adhoc

completed
2026-09-03T04:36:21.743805+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5
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
575.8 s
total steps
118
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

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
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe top camera shows a red block left of the bowl; the left wrist camera sees the block nearby, so I'll move the left arm forward and down a bit to scout its position.
move_to
left_x0.3500left_y-0.0500left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3885, -0.0193, -0.0338, 0.9985, -0.0212, 0.7952, 0.6071, -0.3958, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1787 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2931 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.388, 10.1675, 1.9609, -0.0269, 0.188, -0.1587, -0.4034, -1.6752, 9.7026, 1.9316, -0.0708, 0.1099, -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
move_to({"targets": {"left_x": 0.35, "left_y": -0.05, "left_z": 0.12, "left_gripper": 1}, "note": "The top camera shows a red block left of the bowl; the left wrist camera sees the block nearby, so I'll move the left arm forward and down a bit to scout its position."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe left wrist camera shows the red block at the bottom-right, close to the gripper; I'll move forward and lower to line up above the block.
move_to
left_x0.4000left_y-0.0600left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.247, 1.1507, 0.5259, -0.086, -0.1768, -0.1455, 0.9986, -0.0212, 0.8005, 0.6132, -0.4198, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3295 left_y=-0.0474 left_z=0.0993 left_yaw=-0.0342 left_pitch=-0.1213 left_roll=0.0193 left_gripper=0.9986 right_x=0.2909 right_y=0.001 right_z=0.1742 right_yaw=0.0005 right_pitch=-0.0233 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.1846, -4.6564, 6.735, 1.8339, -0.2759, -0.0464, -0.1587, -0.0752, -1.6615, 6.5983, 1.9707, -0.0366, -0.0171, -0.0171] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.06}, "note": "The left wrist camera shows the red block at the bottom-right, close to the gripper; I'll move forward and lower to line up above the block."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe block dropped out of the wrist view but the top camera shows it slightly ahead of the left gripper; I'll advance forward and lower to just above table height.
move_to
left_x0.4200left_y-0.0550left_z0.0350
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.234, 1.549, 0.6193, 0.1211, -0.1757, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4416, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3751 left_y=-0.054 left_z=0.0391 left_yaw=-0.0139 left_pitch=-0.2167 left_roll=0.0336 left_gripper=0.9985 right_x=0.2875 right_y=0.001 right_z=0.1671 right_yaw=0.0006 right_pitch=-0.0526 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.253, -6.5846, 7.9521, 1.8779, 0.022, 0.1538, -0.0269, -0.0479, -1.5385, 7.4462, 1.873, -0.0611, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.055, "left_z": 0.035}, "note": "The block dropped out of the wrist view but the top camera shows it slightly ahead of the left gripper; I'll advance forward and lower to just above table height."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe gripper only advanced slightly (deltas clamped) and the block still sits just ahead of the fingers in the top view; I'll keep moving forward at low height.
move_to
left_x0.4300left_y-0.0550left_z0.0350
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4553, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2854 right_y=0.0011 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.212, -6.8171, 7.6786, 1.917, -0.0171, 0.1587, -0.0171, -0.0615, -1.1966, 6.9949, 1.8291, -0.0659, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.055, "left_z": 0.035}, "note": "The gripper only advanced slightly (deltas clamped) and the block still sits just ahead of the fingers in the top view; I'll keep moving forward at low height."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe left arm didn't advance—likely an awkward IK pose with the sagged pitch; I'll command a level tool orientation and a slightly higher target to keep moving toward the block.
move_to
left_x0.4400left_y-0.0550left_z0.0500left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4755, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2824 right_y=0.0011 right_z=0.1605 right_yaw=0.0003 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [0.3897, -6.5162, 7.6923, 1.9707, 0.022, 0.1538, -0.0122, -0.1709, -1.2513, 7.0085, 1.956, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.055, "left_z": 0.05, "left_pitch": 0, "left_yaw": 0}, "note": "The left arm didn't advance\u2014likely an awkward IK pose with the sagged pitch; I'll command a level tool orientation and a slightly higher target to keep moving toward the block."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteTop view shows the red block still just ahead of the left gripper; the wrist camera shows clear table between the fingers, so I'll advance a few more centimeters and lower nearly to table height.
move_to
left_x0.4600left_y-0.0500left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2142, 1.7458, 0.6518, 0.3794, -0.1894, -0.1421, 0.9985, -0.0212, 0.807, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4141 left_y=-0.0524 left_z=0.0223 left_yaw=0.0074 left_pitch=-0.1233 left_roll=0.0309 left_gripper=0.9985 right_x=0.2786 right_y=0.0012 right_z=0.155 right_yaw=0.0003 right_pitch=-0.114 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [0.5949, -6.9675, 7.8974, 1.9609, -0.188, 0.232, -0.0122, -0.0752, -1.3333, 6.9265, 1.8339, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.46, "left_y": -0.05, "left_z": 0.02}, "note": "Top view shows the red block still just ahead of the left gripper; the wrist camera shows clear table between the fingers, so I'll advance a few more centimeters and lower nearly to table height."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteTop view shows the block just beyond the left fingertips; it isn't in the wrist view yet, so I'll advance ~4 cm more at table height.
move_to
left_x0.4900left_y-0.0450left_z0.0150
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1799, 1.8801, 0.7921, 0.3466, -0.1841, -0.1356, 0.9985, -0.0212, 0.8097, 0.6094, -0.5171, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4463 left_y=-0.0446 left_z=0.0099 left_yaw=0.0345 left_pitch=-0.1503 left_roll=0.0382 left_gripper=0.9985 right_x=0.276 right_y=0.0012 right_z=0.1512 right_yaw=0.0004 right_pitch=-0.1335 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.0615, -8.5128, 7.2, 1.6874, 0.1099, 0.1441, -0.0122, -0.1846, -1.4701, 6.9128, 1.8535, -0.0415, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.045, "left_z": 0.015}, "note": "Top view shows the block just beyond the left fingertips; it isn't in the wrist view yet, so I'll advance ~4 cm more at table height."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteBlock still sits a couple of centimeters ahead of the fingertips in the top view and isn't visible in the wrist cam yet; continuing forward slowly at table height.
move_to
left_x0.5100left_y-0.0500left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1635, 1.9781, 0.9463, 0.2642, -0.1768, -0.1356, 0.9985, -0.0212, 0.8116, 0.6094, -0.5453, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4767 left_y=-0.0435 left_z=0.0056 left_yaw=0.0457 left_pitch=-0.1771 left_roll=0.0389 left_gripper=0.9985 right_x=0.2714 right_y=0.0013 right_z=0.1455 right_yaw=0.0005 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [0.294, -9.0325, 7.3641, 1.5946, -0.0757, 0.1441, -0.0122, -0.1299, -1.3607, 6.9949, 1.917, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.05, "left_z": 0.01}, "note": "Block still sits a couple of centimeters ahead of the fingertips in the top view and isn't visible in the wrist cam yet; continuing forward slowly at table height."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe wrist cam still shows only bare table, and the top view shows the block ahead and slightly to the arm's right (-y); I'll shift a few cm forward and toward -y to line the block up between the fingers.
move_to
left_x0.5500left_y-0.0900left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1631, 2.048, 1.0698, 0.1997, -0.1772, -0.1467, 0.9985, -0.0212, 0.8139, 0.6094, -0.5682, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5006 left_y=-0.0472 left_z=0.0057 left_yaw=0.0529 left_pitch=-0.1872 left_roll=0.0333 left_gripper=0.9985 right_x=0.2676 right_y=0.0014 right_z=0.1409 right_yaw=0.0006 right_pitch=-0.1888 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.4444, -9.8667, 7.0085, 1.4335, -0.1587, 0.0757, -0.0171, -0.0479, -0.9231, 6.8991, 1.8388, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.09, "left_z": 0.01}, "note": "The wrist cam still shows only bare table, and the top view shows the block ahead and slightly to the arm's right (-y); I'll shift a few cm forward and toward -y to line the block up between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteTop view shows the block just ahead of the left fingertips now; wrist cam still shows bare table, so I'll creep forward another ~3 cm at table height to bring the block between the jaws.
