adhoc

completed
2026-09-03T03:36:39.421419+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
339.3 s
total steps
159
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

done

Operator judgements

partial

Grader notes

trial 03
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 left wrist camera shows the red block at its lower right, so the block is ahead and to the right of the left gripper. Moving the left arm forward, right and down to get a closer look and line up over the block.
move_to
left_x0.3300left_y-0.0900left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6052, -0.3843, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6071, -0.3958, -0.0193, -0.0338, 0.9996] state[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4718, -1.3744, 10.1675, 1.8584, -0.0513, 0.1441, -0.0904, -0.4444, -1.6479, 9.7299, 1.9072, -0.0366, 0.1538, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.09, "left_z": 0.1}, "note": "The left wrist camera shows the red block at its lower right, so the block is ahead and to the right of the left gripper. Moving the left arm forward, right and down to get a closer look and line up over the block."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteTop camera shows the red block ahead (image-right) and slightly toward image-top of the left gripper; I'm moving the left arm forward and a bit toward +y to center over the block and check the alignment in the wrist camera.
move_to
left_x0.3800left_y-0.0400left_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]: [-0.4652, 1.1851, 0.461, 0.0166, -0.3565, -0.2752, 0.9992, -0.0212, 0.8005, 0.6128, -0.4168, -0.02, -0.0273, 0.9996] state[eef_state]: left_x=0.3181 left_y=-0.0867 left_z=0.0863 left_yaw=-0.0333 left_pitch=-0.0837 left_roll=0.0284 left_gripper=0.9992 right_x=0.2913 right_y=0.001 right_z=0.1747 right_yaw=-0.0033 right_pitch=-0.0206 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [-0.1983, -4.2462, 6.4479, 1.8681, -0.2906, -0.0415, -0.0171, -0.1709, -1.7026, 6.5436, 1.9951, -0.0366, -0.1148, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.04, "left_z": 0.09}, "note": "Top camera shows the red block ahead (image-right) and slightly toward image-top of the left gripper; I'm moving the left arm forward and a bit toward +y to center over the block and check the alignment in the wrist camera."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe block slid to the far right edge of the left wrist camera when I moved +y, so image-right in that camera is the robot's -y direction; the block is farther to the right (negative y) and a bit ahead. Moving the left gripper right and forward to center over it.
move_to
left_x0.4000left_y-0.1200left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1959, 1.3743, 0.5549, 0.0757, -0.1921, -0.1413, 0.9992, -0.0212, 0.8032, 0.6075, -0.4404, -0.0196, -0.0341, 0.9996] state[eef_state]: left_x=0.3592 left_y=-0.0332 left_z=0.0682 left_yaw=0.0289 left_pitch=-0.1561 left_roll=0.0401 left_gripper=0.9992 right_x=0.2873 right_y=0.001 right_z=0.1668 right_yaw=0.0002 right_pitch=-0.0522 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.1162, -5.2581, 8.4718, 2.0537, 0.0806, 0.149, -0.0122, -0.1709, -1.4974, 7.4188, 1.873, -0.0269, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.08}, "note": "The block slid to the far right edge of the left wrist camera when I moved +y, so image-right in that camera is the robot's -y direction; the block is farther to the right (negative y) and a bit ahead. Moving the left gripper right and forward to center over it."})
tool
executing move_to over 8 steps (0.8s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe arm barely moved on the last command (y stayed near -0.035), so the target may have been tracked poorly; trying a smaller step toward -y and slightly higher to bring the block, still at the right edge of the left wrist view, under the gripper.
move_to
left_x0.3800left_y-0.0800left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1753, 1.3899, 0.5751, 0.0937, -0.1459, -0.1055, 0.9992, -0.0212, 0.8024, 0.6075, -0.4553, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.3677 left_y=-0.0354 left_z=0.0731 left_yaw=-0.0096 left_pitch=-0.1409 left_roll=0.0323 left_gripper=0.9992 right_x=0.2851 right_y=0.001 right_z=0.1641 right_yaw=0.0007 right_pitch=-0.0664 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.294, -5.2991, 8.1983, 1.9267, 0.0806, 0.1148, -0.0122, -0.0479, -1.1145, 6.9675, 1.8095, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.08, "left_z": 0.1}, "note": "The arm barely moved on the last command (y stayed near -0.035), so the target may have been tracked poorly; trying a smaller step toward -y and slightly higher to bring the block, still at the right edge of the left wrist view, under the gripper."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe block is still at the lower-right edge of the left wrist camera, meaning it's beside the gripper toward -y; the arm undershoots its y targets, so I'm commanding a larger -y step while descending slightly.
move_to
left_x0.3700left_y-0.1200left_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]: [-0.2596, 1.4147, 0.6445, 0.001, -0.2081, -0.157, 0.9992, -0.0212, 0.8024, 0.6075, -0.4755, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.369 left_y=-0.0565 left_z=0.0764 left_yaw=-0.0118 left_pitch=-0.178 left_roll=0.0453 left_gripper=0.9992 right_x=0.282 right_y=0.0012 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-1.2239, -5.9009, 9.4154, 1.9951, -0.2271, 0.0415, -0.0122, -0.0342, -1.1966, 6.9402, 2.044, -0.0269, -0.0317, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.37, "left_y": -0.12, "left_z": 0.06}, "note": "The block is still at the lower-right edge of the left wrist camera, meaning it's beside the gripper toward -y; the arm undershoots its y targets, so I'm commanding a larger -y step while descending slightly."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe red block is now clearly visible at the right side of the left wrist camera, just ahead of the fingertips; shifting the gripper about 5 cm further toward -y and slightly forward to center it between the jaws.
move_to
left_x0.3750left_y-0.1600left_z0.0400
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4725, 1.5429, 0.6704, -0.001, -0.3321, -0.3, 0.9992, -0.0212, 0.8043, 0.6075, -0.4999, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3559 left_y=-0.1132 left_z=0.0452 left_yaw=-0.0352 left_pitch=-0.2409 left_roll=0.0645 left_gripper=0.9992 right_x=0.2783 right_y=0.0012 right_z=0.1549 right_yaw=0.0006 right_pitch=-0.1129 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.3077, -5.6821, 8.841, 1.7167, -0.3492, 0.0073, -0.0122, -0.1846, -1.3744, 7.2137, 1.8877, -0.0562, 0.0024, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.16, "left_z": 0.04}, "note": "The red block is now clearly visible at the right side of the left wrist camera, just ahead of the fingertips; shifting the gripper about 5 cm further toward -y and slightly forward to center it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
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 block now sits between the open jaws in the left wrist view, slightly ahead and to the right of center; descending to table level with a small forward/right correction so the jaws straddle it.
move_to
left_x0.3850left_y-0.1650left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5724, 1.6936, 0.7856, -0.0422, -0.3805, -0.3805, 0.9992, -0.0212, 0.8062, 0.6075, -0.522, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3624 left_y=-0.1512 left_z=0.0275 left_yaw=-0.0417 left_pitch=-0.2875 left_roll=0.0807 left_gripper=0.9992 right_x=0.2748 right_y=0.0012 right_z=0.1503 right_yaw=0.0006 right_pitch=-0.1369 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.5675, -7.0906, 7.8154, 1.4481, -0.4322, -0.0073, -0.0122, -0.1162, -1.1419, 7.2684, 1.8584, -0.0171, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.385, "left_y": -0.165, "left_z": 0.0}, "note": "The block now sits between the open jaws in the left wrist view, slightly ahead and to the right of center; descending to table level with a small forward/right correction so the jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper didn't actually descend (z still 0.03) and the block is between the jaws but slightly to the right/ahead in the wrist view; re-commanding a lower z with level pitch and a small forward/right offset to get the jaws around the block.
