roll=-0.0517 left_gripper=0.999 right_x=0.2424 right_y=0.0019 right_z=0.1126 right_yaw=0.0035 right_pitch=-0.3474 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -10.2632, 5.4085, 1.5604, -0.0024, 0.0122, -0.0171, -0.0615, -1.2513, 6.6803, 1.5507, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.585, \"left_y\": -0.175, \"left_z\": 0.05, \"left_pitch\": 0.5, \"left_yaw\": 0.0, \"left_gripper\": 1}, \"note\": \"The arm is freed and raised; I realize the raised gripper appears shifted in the top camera due to parallax, so the block is really slightly forward and to -y of my last grasp attempt. Descending to (0.585, -0.175) just above the table with pitch 0.5 to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KCfLdMqEaRWrr265hCUNsF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01KCfLdMqEaRWrr265hCUNsF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3981, 2.4493, 1.2617, 1.0, -0.382, -0.1089, 0.9992, -0.0212, 0.8398, 0.6056, -0.7322, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5806 left_y=-0.1688 left_z=0.0324 left_yaw=-0.0032 left_pitch=0.398 left_roll=-0.0178 left_gripper=0.9992 right_x=0.2363 right_y=0.0021 right_z=0.1072 right_yaw=0.0036 right_pitch=-0.3825 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -11.8222, 6.735, 2.3272, -0.1294, 0.1343, -0.0952, -0.0342, -1.388, 6.6393, 1.37, -0.0171, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fdd89931c76b1e5cc1e19f62cba637023ea5310bba318ccd6b74bb72b725cfa4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc038d6ad96cc0542b5bfcdb7126eb9f7dd38b025563ffe590e19060ea3a6003"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0dac59b8d29a8c12f7ec560fd7ef6e6a1632b73edaada1910332e3011610f20d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}