move_to
left_x0.5800left_y-0.0800left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2329, 2.1868, 1.319, 0.0834, -0.2184, -0.1982, 0.9984, -0.0212, 0.8169, 0.6094, -0.5938, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5433 left_y=-0.0858 left_z=0.0081 left_yaw=0.0465 left_pitch=-0.185 left_roll=0.0255 left_gripper=0.9984 right_x=0.2632 right_y=0.0015 right_z=0.1357 right_yaw=0.0007 right_pitch=-0.2174 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.2667, -11.5487, 7.2547, 1.3895, -0.2466, -0.0122, -0.0171, -0.1846, -1.3333, 6.8308, 1.7949, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.08, "left_z": 0.005}, "note": "Top view shows the block just ahead of the left fingertips now; wrist cam still shows bare table, so I'll creep forward another ~3 cm at table height to bring the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe wrist cam still shows only bare table even at x=0.57, so I'm misaligned laterally; I'll lift the gripper to get a wider wrist-camera view and relocate the block.
move_to
left_x0.5500left_y-0.0800left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2127, 2.2734, 1.4662, 0.0257, -0.2131, -0.2039, 0.9984, -0.0212, 0.8204, 0.6094, -0.6147, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5714 left_y=-0.0815 left_z=0.0072 left_yaw=0.0653 left_pitch=-0.183 left_roll=0.0168 left_gripper=0.9984 right_x=0.2595 right_y=0.0016 right_z=0.1313 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.3897, -11.5761, 7.2137, 1.4725, 0.105, 0.149, -0.0122, -0.0889, -1.3744, 6.8718, 1.6874, -0.0024, -0.0513, -0.0073] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.08, "left_z": 0.09}, "note": "The wrist cam still shows only bare table even at x=0.57, so I'm misaligned laterally; I'll lift the gripper to get a wider wrist-camera view and relocate the block."})
tool
executing move_to over 6 steps (0.6s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe wrist camera keeps showing bare table, so my lateral alignment is off; I'll raise the gripper and pitch it forward-down to survey the table and find the block relative to the fingers.
move_to
left_x0.4800left_y-0.0600left_z0.1500left_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]: [-0.2192, 2.1151, 1.4605, -0.165, -0.2073, -0.2119, 0.9984, -0.0212, 0.8242, 0.6064, -0.6392, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5489 left_y=-0.0813 left_z=0.0589 left_yaw=0.0606 left_pitch=-0.2207 left_roll=0.0176 left_gripper=0.9984 right_x=0.2545 right_y=0.0017 right_z=0.1251 right_yaw=0.001 right_pitch=-0.2731 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.1026, -14.8034, 8.3214, 1.619, -0.2466, -0.0024, -0.0122, -0.1026, -0.9641, 7.1863, 1.7265, -0.0171, -0.0317, -0.0073] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.06, "left_z": 0.15, "left_pitch": 0.35}, "note": "The wrist camera keeps showing bare table, so my lateral alignment is off; I'll raise the gripper and pitch it forward-down to survey the table and find the block relative to the fingers."})
tool
executing move_to over 20 steps (2.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe wrist camera shows no block even after sweeping forward, so my lateral estimate is wrong; I'll move to a known reference pose (x=0.45, y=0) with the camera pitched down and use the top camera to compare gripper vs block positions.
move_to
left_x0.4500left_y0.0000left_z0.0800left_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]: [-0.2363, 1.7607, 0.7685, 0.6434, -0.2985, -0.0971, 0.9984, -0.0212, 0.8242, 0.606, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4785 left_y=-0.0581 left_z=0.1175 left_yaw=0.0583 left_pitch=0.2433 left_roll=0.0308 left_gripper=0.9984 right_x=0.251 right_y=0.0017 right_z=0.122 right_yaw=0.0012 right_pitch=-0.2918 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.7316, -10.8239, 5.9966, 2.2784, -0.2271, 0.0855, -0.0122, -0.0342, -0.8821, 6.9675, 1.6337, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": 0.0, "left_z": 0.08, "left_pitch": 0.4}, "note": "The wrist camera shows no block even after sweeping forward, so my lateral estimate is wrong; I'll move to a known reference pose (x=0.45, y=0) with the camera pitched down and use the top camera to compare gripper vs block positions."})
tool
executing move_to over 6 steps (0.6s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe wrist camera never picked up the block while advancing, so I likely overshot it; early on the block appeared at the bottom-right of the wrist view, suggesting it sits nearer the base and further to the arm's right. Backing up to x≈0.36, y≈-0.12 with the camera pitched down to search.
move_to
left_x0.3600left_y-0.1200left_z0.1400left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0792, 1.9186, 0.5201, 1.0988, -0.181, -0.0372, 0.9984, -0.0212, 0.8246, 0.6056, -0.6758, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4457 left_y=0.0001 left_z=0.0573 left_yaw=0.083 left_pitch=0.2813 left_roll=0.0405 left_gripper=0.9984 right_x=0.2474 right_y=0.0018 right_z=0.1189 right_yaw=0.0013 right_pitch=-0.3108 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.2256, -7.0632, 3.9179, 2.3516, 0.0366, 0.1001, -0.0122, -0.1709, -1.2103, 6.735, 1.6044, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.14, "left_pitch": 0.45}, "note": "The wrist camera never picked up the block while advancing, so I likely overshot it; early on the block appeared at the bottom-right of the wrist view, suggesting it sits nearer the base and further to the arm's right. Backing up to x\u22480.36, y\u2248-0.12 with the camera pitched down to search."})
tool
executing move_to over 11 steps (1.1s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteTop camera now shows the left gripper right next to the red block, with the block just beyond it toward the bowl; the block is near x≈0.40, y≈-0.13. I'll move over that spot at z=0.06 and check the wrist view.
move_to
left_x0.4000left_y-0.1300left_z0.0600left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6365, 1.5642, 0.371, 1.0004, -0.6815, -0.1093, 0.9984, -0.0212, 0.8288, 0.6037, -0.6838, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3643 left_y=-0.1264 left_z=0.1309 left_yaw=0.0288 left_pitch=0.4266 left_roll=0.0391 left_gripper=0.9984 right_x=0.2456 right_y=0.0019 right_z=0.1159 right_yaw=0.0017 right_pitch=-0.3249 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.0752, -6.612, 4.8068, 1.8339, -0.2759, 0.0171, -0.0122, -0.1299, -1.4838, 6.8718, 1.4432, -0.0513, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.4, "left_y": -0.13, "left_z": 0.06, "left_pitch": 0.45}, "note": "Top camera now shows the left gripper right next to the red block, with the block just beyond it toward the bowl; the block is near x\u22480.40, y\u2248-0.13. I'll move over that spot at z=0.06 and check the wrist view."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteTop view shows the red block just ahead of the left gripper jaws (a few cm toward the bowl); I'll advance to x≈0.44 at low height so the block slides between the fingers.