move_to
left_x0.3850left_y-0.1650left_z-0.0100left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5812, 1.7004, 0.7994, -0.0425, -0.3878, -0.3954, 0.9992, -0.0212, 0.8062, 0.6075, -0.5301, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3649 left_y=-0.1555 left_z=0.0299 left_yaw=-0.0373 left_pitch=-0.2783 left_roll=0.0723 left_gripper=0.9992 right_x=0.2735 right_y=0.0013 right_z=0.1488 right_yaw=0.0006 right_pitch=-0.1449 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.2256, -7.1453, 7.7333, 1.4872, -0.3492, -0.0024, -0.0122, -0.0479, -1.1829, 7.0906, 1.7802, -0.0611, -0.0171, -0.0073] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.165, "left_z": -0.01, "left_pitch": 0.0}, "note": "The gripper didn't actually descend (z still 0.03) and the block is between the jaws but slightly to the right/ahead in the wrist view; re-commanding a lower z with level pitch and a small forward/right offset to get the jaws around the block."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gripper is at table height with the red block between the jaws in the left wrist view (shoulder efforts dropped, suggesting contact with the table); closing the left gripper to grasp the block.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6025, 1.7771, 0.7273, 0.1097, -0.4469, -0.3683, 0.9992, -0.0212, 0.8062, 0.6075, -0.5655, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3611 left_y=-0.1514 left_z=0.0026 left_yaw=-0.0285 left_pitch=-0.2516 left_roll=0.1312 left_gripper=0.9992 right_x=0.2675 right_y=0.0014 right_z=0.1424 right_yaw=0.0008 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.9504, -1.1145, -0.1026, -0.149, -0.6569, 0.1734, -0.0122, -0.1162, -1.0462, 6.8581, 1.9121, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is at table height with the red block between the jaws in the left wrist view (shoulder efforts dropped, suggesting contact with the table); closing the left gripper to grasp the block."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe gripper closed on nothing; the wrist camera shows the block just ahead of the fingertips (image-up ≈ +x) and slightly to the right. Reopening, lifting a little, and moving ~6 cm forward and 2 cm toward -y to get over the block.
move_to
left_gripper1.0000left_z0.0500left_x0.4200left_y-0.1700
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6025, 1.7931, 0.7162, 0.1314, -0.4603, -0.3763, 0.0089, -0.0212, 0.8101, 0.606, -0.5949, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3603 left_y=-0.1483 left_z=-0.0028 left_yaw=-0.0132 left_pitch=-0.2495 left_roll=0.1379 left_gripper=0.0089 right_x=0.2623 right_y=0.0015 right_z=0.1357 right_yaw=0.0009 right_pitch=-0.2151 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.1436, -8.9504, 6.0923, 1.1111, -0.0952, 0.0659, 0.6764, -0.212, -1.4564, 7.0906, 1.7998, -0.0562, -0.0269, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05, "left_x": 0.42, "left_y": -0.17}, "note": "The gripper closed on nothing; the wrist camera shows the block just ahead of the fingertips (image-up \u2248 +x) and slightly to the right. Reopening, lifting a little, and moving ~6 cm forward and 2 cm toward -y to get over the block."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe block is now between the jaws in the left wrist view but sits a little behind and to the right of center (image-down ≈ -x, image-right ≈ -y); descending to table height with a ~2 cm back and 1.5 cm right correction.
move_to
left_x0.3900left_y-0.1800left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5648, 1.8351, 1.0206, -0.1287, -0.4381, -0.3527, 0.9949, -0.0212, 0.8101, 0.6056, -0.6167, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4102 left_y=-0.1669 left_z=0.0437 left_yaw=-0.0057 left_pitch=-0.2592 left_roll=0.1377 left_gripper=0.9949 right_x=0.2583 right_y=0.0016 right_z=0.1318 right_yaw=0.001 right_pitch=-0.2372 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [0.7179, -7.2137, 8.1162, 1.4579, -0.2076, 0.1197, 0.0073, -0.2256, -1.1282, 6.9538, 1.6728, -0.0562, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.18, "left_z": -0.01}, "note": "The block is now between the jaws in the left wrist view but sits a little behind and to the right of center (image-down \u2248 -x, image-right \u2248 -y); descending to table height with a ~2 cm back and 1.5 cm right correction."})
tool
executing move_to over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteAt table height the block appears centered laterally between the jaws but about 4 cm ahead of the fingertips in the left wrist view (last grasp missed short); sliding the gripper 3 cm forward so the block sits between the fingertips.
move_to
left_x0.4250left_y-0.1800left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6243, 1.9102, 0.9295, 0.0227, -0.469, -0.4034, 0.9957, -0.0212, 0.8154, 0.6033, -0.6308, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3936 left_y=-0.1807 left_z=0.0046 left_yaw=-0.0115 left_pitch=-0.2538 left_roll=0.1323 left_gripper=0.9957 right_x=0.2554 right_y=0.0017 right_z=0.1272 right_yaw=0.0012 right_pitch=-0.259 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [-0.3077, -6.3111, 4.1094, 0.8913, -0.0708, -0.0269, 0.0659, -0.0342, -1.5521, 7.0359, 1.7118, -0.0366, -0.0171, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_y": -0.18, "left_z": -0.01}, "note": "At table height the block appears centered laterally between the jaws but about 4 cm ahead of the fingertips in the left wrist view (last grasp missed short); sliding the gripper 3 cm forward so the block sits between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
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 arm only advanced 1 cm and the block is still just beyond the fingertips in the left wrist view; commanding a further 3.5 cm forward at table height to bring it between the jaws.
move_to
left_x0.4400left_y-0.1800left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.609, 1.932, 0.9405, 0.0639, -0.4679, -0.4137, 0.9957, -0.0212, 0.8158, 0.6025, -0.6479, -0.0196, -0.0349, 0.9996] state[eef_state]: left_x=0.4038 left_y=-0.1801 left_z=0.0047 left_yaw=0.0043 left_pitch=-0.2287 left_roll=0.1062 left_gripper=0.9957 right_x=0.2521 right_y=0.0017 right_z=0.124 right_yaw=0.0015 right_pitch=-0.2773 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [0.1026, -7.5009, 7.2, 1.0916, -0.149, 0.1929, -0.0024, -0.0752, -1.1145, 6.8991, 1.6972, -0.0855, -0.0659, -0.0122] 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": 0.44, "left_y": -0.18, "left_z": -0.01}, "note": "The arm only advanced 1 cm and the block is still just beyond the fingertips in the left wrist view; commanding a further 3.5 cm forward at table height to bring it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe arm is stalled at x≈0.40 at table height—the fingertips are probably dragging on the table with the wrist pitched back. Raising to 2.5 cm (block is ~4 cm tall), leveling pitch, and pushing forward so the block ends up between the jaws.