move_to
left_x0.4400left_y-0.1200left_z0.0300left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5751, 2.0518, 0.44, 1.3918, -0.646, -0.1059, 0.9984, -0.0212, 0.8326, 0.6029, -0.6991, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3941 left_y=-0.1244 left_z=0.053 left_yaw=0.0488 left_pitch=0.4004 left_roll=0.0542 left_gripper=0.9984 right_x=0.2424 right_y=0.002 right_z=0.1125 right_yaw=0.0019 right_pitch=-0.3448 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [0.253, -6.9675, 2.7282, 1.326, 0.0562, 0.2466, -0.0122, -0.0889, -1.4564, 6.7761, 1.4823, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.12, "left_z": 0.03, "left_pitch": 0.45}, "note": "Top view shows the red block just ahead of the left gripper jaws (a few cm toward the bowl); I'll advance to x\u22480.44 at low height so the block slides between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteTop view shows the red block right beside the left fingertips, slightly toward +y; I'll descend onto it at x≈0.43, y≈-0.095 with the gripper open.
move_to
left_x0.4300left_y-0.0950left_z0.0150left_pitch0.4500left_gripper1.0000
agent noteClosing the left gripper to grasp the red block.
move_to
left_gripper0.0000
agent noteLifting the block well above the table before carrying it toward the bowl.
move_to
left_z0.2000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4927, 2.2356, 0.5995, 1.5658, -0.5934, -0.0944, 0.9984, -0.0212, 0.836, 0.6018, -0.7101, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4388 left_y=-0.1194 left_z=0.0564 left_yaw=0.118 left_pitch=0.5179 left_roll=-0.0365 left_gripper=0.9984 right_x=0.24 right_y=0.002 right_z=0.1097 right_yaw=0.0017 right_pitch=-0.3604 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [0.3897, -6.5573, 2.1128, 0.9011, 0.1929, 0.359, -0.0122, -0.1299, -1.4017, 6.7487, 1.4432, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.095, "left_z": 0.015, "left_pitch": 0.45, "left_gripper": 1}, "note": "Top view shows the red block right beside the left fingertips, slightly toward +y; I'll descend onto it at x\u22480.43, y\u2248-0.095 with the gripper open."})
move_to({"targets": {"left_gripper": 0}, "note": "Closing the left gripper to grasp the red block."})
move_to({"targets": {"left_z": 0.2, "left_gripper": 0}, "note": "Lifting the block well above the table before carrying it toward the bowl."})
tool
executing move_to over 3 steps (0.3s)
tool
ignored: one tool call per turn
tool
ignored: one tool call per turn
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteTop view shows the red block right at the left fingertips, slightly beyond them; descending to table height at x=0.45, y=-0.10 with the jaws open to straddle the block.
move_to
left_x0.4500left_y-0.1000left_z0.0120left_pitch0.4500left_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]: [-0.4835, 2.2543, 0.6163, 1.5864, -0.5781, -0.0902, 0.9985, -0.0212, 0.836, 0.6018, -0.725, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4433 left_y=-0.1197 left_z=0.0572 left_yaw=0.1159 left_pitch=0.5329 left_roll=-0.0448 left_gripper=0.9985 right_x=0.237 right_y=0.002 right_z=0.1075 right_yaw=0.0018 right_pitch=-0.3753 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.8855, 2.2222, 1.1258, 0.1392, 0.3346, -0.1587, -0.212, -0.9231, 6.6667, 1.4335, -0.0415, -0.0708, -0.0073] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.1, "left_z": 0.012, "left_pitch": 0.45, "left_gripper": 1}, "note": "Top view shows the red block right at the left fingertips, slightly beyond them; descending to table height at x=0.45, y=-0.10 with the jaws open to straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe arm hasn't moved on the last two commands—likely the pitched-down pose is unreachable at that low height—so I'm flattening the tool (pitch 0.1) and descending to z=0.02 over the block, jaws open.
move_to
left_x0.4500left_y-0.1000left_z0.0200left_yaw0.0000left_pitch0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4835, 2.2543, 0.6163, 1.5864, -0.5766, -0.0902, 0.9985, -0.0212, 0.8379, 0.6018, -0.7322, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4433 left_y=-0.12 left_z=0.0572 left_yaw=0.1144 left_pitch=0.5328 left_roll=-0.0449 left_gripper=0.9985 right_x=0.2355 right_y=0.0021 right_z=0.1061 right_yaw=0.0019 right_pitch=-0.3844 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.1573, -6.7077, 2.2222, 1.1209, 0.0855, 0.3492, -0.1587, -0.1846, -1.2923, 6.7897, 1.3504, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.1, "left_z": 0.02, "left_yaw": 0, "left_pitch": 0.1, "left_gripper": 1}, "note": "The arm hasn't moved on the last two commands\u2014likely the pitched-down pose is unreachable at that low height\u2014so I'm flattening the tool (pitch 0.1) and descending to z=0.02 over the block, jaws open."})
tool
executing move_to over 15 steps (1.5s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteI have exhausted my call budget without securing a grasp. The final observation shows the left gripper adjacent to the red block near the bowl, but I cannot complete the descend–close–lift–transport–release sequence in the remaining turn.
give_up
hindsightKey facts for this rig: (1) The red block sits near x≈0.45, y≈-0.10 in the LEFT arm frame, with the bowl just beyond it around x≈0.50, y≈-0.15; do not waste calls sweeping forward to x=0.55+ — the block is closer to the base than the top camera suggests. (2) The top camera view: left arm enters from image-left, image-right is roughly +x, and the bowl is to the block's +x/-y side. (3) The left wrist camera points forward/down but has a large blind zone directly between and below the fingertips; not seeing the block in the wrist cam does NOT mean it is far ahead — it is often already beside or under the jaws. Trust top-cam relative offsets instead. (4) The IK layer frequently stalls or clamps: low-z targets (z<0.03) combined with nonzero pitch commands are often not tracked at all (position simply doesn't change); command pitch near 0-0.1 for low grasps and verify eef_state actually changed after each move. (5) Each move_to is one LLM call and only one tool call per turn is honored (batched calls are ignored), so a full pick-and-place needs ~6 calls minimum (position above, descend, close, lift, move over bowl, open) — budget aggressively, locate the block within the first 3-4 calls. (6) Left arm y-bound tops at 0.05, so the workspace is mostly to the arm's -y side.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3359, 1.9926, 0.6598, 0.9142, -0.3096, -0.242, 0.9985, -0.0212, 0.8398, 0.6018, -0.7452, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4552 left_y=-0.0981 left_z=0.0322 left_yaw=0.044 left_pitch=0.1773 left_roll=-0.08 left_gripper=0.9985 right_x=0.2328 right_y=0.0021 right_z=0.1039 right_yaw=0.002 right_pitch=-0.3993 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [0.2393, -9.5521, 5.3538, 1.3309, 0.0806, 0.2515, -0.1636, -0.1573, -1.1282, 6.6256, 1.3797, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I have exhausted my call budget without securing a grasp. The final observation shows the left gripper adjacent to the red block near the bowl, but I cannot complete the descend\u2013close\u2013lift\u2013transport\u2013release sequence in the remaining turn.", "hindsight": "Key facts for this rig: (1) The red block sits near x\u22480.45, y\u2248-0.10 in the LEFT arm frame, with the bowl just beyond it around x\u22480.50, y\u2248-0.15; do not waste calls sweeping forward to x=0.55+ \u2014 the block is closer to the base than the top camera suggests. (2) The top camera view: left arm enters from image-left, image-right is roughly +x, and the bowl is to the block's +x/-y side. (3) The left wrist camera points forward/down but has a large blind zone directly between and below the fingertips; not seeing the block in the wrist cam does NOT mean it is far ahead \u2014 it is often already beside or under the jaws. Trust top-cam relative offsets instead. (4) The IK layer frequently stalls or clamps: low-z targets (z<0.03) combined with nonzero pitch commands are often not tracked at all (position simply doesn't change); command pitch near 0-0.1 for low grasps and verify eef_state actually changed after each move. (5) Each move_to is one LLM call and only one tool call per turn is honored (batched calls are ignored), so a full pick-and-place needs ~6 calls minimum (position above, descend, close, lift, move over bowl, open) \u2014 budget aggressively, locate the block within the first 3-4 calls. (6) Left arm y-bound tops at 0.05, so the workspace is mostly to the arm's -y side."})
tool
give_up: I have exhausted my call budget without securing a grasp. The final observation shows the left gripper adjacent to the red block near the bowl, but I cannot complete the descend–close–lift–transport–release sequence in the remaining turn.