move_to
left_x0.4450left_y-0.1800left_z0.0250left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6071, 1.932, 0.9432, 0.057, -0.4679, -0.4057, 0.9957, -0.0212, 0.8181, 0.6018, -0.6598, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4039 left_y=-0.1792 left_z=0.0046 left_yaw=0.0023 left_pitch=-0.2326 left_roll=0.1144 left_gripper=0.9957 right_x=0.2498 right_y=0.0018 right_z=0.1213 right_yaw=0.0014 right_pitch=-0.2921 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.0752, -7.9111, 6.5573, 1.0965, -0.1685, 0.1343, -0.0122, -0.0889, -1.306, 6.9949, 1.5458, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.18, "left_z": 0.025, "left_pitch": 0.0}, "note": "The arm is stalled at x\u22480.40 at table height\u2014the fingertips are probably dragging on the table with the wrist pitched back. Raising to 2.5 cm (block is ~4 cm tall), leveling pitch, and pushing forward so the block ends up between the jaws."})
tool
executing move_to over 8 steps (0.8s)
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 noteThe red block now sits squarely between the two fingertips in the left wrist camera; closing the left gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5907, 1.9858, 0.9276, 0.247, -0.5186, -0.3405, 0.9957, -0.0212, 0.8192, 0.6018, -0.6765, -0.0193, -0.0349, 0.9996] state[eef_state]: left_x=0.4269 left_y=-0.1765 left_z=0.0076 left_yaw=0.0094 left_pitch=-0.1158 left_roll=0.126 left_gripper=0.9957 right_x=0.2466 right_y=0.0018 right_z=0.1184 right_yaw=0.0014 right_pitch=-0.3101 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [0.2393, -9.0598, 4.8889, 1.7118, -0.3687, 0.2418, -0.0122, -0.0889, -1.1966, 6.9402, 1.5556, -0.0269, -0.0513, -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_gripper": 0.0}, "note": "The red block now sits squarely between the two fingertips in the left wrist camera; closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteGripper stopped at 0.44 with rising effort, and the block is held between the jaws in the left wrist view. The bowl in the top camera is about 15 cm ahead (image-right) of the gripper; lifting the block and carrying it forward over the bowl.
move_to
left_x0.5500left_y-0.1800left_z0.1300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5903, 1.9961, 0.9211, 0.2626, -0.5243, -0.3489, 0.4444, -0.0212, 0.8192, 0.6018, -0.6838, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4265 left_y=-0.175 left_z=0.0038 left_yaw=0.0187 left_pitch=-0.1138 left_roll=0.1235 left_gripper=0.4444 right_x=0.2452 right_y=0.0019 right_z=0.1173 right_yaw=0.0016 right_pitch=-0.3173 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.0889, -10.4137, 5.6274, 1.3358, -0.1783, 0.0171, 1.033, -0.0479, -1.1282, 6.8308, 1.4335, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.18, "left_z": 0.13, "left_pitch": 0.0}, "note": "Gripper stopped at 0.44 with rising effort, and the block is held between the jaws in the left wrist view. The bowl in the top camera is about 15 cm ahead (image-right) of the gripper; lifting the block and carrying it forward over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteBlock is securely held. In the top camera the bowl is to image-right and slightly below the gripper, which corresponds to +y (toward the other arm) and slightly -x in the left arm frame; moving the block over the bowl at about x=0.46, y=0.0 while keeping it high enough to clear the rim.
move_to
left_x0.4600left_y0.0000left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4675, 2.0724, 1.4815, -0.0883, -0.482, -0.2352, 0.4479, -0.0212, 0.823, 0.6018, -0.7025, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.5386 left_y=-0.1762 left_z=0.1146 left_yaw=0.0426 left_pitch=-0.0239 left_roll=0.1197 left_gripper=0.4479 right_x=0.2415 right_y=0.0019 right_z=0.1136 right_yaw=0.0017 right_pitch=-0.3398 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [0.4855, -11.0974, 9.1419, 1.6679, -0.0562, 0.3004, 1.0281, -0.1026, -1.4017, 6.7624, 1.5018, -0.0415, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": 0.0, "left_z": 0.14}, "note": "Block is securely held. In the top camera the bowl is to image-right and slightly below the gripper, which corresponds to +y (toward the other arm) and slightly -x in the left arm frame; moving the block over the bowl at about x=0.46, y=0.0 while keeping it high enough to clear the rim."})
tool
executing move_to over 16 steps (1.6s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteCorrection: in the top camera +y moves the gripper image-left, so the bowl (image-right of the gripper) is actually at about y=-0.32, x=0.41 in the left arm frame. Carrying the held block over to that position above the bowl.
move_to
left_x0.4100left_y-0.3200left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0834, 1.6287, 0.9581, 0.0181, -0.1978, -0.017, 0.4507, -0.0212, 0.8249, 0.6018, -0.7242, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.4595 left_y=0.0 left_z=0.1227 left_yaw=0.0767 left_pitch=-0.0718 left_roll=0.1231 left_gripper=0.4507 right_x=0.2372 right_y=0.002 right_z=0.11 right_yaw=0.0019 right_pitch=-0.3635 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [0.1846, -10.1402, 6.4205, 1.9072, 0.1587, 0.1001, 1.033, -0.1846, -1.0735, 6.694, 1.5311, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.32, "left_z": 0.16}, "note": "Correction: in the top camera +y moves the gripper image-left, so the bowl (image-right of the gripper) is actually at about y=-0.32, x=0.41 in the left arm frame. Carrying the held block over to that position above the bowl."})
tool
executing move_to over 29 steps (2.9s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe bowl rim is visible at the right edge of the left wrist camera, so the bowl center is ~6 cm further toward -y; moving over the bowl and releasing the block into it (budget nearly exhausted, so combining the final approach and release).
move_to
left_x0.4000left_y-0.3750left_z0.1100left_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]: [-0.9009, 2.0586, 1.7039, -0.6579, -0.7509, -0.6895, 0.4508, -0.0212, 0.8249, 0.6018, -0.7406, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.4077 left_y=-0.3147 left_z=0.1475 left_yaw=0.0622 left_pitch=-0.1034 left_roll=0.1268 left_gripper=0.4508 right_x=0.2339 right_y=0.0022 right_z=0.1077 right_yaw=0.0024 right_pitch=-0.3798 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.5265, -10.988, 9.4564, 1.0672, -0.7302, -0.0269, 1.033, -0.1162, -1.0462, 6.653, 1.4383, -0.0513, -0.0269, -0.0073] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.375, "left_z": 0.11, "left_gripper": 1.0}, "note": "The bowl rim is visible at the right edge of the left wrist camera, so the bowl center is ~6 cm further toward -y; moving over the bowl and releasing the block into it (budget nearly exhausted, so combining the final approach and release)."})
tool
executing move_to over 6 steps (0.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteGrasped the red block with the left arm (after several alignment corrections) and carried it over the bowl at approximately left_x=0.40, left_y=-0.37, then opened the gripper to release it. The block is no longer between the jaws; the wrist camera shows the bowl directly below/right of the fingertips, so the block should have dropped into the bowl, though I could not confirm with a final image due to budget.