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 · 8.675 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, 0.6044, -0.3885, -0.0193, -0.0338, 0.9985, -0.0212, 0.7952, 0.6071, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1787 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2931 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.1675, 1.9609, -0.0269, 0.188, -0.1587, -0.4034, -1.6752, 9.7026, 1.9316, -0.0708, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c54941be1b9c35c9e31444876031858a7404806b5df4cf590f8c088319ff611"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d0d94c6aaecffe2e14c33e4682556695bf992ec01c390b7d29a4e9c4942f0b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6aa84f463ac545a35d655c6e1cd6521adfc95bd733fdb408bf21d4fbc2edcfb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0c54941be1b9
wire blob 5d0d94c6aaec
wire blob e6aa84f463ac
call 1 attempt 0 · /chat/completions · status 200 · 11.8 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.05, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The top camera shows a red block left of the bowl; the left wrist camera sees the block nearby, so I'll move the left arm forward and down a bit to scout its position.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SVpegauMMX81RgLqgBVj8m",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01SVpegauMMX81RgLqgBVj8m"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.247, 1.1507, 0.5259, -0.086, -0.1768, -0.1455, 0.9986, -0.0212, 0.8005, 0.6132, -0.4198, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3295 left_y=-0.0474 left_z=0.0993 left_yaw=-0.0342 left_pitch=-0.1213 left_roll=0.0193 left_gripper=0.9986 right_x=0.2909 right_y=0.001 right_z=0.1742 right_yaw=0.0005 right_pitch=-0.0233 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6564, 6.735, 1.8339, -0.2759, -0.0464, -0.1587, -0.0752, -1.6615, 6.5983, 1.9707, -0.0366, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd7d61870ea37c7bf45d039c7c11c005d5d52bb738728d47f26728a1528ae457"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e741413733dd8d4a376515c400976f43327eaa1e7151b1ed59fa7b242e354557"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbed3019243c911a048e8325c8218bd49ab2a2f2f10d157b19c45478ece4114f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bd7d61870ea3
wire blob e741413733dd
wire blob cbed3019243c
call 2 attempt 0 · /chat/completions · status 200 · 25.25 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, 0.6044, -0.3885, -0.0193, -0.0338, 0.9985, -0.0212, 0.7952, 0.6071, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1787 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2931 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.1675, 1.9609, -0.0269, 0.188, -0.1587, -0.4034, -1.6752, 9.7026, 1.9316, -0.0708, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.06, \"left_z\": 0.06}, \"note\": \"The left wrist camera shows the red block at the bottom-right, close to the gripper; I'll move forward and lower to line up above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Rcv752ZYJJ9pez1tFvUzG2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Rcv752ZYJJ9pez1tFvUzG2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.234, 1.549, 0.6193, 0.1211, -0.1757, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4416, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3751 left_y=-0.054 left_z=0.0391 left_yaw=-0.0139 left_pitch=-0.2167 left_roll=0.0336 left_gripper=0.9985 right_x=0.2875 right_y=0.001 right_z=0.1671 right_yaw=0.0006 right_pitch=-0.0526 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.5846, 7.9521, 1.8779, 0.022, 0.1538, -0.0269, -0.0479, -1.5385, 7.4462, 1.873, -0.0611, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51add7ee8eb76d9bf4fdb696b38deb2e3d94db8a49ab8b82d37240fd9c801910"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c885a305163f5a749d3e64634f154938cd78eaca0a503e3336d5aadfbb89418"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f52855e932d609a187ead097f03c38e781876338c4af8cdd296f3b4b0cf7186"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 51add7ee8eb7
wire blob 0c885a305163
wire blob 0f52855e932d
call 3 attempt 0 · /chat/completions · status 200 · 8.227 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]: [-0.247, 1.1507, 0.5259, -0.086, -0.1768, -0.1455, 0.9986, -0.0212, 0.8005, 0.6132, -0.4198, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3295 left_y=-0.0474 left_z=0.0993 left_yaw=-0.0342 left_pitch=-0.1213 left_roll=0.0193 left_gripper=0.9986 right_x=0.2909 right_y=0.001 right_z=0.1742 right_yaw=0.0005 right_pitch=-0.0233 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6564, 6.735, 1.8339, -0.2759, -0.0464, -0.1587, -0.0752, -1.6615, 6.5983, 1.9707, -0.0366, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.055, \"left_z\": 0.035}, \"note\": \"The block dropped out of the wrist view but the top camera shows it slightly ahead of the left gripper; I'll advance forward and lower to just above table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GjaLSkeeHe3Nxc1MfFAtMp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01GjaLSkeeHe3Nxc1MfFAtMp"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2854 right_y=0.0011 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.8171, 7.6786, 1.917, -0.0171, 0.1587, -0.0171, -0.0615, -1.1966, 6.9949, 1.8291, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5860707a837ced45501087f8f4c13194989135917061e04ed718a74bf66f7186"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:baf4ced729ae653005dc6e936c457856f72251bf67191ba962444ca1399d77bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9bc2100c500657783b3da332c782b5c01a6ecfdb9a608ec802df2b194cce270"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5860707a837c
wire blob baf4ced729ae
wire blob a9bc2100c500
call 4 attempt 0 · /chat/completions · status 200 · 9.297 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]: [-0.234, 1.549, 0.6193, 0.1211, -0.1757, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4416, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3751 left_y=-0.054 left_z=0.0391 left_yaw=-0.0139 left_pitch=-0.2167 left_roll=0.0336 left_gripper=0.9985 right_x=0.2875 right_y=0.001 right_z=0.1671 right_yaw=0.0006 right_pitch=-0.0526 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.5846, 7.9521, 1.8779, 0.022, 0.1538, -0.0269, -0.0479, -1.5385, 7.4462, 1.873, -0.0611, -0.0611, -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\": 0.43, \"left_y\": -0.055, \"left_z\": 0.035}, \"note\": \"The gripper only advanced slightly (deltas clamped) and the block still sits just ahead of the fingers in the top view; I'll keep moving forward at low height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DEB8XMNL7M2G2Quy9FaPM1",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01DEB8XMNL7M2G2Quy9FaPM1"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4755, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2824 right_y=0.0011 right_z=0.1605 right_yaw=0.0003 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.5162, 7.6923, 1.9707, 0.022, 0.1538, -0.0122, -0.1709, -1.2513, 7.0085, 1.956, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:81d82f74a7149c3afe8d1d63786e9560f1bc6e37bb71d7969859aa628f110040"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aefe59539824ef6da962d727167f2da668a79e9c1507479baa892b880bd65838"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c11a3f182e840c3586e64612661436424cd7b7d99c546539d35dc4dd5e954f2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 81d82f74a714
wire blob aefe59539824
wire blob 5c11a3f182e8