done
hindsightRig facts: left wrist camera image-up ≈ +x (forward), image-right ≈ -y; top camera image-right ≈ +x/-y direction for the left arm (bowl at ~x=0.40, y=-0.37 in left base frame; block started near x=0.42, y=-0.18). Table surface is at about left_z≈0.0; block ~4 cm tall; grasp with z≈0.005–0.02. The controller undershoots y and x targets substantially (often only 50–70% of the commanded delta per call), and when fingertips touch the table the arm stalls in x—lift to z≈0.02 before sliding forward. Gripper closes to ~0.44 when holding the block (fully closed ~0.01 = missed). Budget is tight (20 calls): combine approach+release moves and avoid over-cautious small steps.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.9852, 2.2692, 1.8774, -0.7303, -0.7696, -0.7914, 0.9954, -0.0212, 0.8249, 0.6018, -0.7475, -0.0196, -0.0345, 0.9996] state[eef_state]: left_x=0.3953 left_y=-0.3672 left_z=0.0988 left_yaw=0.0543 left_pitch=-0.1408 left_roll=0.1496 left_gripper=0.9954 right_x=0.2325 right_y=0.0021 right_z=0.1067 right_yaw=0.0021 right_pitch=-0.3867 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [-0.335, -12.6564, 8.8274, 0.9841, -0.696, 0.022, -0.1001, -0.0889, -0.9094, 6.6256, 1.409, -0.0513, -0.0122, -0.0073] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the red block with the left arm (after several alignment corrections) and carried it over the bowl at approximately left_x=0.40, left_y=-0.37, then opened the gripper to release it. The block is no longer between the jaws; the wrist camera shows the bowl directly below/right of the fingertips, so the block should have dropped into the bowl, though I could not confirm with a final image due to budget.", "hindsight": "Rig facts: left wrist camera image-up \u2248 +x (forward), image-right \u2248 -y; top camera image-right \u2248 +x/-y direction for the left arm (bowl at ~x=0.40, y=-0.37 in left base frame; block started near x=0.42, y=-0.18). Table surface is at about left_z\u22480.0; block ~4 cm tall; grasp with z\u22480.005\u20130.02. The controller undershoots y and x targets substantially (often only 50\u201370% of the commanded delta per call), and when fingertips touch the table the arm stalls in x\u2014lift to z\u22480.02 before sliding forward. Gripper closes to ~0.44 when holding the block (fully closed ~0.01 = missed). Budget is tight (20 calls): combine approach+release moves and avoid over-cautious small steps."})
tool
done: Grasped the red block with the left arm (after several alignment corrections) and carried it over the bowl at approximately left_x=0.40, left_y=-0.37, then opened the gripper to release it. The block is no longer between the jaws; the wrist camera shows the bowl directly below/right of the fingertips, so the block should have dropped into the bowl, though I could not confirm with a final image due to budget.
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 · 22.91 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6052, -0.3843, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6071, -0.3958, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.1675, 1.8584, -0.0513, 0.1441, -0.0904, -0.4444, -1.6479, 9.7299, 1.9072, -0.0366, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2c241fc753cbd55f31d92a08d15546918e1e3d5195d2be3ffda3dedfc892a974"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f561ffaaa395e9480982c1d6e6815f9b7fda4919625095028902227345e5b2ff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f19dd00bfaf95436d53fc6c20a3504355189f8a409777e92aabd6529766d9cf3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2c241fc753cb
wire blob f561ffaaa395
wire blob f19dd00bfaf9
call 1 attempt 0 · /chat/completions · status 200 · 17.86 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.33, \"left_y\": -0.09, \"left_z\": 0.1}, \"note\": \"The left wrist camera shows the red block at its lower right, so the block is ahead and to the right of the left gripper. Moving the left arm forward, right and down to get a closer look and line up over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FVADdRN1oY4mfKcPcnKUHw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01FVADdRN1oY4mfKcPcnKUHw"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4652, 1.1851, 0.461, 0.0166, -0.3565, -0.2752, 0.9992, -0.0212, 0.8005, 0.6128, -0.4168, -0.02, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.0867 left_z=0.0863 left_yaw=-0.0333 left_pitch=-0.0837 left_roll=0.0284 left_gripper=0.9992 right_x=0.2913 right_y=0.001 right_z=0.1747 right_yaw=-0.0033 right_pitch=-0.0206 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -4.2462, 6.4479, 1.8681, -0.2906, -0.0415, -0.0171, -0.1709, -1.7026, 6.5436, 1.9951, -0.0366, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b2f7ae706dd9e6cb22c72e78b0bd9c5437c0e3a9f389d2f1d1419e1bf6dfa98"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de3c8448618450f69642ca05b305ae5c5dfb0fd7f2687fc03c039141c9988f9f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a3ed6f07e660019fdd8fb380d856533639c0c809622d4bfa484fc828bb18bf1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2b2f7ae706dd
wire blob de3c84486184
wire blob 8a3ed6f07e66
call 2 attempt 0 · /chat/completions · status 200 · 24.52 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6052, -0.3843, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6071, -0.3958, -0.0193, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.18 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.1675, 1.8584, -0.0513, 0.1441, -0.0904, -0.4444, -1.6479, 9.7299, 1.9072, -0.0366, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.04, \"left_z\": 0.09}, \"note\": \"Top camera shows the red block ahead (image-right) and slightly toward image-top of the left gripper; I'm moving the left arm forward and a bit toward +y to center over the block and check the alignment in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BowEiqpBWnNJETGvza1WG8",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01BowEiqpBWnNJETGvza1WG8"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1959, 1.3743, 0.5549, 0.0757, -0.1921, -0.1413, 0.9992, -0.0212, 0.8032, 0.6075, -0.4404, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3592 left_y=-0.0332 left_z=0.0682 left_yaw=0.0289 left_pitch=-0.1561 left_roll=0.0401 left_gripper=0.9992 right_x=0.2873 right_y=0.001 right_z=0.1668 right_yaw=0.0002 right_pitch=-0.0522 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.2581, 8.4718, 2.0537, 0.0806, 0.149, -0.0122, -0.1709, -1.4974, 7.4188, 1.873, -0.0269, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b915e6deec16268711c3ef1c09862a2e086d69712d135a81aff298192aa912b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a9aed69407327c5477db8a80679c18504b13901077fb20cac0186397ddca40d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:811176eb51363401b51c4544dab787c7308ec05de4a2882a30ec437a0544ea54"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b915e6deec16
wire blob 5a9aed694073
wire blob 811176eb5136