call 5 attempt 0 · /chat/completions · status 200 · 12.9 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]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2854 right_y=0.0011 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0664 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.8171, 7.6786, 1.917, -0.0171, 0.1587, -0.0171, -0.0615, -1.1966, 6.9949, 1.8291, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.055, \"left_z\": 0.05, \"left_pitch\": 0, \"left_yaw\": 0}, \"note\": \"The left arm didn't advance\\u2014likely an awkward IK pose with the sagged pitch; I'll command a level tool orientation and a slightly higher target to keep moving toward the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JTq7DLeHYwT1YPxkGBd9Kv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01JTq7DLeHYwT1YPxkGBd9Kv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2142, 1.7458, 0.6518, 0.3794, -0.1894, -0.1421, 0.9985, -0.0212, 0.807, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4141 left_y=-0.0524 left_z=0.0223 left_yaw=0.0074 left_pitch=-0.1233 left_roll=0.0309 left_gripper=0.9985 right_x=0.2786 right_y=0.0012 right_z=0.155 right_yaw=0.0003 right_pitch=-0.114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -6.9675, 7.8974, 1.9609, -0.188, 0.232, -0.0122, -0.0752, -1.3333, 6.9265, 1.8339, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f512ce5c8f4dd96a79114707bc30a18a206b744d0e8d1f6d287eecc67c484492"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2426e27b430828b86637b85ed706e9ca4877a7f58ad3d124c97eed85bc7b59e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:305aea6d98cf5132b8cd57afcbc8c5d6bd6c8fa13c0a3af2318b6e7ae3e4f4da"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f512ce5c8f4d
wire blob f2426e27b430
wire blob 305aea6d98cf
call 6 attempt 0 · /chat/completions · status 200 · 9.503 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]: [-0.234, 1.5764, 0.6357, 0.1608, -0.1761, -0.1539, 0.9985, -0.0212, 0.8043, 0.6094, -0.4755, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3853 left_y=-0.0564 left_z=0.042 left_yaw=-0.0149 left_pitch=-0.1887 left_roll=0.0275 left_gripper=0.9985 right_x=0.2824 right_y=0.0011 right_z=0.1605 right_yaw=0.0003 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.5162, 7.6923, 1.9707, 0.022, 0.1538, -0.0122, -0.1709, -1.2513, 7.0085, 1.956, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.05, \"left_z\": 0.02}, \"note\": \"Top view shows the red block still just ahead of the left gripper; the wrist camera shows clear table between the fingers, so I'll advance a few more centimeters and lower nearly to table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_018B226tADjv6S7NfQGDRQ4h",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018B226tADjv6S7NfQGDRQ4h"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1799, 1.8801, 0.7921, 0.3466, -0.1841, -0.1356, 0.9985, -0.0212, 0.8097, 0.6094, -0.5171, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4463 left_y=-0.0446 left_z=0.0099 left_yaw=0.0345 left_pitch=-0.1503 left_roll=0.0382 left_gripper=0.9985 right_x=0.276 right_y=0.0012 right_z=0.1512 right_yaw=0.0004 right_pitch=-0.1335 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.5128, 7.2, 1.6874, 0.1099, 0.1441, -0.0122, -0.1846, -1.4701, 6.9128, 1.8535, -0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:370a6e2ec58262bf77196dc527255acc8598b65e67d88e5f67af3f852c20178f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79eac65baa05cd78d109434c8e09a50b346750cc0dca01df872644385a69c50c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:242083cd9a6c16578ecbc5f86bc4ef0fb645fe070a0f0a384a510e42ada68d73"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 370a6e2ec582
wire blob 79eac65baa05
wire blob 242083cd9a6c
call 7 attempt 0 · /chat/completions · status 200 · 9.91 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]: [-0.2142, 1.7458, 0.6518, 0.3794, -0.1894, -0.1421, 0.9985, -0.0212, 0.807, 0.6094, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4141 left_y=-0.0524 left_z=0.0223 left_yaw=0.0074 left_pitch=-0.1233 left_roll=0.0309 left_gripper=0.9985 right_x=0.2786 right_y=0.0012 right_z=0.155 right_yaw=0.0003 right_pitch=-0.114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -6.9675, 7.8974, 1.9609, -0.188, 0.232, -0.0122, -0.0752, -1.3333, 6.9265, 1.8339, -0.0366, -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\": 0.49, \"left_y\": -0.045, \"left_z\": 0.015}, \"note\": \"Top view shows the block just beyond the left fingertips; it isn't in the wrist view yet, so I'll advance ~4 cm more at table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FWC476TYty1RrfUezEEVmM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01FWC476TYty1RrfUezEEVmM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1635, 1.9781, 0.9463, 0.2642, -0.1768, -0.1356, 0.9985, -0.0212, 0.8116, 0.6094, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4767 left_y=-0.0435 left_z=0.0056 left_yaw=0.0457 left_pitch=-0.1771 left_roll=0.0389 left_gripper=0.9985 right_x=0.2714 right_y=0.0013 right_z=0.1455 right_yaw=0.0005 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -9.0325, 7.3641, 1.5946, -0.0757, 0.1441, -0.0122, -0.1299, -1.3607, 6.9949, 1.917, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9dccdf7676b448c5f225f021b1646f8721b7857d6a68e8b2b843e7f522f1825c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:58fdea9089820feb4ad81d8cf53c5748ba6b316c92449a3b413a9e0fd70ae8a3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53b64c60f6a0dc88c8d46a5b9f9966ee325d8574d62dea8c1888605319b2f941"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9dccdf7676b4
wire blob 58fdea908982
wire blob 53b64c60f6a0
call 8 attempt 0 · /chat/completions · status 200 · 16.86 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]: [-0.1799, 1.8801, 0.7921, 0.3466, -0.1841, -0.1356, 0.9985, -0.0212, 0.8097, 0.6094, -0.5171, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4463 left_y=-0.0446 left_z=0.0099 left_yaw=0.0345 left_pitch=-0.1503 left_roll=0.0382 left_gripper=0.9985 right_x=0.276 right_y=0.0012 right_z=0.1512 right_yaw=0.0004 right_pitch=-0.1335 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.5128, 7.2, 1.6874, 0.1099, 0.1441, -0.0122, -0.1846, -1.4701, 6.9128, 1.8535, -0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.05, \"left_z\": 0.01}, \"note\": \"Block still sits a couple of centimeters ahead of the fingertips in the top view and isn't visible in the wrist cam yet; continuing forward slowly at table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Mst6QeF6XQauHVkTAQCSRd",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Mst6QeF6XQauHVkTAQCSRd"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1631, 2.048, 1.0698, 0.1997, -0.1772, -0.1467, 0.9985, -0.0212, 0.8139, 0.6094, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5006 left_y=-0.0472 left_z=0.0057 left_yaw=0.0529 left_pitch=-0.1872 left_roll=0.0333 left_gripper=0.9985 right_x=0.2676 right_y=0.0014 right_z=0.1409 right_yaw=0.0006 right_pitch=-0.1888 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -9.8667, 7.0085, 1.4335, -0.1587, 0.0757, -0.0171, -0.0479, -0.9231, 6.8991, 1.8388, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b75eb3a999581ea7efc57dbf6f7b20911dbfe55f74bbe02cd0d9edfd91a5dc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:259a0cc7f64232dc78ec8dd1cc13affb4ecdecc4c6eae02710039a4893195d8a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:76cbfb9d6682a7cccf77a45308eee71c254250202bf782f89e56c6c3772edead"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9b75eb3a9995
wire blob 259a0cc7f642
wire blob 76cbfb9d6682