call 3 attempt 0 · /chat/completions · status 200 · 8.533 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4652, 1.1851, 0.461, 0.0166, -0.3565, -0.2752, 0.9992, -0.0212, 0.8005, 0.6128, -0.4168, -0.02, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.0867 left_z=0.0863 left_yaw=-0.0333 left_pitch=-0.0837 left_roll=0.0284 left_gripper=0.9992 right_x=0.2913 right_y=0.001 right_z=0.1747 right_yaw=-0.0033 right_pitch=-0.0206 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -4.2462, 6.4479, 1.8681, -0.2906, -0.0415, -0.0171, -0.1709, -1.7026, 6.5436, 1.9951, -0.0366, -0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.12, \"left_z\": 0.08}, \"note\": \"The block slid to the far right edge of the left wrist camera when I moved +y, so image-right in that camera is the robot's -y direction; the block is farther to the right (negative y) and a bit ahead. Moving the left gripper right and forward to center over it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NDPMuJLJh9diWSYmi8NNzu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01NDPMuJLJh9diWSYmi8NNzu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1753, 1.3899, 0.5751, 0.0937, -0.1459, -0.1055, 0.9992, -0.0212, 0.8024, 0.6075, -0.4553, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3677 left_y=-0.0354 left_z=0.0731 left_yaw=-0.0096 left_pitch=-0.1409 left_roll=0.0323 left_gripper=0.9992 right_x=0.2851 right_y=0.001 right_z=0.1641 right_yaw=0.0007 right_pitch=-0.0664 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -5.2991, 8.1983, 1.9267, 0.0806, 0.1148, -0.0122, -0.0479, -1.1145, 6.9675, 1.8095, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70b32df0c16471ff4579bf0a93acd3c7b6c3b2bc6f3ef31fce802747a71e6343"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbe91ea847ed527ad126a4f57ec1c944a4941d40a11f25cc39fba4372795f012"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32406a44bc69086260b4f5dc246b46b90fd99f81c5b57acfc0f3746ad43044bf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 70b32df0c164
wire blob cbe91ea847ed
wire blob 32406a44bc69
call 4 attempt 0 · /chat/completions · status 200 · 16.81 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1959, 1.3743, 0.5549, 0.0757, -0.1921, -0.1413, 0.9992, -0.0212, 0.8032, 0.6075, -0.4404, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3592 left_y=-0.0332 left_z=0.0682 left_yaw=0.0289 left_pitch=-0.1561 left_roll=0.0401 left_gripper=0.9992 right_x=0.2873 right_y=0.001 right_z=0.1668 right_yaw=0.0002 right_pitch=-0.0522 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.2581, 8.4718, 2.0537, 0.0806, 0.149, -0.0122, -0.1709, -1.4974, 7.4188, 1.873, -0.0269, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.08, \"left_z\": 0.1}, \"note\": \"The arm barely moved on the last command (y stayed near -0.035), so the target may have been tracked poorly; trying a smaller step toward -y and slightly higher to bring the block, still at the right edge of the left wrist view, under the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_014t2S1dFbCqVByEEJkMW8m5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_014t2S1dFbCqVByEEJkMW8m5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2596, 1.4147, 0.6445, 0.001, -0.2081, -0.157, 0.9992, -0.0212, 0.8024, 0.6075, -0.4755, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.369 left_y=-0.0565 left_z=0.0764 left_yaw=-0.0118 left_pitch=-0.178 left_roll=0.0453 left_gripper=0.9992 right_x=0.282 right_y=0.0012 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-1.2239, -5.9009, 9.4154, 1.9951, -0.2271, 0.0415, -0.0122, -0.0342, -1.1966, 6.9402, 2.044, -0.0269, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70a49858b652c2c7d8bcf518e6dd975243d1255d84840cf7aef1d1979412bf6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d54beca785583548e7106ee074163d23f1e7cea541ae138de2c58803e33cce6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e2c6cbb7c7966f9e956a23eebeb41a1e9e9a426945c2244689a3b4f2e1d5f71a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 70a49858b652
wire blob 4d54beca7855
wire blob e2c6cbb7c796
call 5 attempt 0 · /chat/completions · status 200 · 9.744 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1753, 1.3899, 0.5751, 0.0937, -0.1459, -0.1055, 0.9992, -0.0212, 0.8024, 0.6075, -0.4553, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.3677 left_y=-0.0354 left_z=0.0731 left_yaw=-0.0096 left_pitch=-0.1409 left_roll=0.0323 left_gripper=0.9992 right_x=0.2851 right_y=0.001 right_z=0.1641 right_yaw=0.0007 right_pitch=-0.0664 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -5.2991, 8.1983, 1.9267, 0.0806, 0.1148, -0.0122, -0.0479, -1.1145, 6.9675, 1.8095, -0.0415, -0.0611, -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\": 0.37, \"left_y\": -0.12, \"left_z\": 0.06}, \"note\": \"The block is still at the lower-right edge of the left wrist camera, meaning it's beside the gripper toward -y; the arm undershoots its y targets, so I'm commanding a larger -y step while descending slightly.\"}",
        "name": "move_to"
      },
      "id": "toolu_01R5gqhngkco3AFHRWHz4HwP",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01R5gqhngkco3AFHRWHz4HwP"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4725, 1.5429, 0.6704, -0.001, -0.3321, -0.3, 0.9992, -0.0212, 0.8043, 0.6075, -0.4999, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1132 left_z=0.0452 left_yaw=-0.0352 left_pitch=-0.2409 left_roll=0.0645 left_gripper=0.9992 right_x=0.2783 right_y=0.0012 right_z=0.1549 right_yaw=0.0006 right_pitch=-0.1129 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.6821, 8.841, 1.7167, -0.3492, 0.0073, -0.0122, -0.1846, -1.3744, 7.2137, 1.8877, -0.0562, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d5785a86a99366af45dc78e342eeb2e9bb9cd2ddd940758740df82420fca84d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d7b4b8181ece63e042c0b0e8e7eb33984807bd6fffaabcade4ef8bfb846850eb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a8ee057631b41409f431882112aec013dc89fdd8d0c327fb000fdce934b455ae"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d5785a86a993
wire blob d7b4b8181ece
wire blob a8ee057631b4
call 6 attempt 0 · /chat/completions · status 200 · 7.731 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2596, 1.4147, 0.6445, 0.001, -0.2081, -0.157, 0.9992, -0.0212, 0.8024, 0.6075, -0.4755, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.369 left_y=-0.0565 left_z=0.0764 left_yaw=-0.0118 left_pitch=-0.178 left_roll=0.0453 left_gripper=0.9992 right_x=0.282 right_y=0.0012 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0866 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-1.2239, -5.9009, 9.4154, 1.9951, -0.2271, 0.0415, -0.0122, -0.0342, -1.1966, 6.9402, 2.044, -0.0269, -0.0317, -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\": 0.375, \"left_y\": -0.16, \"left_z\": 0.04}, \"note\": \"The red block is now clearly visible at the right side of the left wrist camera, just ahead of the fingertips; shifting the gripper about 5 cm further toward -y and slightly forward to center it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Pr2Wo2WWKSgpPD1sxRuJLM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Pr2Wo2WWKSgpPD1sxRuJLM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5724, 1.6936, 0.7856, -0.0422, -0.3805, -0.3805, 0.9992, -0.0212, 0.8062, 0.6075, -0.522, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.1512 left_z=0.0275 left_yaw=-0.0417 left_pitch=-0.2875 left_roll=0.0807 left_gripper=0.9992 right_x=0.2748 right_y=0.0012 right_z=0.1503 right_yaw=0.0006 right_pitch=-0.1369 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -7.0906, 7.8154, 1.4481, -0.4322, -0.0073, -0.0122, -0.1162, -1.1419, 7.2684, 1.8584, -0.0171, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3eb55156aaaa76591c79ca838eb982cde15a4a9b9efdef4c63a5be6b62c31035"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae025b09f7f335f296bb3664fd4f73dd2034053f1c4872d30bc7fa8f425ae388"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ebcc3a61c5fb4866b7ba657e872800b705bd34e7bf2cf8e750a52ec5eef0c11"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3eb55156aaaa