call 9 attempt 0 · /chat/completions · status 200 · 16.5 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]: [-0.1635, 1.9781, 0.9463, 0.2642, -0.1768, -0.1356, 0.9985, -0.0212, 0.8116, 0.6094, -0.5453, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4767 left_y=-0.0435 left_z=0.0056 left_yaw=0.0457 left_pitch=-0.1771 left_roll=0.0389 left_gripper=0.9985 right_x=0.2714 right_y=0.0013 right_z=0.1455 right_yaw=0.0005 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.294, -9.0325, 7.3641, 1.5946, -0.0757, 0.1441, -0.0122, -0.1299, -1.3607, 6.9949, 1.917, -0.0269, -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\": 0.55, \"left_y\": -0.09, \"left_z\": 0.01}, \"note\": \"The wrist cam still shows only bare table, and the top view shows the block ahead and slightly to the arm's right (-y); I'll shift a few cm forward and toward -y to line the block up between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_016SLLJn3xxuynACfuign1Cv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_016SLLJn3xxuynACfuign1Cv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2329, 2.1868, 1.319, 0.0834, -0.2184, -0.1982, 0.9984, -0.0212, 0.8169, 0.6094, -0.5938, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5433 left_y=-0.0858 left_z=0.0081 left_yaw=0.0465 left_pitch=-0.185 left_roll=0.0255 left_gripper=0.9984 right_x=0.2632 right_y=0.0015 right_z=0.1357 right_yaw=0.0007 right_pitch=-0.2174 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -11.5487, 7.2547, 1.3895, -0.2466, -0.0122, -0.0171, -0.1846, -1.3333, 6.8308, 1.7949, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee32fb48f2adaec4bf478526c0c4d369a3472d9ef395dd92fa7a38c5b57e5842"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed3f7cf5ab34fc3dcfbd47c1a0feba286ebb6c11e13994cbcf7a3428f27ae1ae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2102bae869a42d7074dd16272d8430c9febb73e98db9125c5c055aed3d380d9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ee32fb48f2ad
wire blob ed3f7cf5ab34
wire blob b2102bae869a
call 10 attempt 0 · /chat/completions · status 200 · 18.75 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]: [-0.1631, 2.048, 1.0698, 0.1997, -0.1772, -0.1467, 0.9985, -0.0212, 0.8139, 0.6094, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5006 left_y=-0.0472 left_z=0.0057 left_yaw=0.0529 left_pitch=-0.1872 left_roll=0.0333 left_gripper=0.9985 right_x=0.2676 right_y=0.0014 right_z=0.1409 right_yaw=0.0006 right_pitch=-0.1888 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -9.8667, 7.0085, 1.4335, -0.1587, 0.0757, -0.0171, -0.0479, -0.9231, 6.8991, 1.8388, -0.0415, -0.0415, -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\": -0.08, \"left_z\": 0.005}, \"note\": \"Top view shows the block just ahead of the left fingertips now; wrist cam still shows bare table, so I'll creep forward another ~3 cm at table height to bring the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MRYZfuYH7Wf56ZUfpqSyfy",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01MRYZfuYH7Wf56ZUfpqSyfy"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2127, 2.2734, 1.4662, 0.0257, -0.2131, -0.2039, 0.9984, -0.0212, 0.8204, 0.6094, -0.6147, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5714 left_y=-0.0815 left_z=0.0072 left_yaw=0.0653 left_pitch=-0.183 left_roll=0.0168 left_gripper=0.9984 right_x=0.2595 right_y=0.0016 right_z=0.1313 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.5761, 7.2137, 1.4725, 0.105, 0.149, -0.0122, -0.0889, -1.3744, 6.8718, 1.6874, -0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:588091ffc4a3b02b4d3f95fbb4a5017122b5fa26e195c3758ff1e8a75e6c50bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:84efa4b2c82a321c03377d106c0541dc992ce4688863b73c7653dfab37ee4913"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1acbcfa3535b495b2984b1b83dec6622d60fc717ed468014ced4203ebe99d812"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 588091ffc4a3
wire blob 84efa4b2c82a
wire blob 1acbcfa3535b
call 11 attempt 0 · /chat/completions · status 200 · 25.96 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]: [-0.2329, 2.1868, 1.319, 0.0834, -0.2184, -0.1982, 0.9984, -0.0212, 0.8169, 0.6094, -0.5938, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5433 left_y=-0.0858 left_z=0.0081 left_yaw=0.0465 left_pitch=-0.185 left_roll=0.0255 left_gripper=0.9984 right_x=0.2632 right_y=0.0015 right_z=0.1357 right_yaw=0.0007 right_pitch=-0.2174 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -11.5487, 7.2547, 1.3895, -0.2466, -0.0122, -0.0171, -0.1846, -1.3333, 6.8308, 1.7949, -0.0317, -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\": 0.55, \"left_y\": -0.08, \"left_z\": 0.09}, \"note\": \"The wrist cam still shows only bare table even at x=0.57, so I'm misaligned laterally; I'll lift the gripper to get a wider wrist-camera view and relocate the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AqLUowav9c8CWEACMckFaY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01AqLUowav9c8CWEACMckFaY"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2192, 2.1151, 1.4605, -0.165, -0.2073, -0.2119, 0.9984, -0.0212, 0.8242, 0.6064, -0.6392, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5489 left_y=-0.0813 left_z=0.0589 left_yaw=0.0606 left_pitch=-0.2207 left_roll=0.0176 left_gripper=0.9984 right_x=0.2545 right_y=0.0017 right_z=0.1251 right_yaw=0.001 right_pitch=-0.2731 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.8034, 8.3214, 1.619, -0.2466, -0.0024, -0.0122, -0.1026, -0.9641, 7.1863, 1.7265, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b8a575bd7db2bfc14721c4530c923975a23923caecf8fd788651a9ced4123f5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54ed3ceb209c5f93b287ee45532bdd938cfd997e24c0314d391878ee33ea6cd9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4d7c9747fcf1ee51135ce7feaca2dfc77fa212f6cd4d71e7dbd816aa1d58fa6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7b8a575bd7db
wire blob 54ed3ceb209c
wire blob f4d7c9747fcf
call 12 attempt 0 · /chat/completions · status 200 · 39.75 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]: [-0.2127, 2.2734, 1.4662, 0.0257, -0.2131, -0.2039, 0.9984, -0.0212, 0.8204, 0.6094, -0.6147, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5714 left_y=-0.0815 left_z=0.0072 left_yaw=0.0653 left_pitch=-0.183 left_roll=0.0168 left_gripper=0.9984 right_x=0.2595 right_y=0.0016 right_z=0.1313 right_yaw=0.0009 right_pitch=-0.2418 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.5761, 7.2137, 1.4725, 0.105, 0.149, -0.0122, -0.0889, -1.3744, 6.8718, 1.6874, -0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": -0.06, \"left_z\": 0.15, \"left_pitch\": 0.35}, \"note\": \"The wrist camera keeps showing bare table, so my lateral alignment is off; I'll raise the gripper and pitch it forward-down to survey the table and find the block relative to the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JKqk63zBHa1rHFP4gP751S",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 20 steps (2.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01JKqk63zBHa1rHFP4gP751S"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2363, 1.7607, 0.7685, 0.6434, -0.2985, -0.0971, 0.9984, -0.0212, 0.8242, 0.606, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4785 left_y=-0.0581 left_z=0.1175 left_yaw=0.0583 left_pitch=0.2433 left_roll=0.0308 left_gripper=0.9984 right_x=0.251 right_y=0.0017 right_z=0.122 right_yaw=0.0012 right_pitch=-0.2918 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -10.8239, 5.9966, 2.2784, -0.2271, 0.0855, -0.0122, -0.0342, -0.8821, 6.9675, 1.6337, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2f83d132ccfe41d66e18bc998c0a45620230c14e462f9d1a8098a4c1b24ea79"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:638bcd6b7a396e09435da67c3c0650f3c4894ab416c954b8305c2e883dc62070"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fe17c9ed0d9c1fcfda80593b86622e85c7544af2131a12fcae8d49a1ab63201"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d2f83d132ccf
wire blob 638bcd6b7a39
wire blob 6fe17c9ed0d9
call 13 attempt 0 · /chat/completions · status 200 · 56.49 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]: [-0.2192, 2.1151, 1.4605, -0.165, -0.2073, -0.2119, 0.9984, -0.0212, 0.8242, 0.6064, -0.6392, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5489 left_y=-0.0813 left_z=0.0589 left_yaw=0.0606 left_pitch=-0.2207 left_roll=0.0176 left_gripper=0.9984 right_x=0.2545 right_y=0.0017 right_z=0.1251 right_yaw=0.001 right_pitch=-0.2731 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.8034, 8.3214, 1.619, -0.2466, -0.0024, -0.0122, -0.1026, -0.9641, 7.1863, 1.7265, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": 0.0, \"left_z\": 0.08, \"left_pitch\": 0.4}, \"note\": \"The wrist camera shows no block even after sweeping forward, so my lateral estimate is wrong; I'll move to a known reference pose (x=0.45, y=0) with the camera pitched down and use the top camera to compare gripper vs block positions.\"}",
        "name": "move_to"
      },
      "id": "toolu_0174ePknHPSGUg5CBuDMGodt",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_0174ePknHPSGUg5CBuDMGodt"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0792, 1.9186, 0.5201, 1.0988, -0.181, -0.0372, 0.9984, -0.0212, 0.8246, 0.6056, -0.6758, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=0.0001 left_z=0.0573 left_yaw=0.083 left_pitch=0.2813 left_roll=0.0405 left_gripper=0.9984 right_x=0.2474 right_y=0.0018 right_z=0.1189 right_yaw=0.0013 right_pitch=-0.3108 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0632, 3.9179, 2.3516, 0.0366, 0.1001, -0.0122, -0.1709, -1.2103, 6.735, 1.6044, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8568c5767838a5964b4621ee301ce58aea50b6593dfbb4ee99ebf60c0ad3ecdb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:083a3bbf4b75dae87066d28c6766753ebd29dd64cc00e71de7d81c0f0aeb5f95"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f6129890337bcf8a690acfa5ec732e8c3f3bb94502fcd01ed49f6d2a9a853da"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8568c5767838
wire blob 083a3bbf4b75
wire blob 0f6129890337
call 14 attempt 0 · /chat/completions · status 200 · 21.45 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]: [-0.2363, 1.7607, 0.7685, 0.6434, -0.2985, -0.0971, 0.9984, -0.0212, 0.8242, 0.606, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4785 left_y=-0.0581 left_z=0.1175 left_yaw=0.0583 left_pitch=0.2433 left_roll=0.0308 left_gripper=0.9984 right_x=0.251 right_y=0.0017 right_z=0.122 right_yaw=0.0012 right_pitch=-0.2918 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -10.8239, 5.9966, 2.2784, -0.2271, 0.0855, -0.0122, -0.0342, -0.8821, 6.9675, 1.6337, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.12, \"left_z\": 0.14, \"left_pitch\": 0.45}, \"note\": \"The wrist camera never picked up the block while advancing, so I likely overshot it; early on the block appeared at the bottom-right of the wrist view, suggesting it sits nearer the base and further to the arm's right. Backing up to x\\u22480.36, y\\u2248-0.12 with the camera pitched down to search.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GDPZSGwHw1HmP6RCMcrD9S",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01GDPZSGwHw1HmP6RCMcrD9S"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6365, 1.5642, 0.371, 1.0004, -0.6815, -0.1093, 0.9984, -0.0212, 0.8288, 0.6037, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3643 left_y=-0.1264 left_z=0.1309 left_yaw=0.0288 left_pitch=0.4266 left_roll=0.0391 left_gripper=0.9984 right_x=0.2456 right_y=0.0019 right_z=0.1159 right_yaw=0.0017 right_pitch=-0.3249 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.612, 4.8068, 1.8339, -0.2759, 0.0171, -0.0122, -0.1299, -1.4838, 6.8718, 1.4432, -0.0513, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:edb74ac111a212c2f7a216d26007e35f0024aa7243dc236081bca3a195a0f846"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9fb0b10802887444b83d07cacc8c2ff218c3227dcc41c2f6f82756c4c442cfce"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1dcaf0403b3df067a33dbb29c86cc675c80bb4aae49567073abe344e225de065"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob edb74ac111a2
wire blob 9fb0b1080288
wire blob 1dcaf0403b3d
call 15 attempt 0 · /chat/completions · status 200 · 17.03 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]: [-0.0792, 1.9186, 0.5201, 1.0988, -0.181, -0.0372, 0.9984, -0.0212, 0.8246, 0.6056, -0.6758, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=0.0001 left_z=0.0573 left_yaw=0.083 left_pitch=0.2813 left_roll=0.0405 left_gripper=0.9984 right_x=0.2474 right_y=0.0018 right_z=0.1189 right_yaw=0.0013 right_pitch=-0.3108 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0632, 3.9179, 2.3516, 0.0366, 0.1001, -0.0122, -0.1709, -1.2103, 6.735, 1.6044, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.13, \"left_z\": 0.06, \"left_pitch\": 0.45}, \"note\": \"Top camera now shows the left gripper right next to the red block, with the block just beyond it toward the bowl; the block is near x\\u22480.40, y\\u2248-0.13. I'll move over that spot at z=0.06 and check the wrist view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JfeG48gtx41YDLg85p6tUF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JfeG48gtx41YDLg85p6tUF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5751, 2.0518, 0.44, 1.3918, -0.646, -0.1059, 0.9984, -0.0212, 0.8326, 0.6029, -0.6991, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3941 left_y=-0.1244 left_z=0.053 left_yaw=0.0488 left_pitch=0.4004 left_roll=0.0542 left_gripper=0.9984 right_x=0.2424 right_y=0.002 right_z=0.1125 right_yaw=0.0019 right_pitch=-0.3448 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9675, 2.7282, 1.326, 0.0562, 0.2466, -0.0122, -0.0889, -1.4564, 6.7761, 1.4823, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f407c80e8ac35fab45363a066723caa4849d21b9045551bae5d8cefde8ad956"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:285680dab871188b8de979a3be4014c9824add6e9d0675ebf82510e26a05a43c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dbcdab1d996a8920305be242753c2d391f3fcaf8114adbf189e7e6da4b4f8529"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6f407c80e8ac
wire blob 285680dab871
wire blob dbcdab1d996a
call 16 attempt 0 · /chat/completions · status 200 · 48.34 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]: [-0.6365, 1.5642, 0.371, 1.0004, -0.6815, -0.1093, 0.9984, -0.0212, 0.8288, 0.6037, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3643 left_y=-0.1264 left_z=0.1309 left_yaw=0.0288 left_pitch=0.4266 left_roll=0.0391 left_gripper=0.9984 right_x=0.2456 right_y=0.0019 right_z=0.1159 right_yaw=0.0017 right_pitch=-0.3249 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.612, 4.8068, 1.8339, -0.2759, 0.0171, -0.0122, -0.1299, -1.4838, 6.8718, 1.4432, -0.0513, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.12, \"left_z\": 0.03, \"left_pitch\": 0.45}, \"note\": \"Top view shows the red block just ahead of the left gripper jaws (a few cm toward the bowl); I'll advance to x\\u22480.44 at low height so the block slides between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KEWp3s2yaPL1yrEixC3xo6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01KEWp3s2yaPL1yrEixC3xo6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4927, 2.2356, 0.5995, 1.5658, -0.5934, -0.0944, 0.9984, -0.0212, 0.836, 0.6018, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4388 left_y=-0.1194 left_z=0.0564 left_yaw=0.118 left_pitch=0.5179 left_roll=-0.0365 left_gripper=0.9984 right_x=0.24 right_y=0.002 right_z=0.1097 right_yaw=0.0017 right_pitch=-0.3604 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.5573, 2.1128, 0.9011, 0.1929, 0.359, -0.0122, -0.1299, -1.4017, 6.7487, 1.4432, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d7b755361dc29174b2289d4ab61c8b01ef8d56a13943ff01a271a6f006fb95ee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aed6ba89573c41e51fec76f41e4b7f5273dcd2c9e6d804f6b85c97d64e7605d0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:67d359ce1c552f5862ca5aa522f3a2442eea6f084a5f0f9a2f13ecd6216b5af7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d7b755361dc2