wire blob ae025b09f7f3
wire blob 9ebcc3a61c5f
call 7 attempt 0 · /chat/completions · status 200 · 10.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4725, 1.5429, 0.6704, -0.001, -0.3321, -0.3, 0.9992, -0.0212, 0.8043, 0.6075, -0.4999, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3559 left_y=-0.1132 left_z=0.0452 left_yaw=-0.0352 left_pitch=-0.2409 left_roll=0.0645 left_gripper=0.9992 right_x=0.2783 right_y=0.0012 right_z=0.1549 right_yaw=0.0006 right_pitch=-0.1129 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.6821, 8.841, 1.7167, -0.3492, 0.0073, -0.0122, -0.1846, -1.3744, 7.2137, 1.8877, -0.0562, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.165, \"left_z\": 0.0}, \"note\": \"The block now sits between the open jaws in the left wrist view, slightly ahead and to the right of center; descending to table level with a small forward/right correction so the jaws straddle it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RABYtVbTuJmgCsayX8sdcp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01RABYtVbTuJmgCsayX8sdcp"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5812, 1.7004, 0.7994, -0.0425, -0.3878, -0.3954, 0.9992, -0.0212, 0.8062, 0.6075, -0.5301, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.1555 left_z=0.0299 left_yaw=-0.0373 left_pitch=-0.2783 left_roll=0.0723 left_gripper=0.9992 right_x=0.2735 right_y=0.0013 right_z=0.1488 right_yaw=0.0006 right_pitch=-0.1449 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.1453, 7.7333, 1.4872, -0.3492, -0.0024, -0.0122, -0.0479, -1.1829, 7.0906, 1.7802, -0.0611, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba5592991882064fc79fae6e99894eea6a4de378e8863f90c5967b3e29bf3d4d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:828f74701dc90203ddaf3180f9ece75ad08bcb8433947d003fbd2d156d5aa052"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6eaaac862831f27ff338659da0b3ec3a203c07e6f8bd7e829555743951188ac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ba5592991882
wire blob 828f74701dc9
wire blob e6eaaac86283
call 8 attempt 0 · /chat/completions · status 200 · 6.906 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5724, 1.6936, 0.7856, -0.0422, -0.3805, -0.3805, 0.9992, -0.0212, 0.8062, 0.6075, -0.522, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.1512 left_z=0.0275 left_yaw=-0.0417 left_pitch=-0.2875 left_roll=0.0807 left_gripper=0.9992 right_x=0.2748 right_y=0.0012 right_z=0.1503 right_yaw=0.0006 right_pitch=-0.1369 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -7.0906, 7.8154, 1.4481, -0.4322, -0.0073, -0.0122, -0.1162, -1.1419, 7.2684, 1.8584, -0.0171, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.165, \"left_z\": -0.01, \"left_pitch\": 0.0}, \"note\": \"The gripper didn't actually descend (z still 0.03) and the block is between the jaws but slightly to the right/ahead in the wrist view; re-commanding a lower z with level pitch and a small forward/right offset to get the jaws around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JpZjqx9xaTcVbZqjbuM488",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01JpZjqx9xaTcVbZqjbuM488"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6025, 1.7771, 0.7273, 0.1097, -0.4469, -0.3683, 0.9992, -0.0212, 0.8062, 0.6075, -0.5655, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1514 left_z=0.0026 left_yaw=-0.0285 left_pitch=-0.2516 left_roll=0.1312 left_gripper=0.9992 right_x=0.2675 right_y=0.0014 right_z=0.1424 right_yaw=0.0008 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -1.1145, -0.1026, -0.149, -0.6569, 0.1734, -0.0122, -0.1162, -1.0462, 6.8581, 1.9121, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba6cfc74ed47f4c9fb2c28bce6850720f4abd4a03b727b7e637ac66bf504790a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d2d507066507256efe93b7e53fb0c7e7c74e2ca799011ef2227b6c0510f06d7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ddef33ca8bb9cfc009fe7a3064ec565c9cca144b613e4c5a390226acf0bcf16a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ba6cfc74ed47
wire blob 1d2d50706650
wire blob ddef33ca8bb9
call 9 attempt 0 · /chat/completions · status 200 · 12.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5812, 1.7004, 0.7994, -0.0425, -0.3878, -0.3954, 0.9992, -0.0212, 0.8062, 0.6075, -0.5301, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.1555 left_z=0.0299 left_yaw=-0.0373 left_pitch=-0.2783 left_roll=0.0723 left_gripper=0.9992 right_x=0.2735 right_y=0.0013 right_z=0.1488 right_yaw=0.0006 right_pitch=-0.1449 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.1453, 7.7333, 1.4872, -0.3492, -0.0024, -0.0122, -0.0479, -1.1829, 7.0906, 1.7802, -0.0611, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The gripper is at table height with the red block between the jaws in the left wrist view (shoulder efforts dropped, suggesting contact with the table); closing the left gripper to grasp the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TZ6X4kNdDztA4xX4PrLUke",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01TZ6X4kNdDztA4xX4PrLUke"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6025, 1.7931, 0.7162, 0.1314, -0.4603, -0.3763, 0.0089, -0.0212, 0.8101, 0.606, -0.5949, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3603 left_y=-0.1483 left_z=-0.0028 left_yaw=-0.0132 left_pitch=-0.2495 left_roll=0.1379 left_gripper=0.0089 right_x=0.2623 right_y=0.0015 right_z=0.1357 right_yaw=0.0009 right_pitch=-0.2151 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.9504, 6.0923, 1.1111, -0.0952, 0.0659, 0.6764, -0.212, -1.4564, 7.0906, 1.7998, -0.0562, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b055e6e08ed45494333f837f88bcb8fb618046efca2859340879b3bf5a0b2add"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29d55f54568f08690efad30d7e2a97ad96d6477bbc9215f0c504efba9fd21870"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0fb3f411437d055840bd117a0cb33df6c83a222cb4b3ed8031208064db2db900"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b055e6e08ed4
wire blob 29d55f54568f
wire blob 0fb3f411437d