wire blob aed6ba89573c
wire blob 67d359ce1c55
call 17 attempt 0 · /chat/completions · status 200 · 58.45 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]: [-0.5751, 2.0518, 0.44, 1.3918, -0.646, -0.1059, 0.9984, -0.0212, 0.8326, 0.6029, -0.6991, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3941 left_y=-0.1244 left_z=0.053 left_yaw=0.0488 left_pitch=0.4004 left_roll=0.0542 left_gripper=0.9984 right_x=0.2424 right_y=0.002 right_z=0.1125 right_yaw=0.0019 right_pitch=-0.3448 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9675, 2.7282, 1.326, 0.0562, 0.2466, -0.0122, -0.0889, -1.4564, 6.7761, 1.4823, -0.0415, -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\": 0.43, \"left_y\": -0.095, \"left_z\": 0.015, \"left_pitch\": 0.45, \"left_gripper\": 1}, \"note\": \"Top view shows the red block right beside the left fingertips, slightly toward +y; I'll descend onto it at x\\u22480.43, y\\u2248-0.095 with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y93uvhNHzWTb3zgRURpgka",
      "type": "function"
    },
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0}, \"note\": \"Closing the left gripper to grasp the red block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SxY927B2JzmcZ5ikXuqbf2",
      "type": "function"
    },
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.2, \"left_gripper\": 0}, \"note\": \"Lifting the block well above the table before carrying it toward the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NRNpzkQ9zXRWa5PA5gfnLr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y93uvhNHzWTb3zgRURpgka"
}
{
  "content": "ignored: one tool call per turn",
  "role": "tool",
  "tool_call_id": "toolu_01SxY927B2JzmcZ5ikXuqbf2"
}
{
  "content": "ignored: one tool call per turn",
  "role": "tool",
  "tool_call_id": "toolu_01NRNpzkQ9zXRWa5PA5gfnLr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4835, 2.2543, 0.6163, 1.5864, -0.5781, -0.0902, 0.9985, -0.0212, 0.836, 0.6018, -0.725, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.1197 left_z=0.0572 left_yaw=0.1159 left_pitch=0.5329 left_roll=-0.0448 left_gripper=0.9985 right_x=0.237 right_y=0.002 right_z=0.1075 right_yaw=0.0018 right_pitch=-0.3753 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8855, 2.2222, 1.1258, 0.1392, 0.3346, -0.1587, -0.212, -0.9231, 6.6667, 1.4335, -0.0415, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb7a5ff029b8a58c5e9e9c6912b22429d9e7e0875feb4110ac8ae1475111d400"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca5d7ffa0924f01dd3769645170e5e0d738e33a5a7614bddbe3be4e26216bf9d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:826a3e6b211e3088ac5aea9ac41dd4bb36b800f818ea07436902163f779c3f98"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob fb7a5ff029b8
wire blob ca5d7ffa0924
wire blob 826a3e6b211e
call 18 attempt 0 · /chat/completions · status 200 · 70.53 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4927, 2.2356, 0.5995, 1.5658, -0.5934, -0.0944, 0.9984, -0.0212, 0.836, 0.6018, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4388 left_y=-0.1194 left_z=0.0564 left_yaw=0.118 left_pitch=0.5179 left_roll=-0.0365 left_gripper=0.9984 right_x=0.24 right_y=0.002 right_z=0.1097 right_yaw=0.0017 right_pitch=-0.3604 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.5573, 2.1128, 0.9011, 0.1929, 0.359, -0.0122, -0.1299, -1.4017, 6.7487, 1.4432, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.1, \"left_z\": 0.012, \"left_pitch\": 0.45, \"left_gripper\": 1}, \"note\": \"Top view shows the red block right at the left fingertips, slightly beyond them; descending to table height at x=0.45, y=-0.10 with the jaws open to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YZ8RtUQVVNuUvbjbeQvAeU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01YZ8RtUQVVNuUvbjbeQvAeU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4835, 2.2543, 0.6163, 1.5864, -0.5766, -0.0902, 0.9985, -0.0212, 0.8379, 0.6018, -0.7322, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.12 left_z=0.0572 left_yaw=0.1144 left_pitch=0.5328 left_roll=-0.0449 left_gripper=0.9985 right_x=0.2355 right_y=0.0021 right_z=0.1061 right_yaw=0.0019 right_pitch=-0.3844 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -6.7077, 2.2222, 1.1209, 0.0855, 0.3492, -0.1587, -0.1846, -1.2923, 6.7897, 1.3504, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9302b5546879e3b342f448335e50de981c631e3c6cc0e7250005b95b1afdacdd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34a07d0f15d0c8c2894ba8e4314c33c9ad90f1d89c771eda8075f266137b8785"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba3dd83dbcb7bc773ad1ca78eb3411cd91b3ec1496a2fb6e9dc96404bb9c1eed"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9302b5546879
wire blob 34a07d0f15d0
wire blob ba3dd83dbcb7
call 19 attempt 0 · /chat/completions · status 200 · 49.25 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 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]: [-0.4835, 2.2543, 0.6163, 1.5864, -0.5781, -0.0902, 0.9985, -0.0212, 0.836, 0.6018, -0.725, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4433 left_y=-0.1197 left_z=0.0572 left_yaw=0.1159 left_pitch=0.5329 left_roll=-0.0448 left_gripper=0.9985 right_x=0.237 right_y=0.002 right_z=0.1075 right_yaw=0.0018 right_pitch=-0.3753 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8855, 2.2222, 1.1258, 0.1392, 0.3346, -0.1587, -0.212, -0.9231, 6.6667, 1.4335, -0.0415, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.1, \"left_z\": 0.02, \"left_yaw\": 0, \"left_pitch\": 0.1, \"left_gripper\": 1}, \"note\": \"The arm hasn't moved on the last two commands\\u2014likely the pitched-down pose is unreachable at that low height\\u2014so I'm flattening the tool (pitch 0.1) and descending to z=0.02 over the block, jaws open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01X7GeV31VNibKgdRtmvYae3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01X7GeV31VNibKgdRtmvYae3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3359, 1.9926, 0.6598, 0.9142, -0.3096, -0.242, 0.9985, -0.0212, 0.8398, 0.6018, -0.7452, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4552 left_y=-0.0981 left_z=0.0322 left_yaw=0.044 left_pitch=0.1773 left_roll=-0.08 left_gripper=0.9985 right_x=0.2328 right_y=0.0021 right_z=0.1039 right_yaw=0.002 right_pitch=-0.3993 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.5521, 5.3538, 1.3309, 0.0806, 0.2515, -0.1636, -0.1573, -1.1282, 6.6256, 1.3797, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:39aa41938cb353d8a881f54a3534ddfc76005ca3807995c70e11aa5ad14da0c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7206eedde810bf9ef7d561967e04f64ddf5a5cff1ebf9decbac5db159643d5d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9429ff23c5a13ff12dc10252ee6d344633a87a25d33bbe0d5bd7cbbf7d9b46b8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 39aa41938cb3
wire blob a7206eedde81
wire blob 9429ff23c5a1