call 10 attempt 0 · /chat/completions · status 200 · 14.06 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6025, 1.7771, 0.7273, 0.1097, -0.4469, -0.3683, 0.9992, -0.0212, 0.8062, 0.6075, -0.5655, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3611 left_y=-0.1514 left_z=0.0026 left_yaw=-0.0285 left_pitch=-0.2516 left_roll=0.1312 left_gripper=0.9992 right_x=0.2675 right_y=0.0014 right_z=0.1424 right_yaw=0.0008 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.9504, -1.1145, -0.1026, -0.149, -0.6569, 0.1734, -0.0122, -0.1162, -1.0462, 6.8581, 1.9121, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_z\": 0.05, \"left_x\": 0.42, \"left_y\": -0.17}, \"note\": \"The gripper closed on nothing; the wrist camera shows the block just ahead of the fingertips (image-up \\u2248 +x) and slightly to the right. Reopening, lifting a little, and moving ~6 cm forward and 2 cm toward -y to get over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ADUqCS8qy6ZfWnuR8jRBX7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01ADUqCS8qy6ZfWnuR8jRBX7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5648, 1.8351, 1.0206, -0.1287, -0.4381, -0.3527, 0.9949, -0.0212, 0.8101, 0.6056, -0.6167, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4102 left_y=-0.1669 left_z=0.0437 left_yaw=-0.0057 left_pitch=-0.2592 left_roll=0.1377 left_gripper=0.9949 right_x=0.2583 right_y=0.0016 right_z=0.1318 right_yaw=0.001 right_pitch=-0.2372 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.7179, -7.2137, 8.1162, 1.4579, -0.2076, 0.1197, 0.0073, -0.2256, -1.1282, 6.9538, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ab26a6fad9f485b80219a1ec72e84176e916f8b95d21a8d67448771a7a3b562"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b87b8200aa216c209567fd90b055879af0ecfb8eb736b9a296fed4f451c3bbbc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6d9fdb1b8308b43956e2074368ce584745cc890eca48107c689871fe18d4421"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7ab26a6fad9f
wire blob b87b8200aa21
wire blob b6d9fdb1b830
call 11 attempt 0 · /chat/completions · status 200 · 20.15 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6025, 1.7931, 0.7162, 0.1314, -0.4603, -0.3763, 0.0089, -0.0212, 0.8101, 0.606, -0.5949, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3603 left_y=-0.1483 left_z=-0.0028 left_yaw=-0.0132 left_pitch=-0.2495 left_roll=0.1379 left_gripper=0.0089 right_x=0.2623 right_y=0.0015 right_z=0.1357 right_yaw=0.0009 right_pitch=-0.2151 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.9504, 6.0923, 1.1111, -0.0952, 0.0659, 0.6764, -0.212, -1.4564, 7.0906, 1.7998, -0.0562, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.18, \"left_z\": -0.01}, \"note\": \"The block is now between the jaws in the left wrist view but sits a little behind and to the right of center (image-down \\u2248 -x, image-right \\u2248 -y); descending to table height with a ~2 cm back and 1.5 cm right correction.\"}",
        "name": "move_to"
      },
      "id": "toolu_013aSo3b7cVZ7iy3GGdhT6pW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_013aSo3b7cVZ7iy3GGdhT6pW"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6243, 1.9102, 0.9295, 0.0227, -0.469, -0.4034, 0.9957, -0.0212, 0.8154, 0.6033, -0.6308, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3936 left_y=-0.1807 left_z=0.0046 left_yaw=-0.0115 left_pitch=-0.2538 left_roll=0.1323 left_gripper=0.9957 right_x=0.2554 right_y=0.0017 right_z=0.1272 right_yaw=0.0012 right_pitch=-0.259 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.3111, 4.1094, 0.8913, -0.0708, -0.0269, 0.0659, -0.0342, -1.5521, 7.0359, 1.7118, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30123398f5ed4279ebb5f3d84552fa9220e2610de761d01d2f66c9945e6c0494"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0b06311e394893d514de4028f0a7ea9375ea027bf6fb81e59d0a90bef31eb45"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af754229e016246151d48c7007e89b1099ec6a3457c7d46c774521576ee24a2c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 30123398f5ed
wire blob d0b06311e394
wire blob af754229e016
call 12 attempt 0 · /chat/completions · status 200 · 6.948 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5648, 1.8351, 1.0206, -0.1287, -0.4381, -0.3527, 0.9949, -0.0212, 0.8101, 0.6056, -0.6167, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4102 left_y=-0.1669 left_z=0.0437 left_yaw=-0.0057 left_pitch=-0.2592 left_roll=0.1377 left_gripper=0.9949 right_x=0.2583 right_y=0.0016 right_z=0.1318 right_yaw=0.001 right_pitch=-0.2372 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.7179, -7.2137, 8.1162, 1.4579, -0.2076, 0.1197, 0.0073, -0.2256, -1.1282, 6.9538, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.18, \"left_z\": -0.01}, \"note\": \"At table height the block appears centered laterally between the jaws but about 4 cm ahead of the fingertips in the left wrist view (last grasp missed short); sliding the gripper 3 cm forward so the block sits between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GxeoEnvx8hvDbH9iB7eys7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01GxeoEnvx8hvDbH9iB7eys7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.609, 1.932, 0.9405, 0.0639, -0.4679, -0.4137, 0.9957, -0.0212, 0.8158, 0.6025, -0.6479, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1801 left_z=0.0047 left_yaw=0.0043 left_pitch=-0.2287 left_roll=0.1062 left_gripper=0.9957 right_x=0.2521 right_y=0.0017 right_z=0.124 right_yaw=0.0015 right_pitch=-0.2773 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -7.5009, 7.2, 1.0916, -0.149, 0.1929, -0.0024, -0.0752, -1.1145, 6.8991, 1.6972, -0.0855, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1fe7ab22f4e05fbdbfd717509f67ec1cd644c481412c64c36af0dfa67dbbd9d8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b79a881801ba9192133d479186b72810e0ab8fae050330e8037b4e5ace23b5f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db48ff2521520060c74765025d7f3b153f199b984851abd0b0e1a737acfe35a3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1fe7ab22f4e0
wire blob 7b79a881801b
wire blob db48ff252152
call 13 attempt 0 · /chat/completions · status 200 · 8.144 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6243, 1.9102, 0.9295, 0.0227, -0.469, -0.4034, 0.9957, -0.0212, 0.8154, 0.6033, -0.6308, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3936 left_y=-0.1807 left_z=0.0046 left_yaw=-0.0115 left_pitch=-0.2538 left_roll=0.1323 left_gripper=0.9957 right_x=0.2554 right_y=0.0017 right_z=0.1272 right_yaw=0.0012 right_pitch=-0.259 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.3111, 4.1094, 0.8913, -0.0708, -0.0269, 0.0659, -0.0342, -1.5521, 7.0359, 1.7118, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.18, \"left_z\": -0.01}, \"note\": \"The arm only advanced 1 cm and the block is still just beyond the fingertips in the left wrist view; commanding a further 3.5 cm forward at table height to bring it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BNTvE6KNnxxDgP67cUQ9Bx",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BNTvE6KNnxxDgP67cUQ9Bx"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6071, 1.932, 0.9432, 0.057, -0.4679, -0.4057, 0.9957, -0.0212, 0.8181, 0.6018, -0.6598, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1792 left_z=0.0046 left_yaw=0.0023 left_pitch=-0.2326 left_roll=0.1144 left_gripper=0.9957 right_x=0.2498 right_y=0.0018 right_z=0.1213 right_yaw=0.0014 right_pitch=-0.2921 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.9111, 6.5573, 1.0965, -0.1685, 0.1343, -0.0122, -0.0889, -1.306, 6.9949, 1.5458, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62266415bdd6b3a5a9c03ce51fc04f95e71a9fca3beb3c04169f7a2d4124ead3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3836e80e7fb3faa587a93e49eb5d5163eba8c75662dfe31ff62342a7353151f4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:02904724985fbf676c08fdd3c5201d8abaaddf761aad03e074f7eb54b72f3389"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 62266415bdd6
wire blob 3836e80e7fb3
wire blob 02904724985f
call 14 attempt 0 · /chat/completions · status 200 · 5.43 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.609, 1.932, 0.9405, 0.0639, -0.4679, -0.4137, 0.9957, -0.0212, 0.8158, 0.6025, -0.6479, -0.0196, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1801 left_z=0.0047 left_yaw=0.0043 left_pitch=-0.2287 left_roll=0.1062 left_gripper=0.9957 right_x=0.2521 right_y=0.0017 right_z=0.124 right_yaw=0.0015 right_pitch=-0.2773 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -7.5009, 7.2, 1.0916, -0.149, 0.1929, -0.0024, -0.0752, -1.1145, 6.8991, 1.6972, -0.0855, -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\": 0.445, \"left_y\": -0.18, \"left_z\": 0.025, \"left_pitch\": 0.0}, \"note\": \"The arm is stalled at x\\u22480.40 at table height\\u2014the fingertips are probably dragging on the table with the wrist pitched back. Raising to 2.5 cm (block is ~4 cm tall), leveling pitch, and pushing forward so the block ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VgTgKcStDf3bCjoN4kaPZq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01VgTgKcStDf3bCjoN4kaPZq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5907, 1.9858, 0.9276, 0.247, -0.5186, -0.3405, 0.9957, -0.0212, 0.8192, 0.6018, -0.6765, -0.0193, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.1765 left_z=0.0076 left_yaw=0.0094 left_pitch=-0.1158 left_roll=0.126 left_gripper=0.9957 right_x=0.2466 right_y=0.0018 right_z=0.1184 right_yaw=0.0014 right_pitch=-0.3101 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0598, 4.8889, 1.7118, -0.3687, 0.2418, -0.0122, -0.0889, -1.1966, 6.9402, 1.5556, -0.0269, -0.0513, -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,$blob:9e3055fec815f72885d8c749ff13addea94ff64bd902741fdbe52f6e0e1648dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:15607130d5c9fa0e9bd65af19b536a94bb319655445b973d5c4ed8af66e51c19"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c471e8e1c7f8f6549f126165762e78bd035a2741d946a0402cd21f266f2e03d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9e3055fec815
wire blob 15607130d5c9
wire blob 5c471e8e1c7f
call 15 attempt 0 · /chat/completions · status 200 · 13.39 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6071, 1.932, 0.9432, 0.057, -0.4679, -0.4057, 0.9957, -0.0212, 0.8181, 0.6018, -0.6598, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1792 left_z=0.0046 left_yaw=0.0023 left_pitch=-0.2326 left_roll=0.1144 left_gripper=0.9957 right_x=0.2498 right_y=0.0018 right_z=0.1213 right_yaw=0.0014 right_pitch=-0.2921 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.9111, 6.5573, 1.0965, -0.1685, 0.1343, -0.0122, -0.0889, -1.306, 6.9949, 1.5458, -0.0317, -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_gripper\": 0.0}, \"note\": \"The red block now sits squarely between the two fingertips in the left wrist camera; closing the left gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QCd8NdS2MNmQX6nhmGFKjn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01QCd8NdS2MNmQX6nhmGFKjn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5903, 1.9961, 0.9211, 0.2626, -0.5243, -0.3489, 0.4444, -0.0212, 0.8192, 0.6018, -0.6838, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=-0.175 left_z=0.0038 left_yaw=0.0187 left_pitch=-0.1138 left_roll=0.1235 left_gripper=0.4444 right_x=0.2452 right_y=0.0019 right_z=0.1173 right_yaw=0.0016 right_pitch=-0.3173 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.4137, 5.6274, 1.3358, -0.1783, 0.0171, 1.033, -0.0479, -1.1282, 6.8308, 1.4335, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83c31b942a4f573787228b3e1b4e8ee63a549bfff40b9d3e8fc4b5f98187a9f9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:501f21039d2d5812b09ab2e5a194a4f96be71937aff5a83f5873ccc5b1ee11d5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ac68d059f1f31d433fc93dc796c284f3763ce16380237fce64c2198ee2c3e84"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 83c31b942a4f
wire blob 501f21039d2d
wire blob 6ac68d059f1f
call 16 attempt 0 · /chat/completions · status 200 · 34.09 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5907, 1.9858, 0.9276, 0.247, -0.5186, -0.3405, 0.9957, -0.0212, 0.8192, 0.6018, -0.6765, -0.0193, -0.0349, 0.9996]\nstate[eef_state]: left_x=0.4269 left_y=-0.1765 left_z=0.0076 left_yaw=0.0094 left_pitch=-0.1158 left_roll=0.126 left_gripper=0.9957 right_x=0.2466 right_y=0.0018 right_z=0.1184 right_yaw=0.0014 right_pitch=-0.3101 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0598, 4.8889, 1.7118, -0.3687, 0.2418, -0.0122, -0.0889, -1.1966, 6.9402, 1.5556, -0.0269, -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\": 0.55, \"left_y\": -0.18, \"left_z\": 0.13, \"left_pitch\": 0.0}, \"note\": \"Gripper stopped at 0.44 with rising effort, and the block is held between the jaws in the left wrist view. The bowl in the top camera is about 15 cm ahead (image-right) of the gripper; lifting the block and carrying it forward over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PnaqYVaCt7i5JWvzhFzFQU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01PnaqYVaCt7i5JWvzhFzFQU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4675, 2.0724, 1.4815, -0.0883, -0.482, -0.2352, 0.4479, -0.0212, 0.823, 0.6018, -0.7025, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5386 left_y=-0.1762 left_z=0.1146 left_yaw=0.0426 left_pitch=-0.0239 left_roll=0.1197 left_gripper=0.4479 right_x=0.2415 right_y=0.0019 right_z=0.1136 right_yaw=0.0017 right_pitch=-0.3398 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -11.0974, 9.1419, 1.6679, -0.0562, 0.3004, 1.0281, -0.1026, -1.4017, 6.7624, 1.5018, -0.0415, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2387eac8e857e4974b0fe272317c00589f311296277dd377f06c56bfaad9844"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:317d509d56ec7d01a53e234d71af16c24e4e60c0ed84a92e8bffdcab5178f647"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:608c4a70e47436d7633aff48c293dbd9b664001e5fc980d362a25e8cbadf0724"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f2387eac8e85
wire blob 317d509d56ec
wire blob 608c4a70e474
call 17 attempt 0 · /chat/completions · status 200 · 20.1 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5903, 1.9961, 0.9211, 0.2626, -0.5243, -0.3489, 0.4444, -0.0212, 0.8192, 0.6018, -0.6838, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4265 left_y=-0.175 left_z=0.0038 left_yaw=0.0187 left_pitch=-0.1138 left_roll=0.1235 left_gripper=0.4444 right_x=0.2452 right_y=0.0019 right_z=0.1173 right_yaw=0.0016 right_pitch=-0.3173 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.4137, 5.6274, 1.3358, -0.1783, 0.0171, 1.033, -0.0479, -1.1282, 6.8308, 1.4335, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": 0.0, \"left_z\": 0.14}, \"note\": \"Block is securely held. In the top camera the bowl is to image-right and slightly below the gripper, which corresponds to +y (toward the other arm) and slightly -x in the left arm frame; moving the block over the bowl at about x=0.46, y=0.0 while keeping it high enough to clear the rim.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y44kD7WLcfyT66xXridKCu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 16 steps (1.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y44kD7WLcfyT66xXridKCu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0834, 1.6287, 0.9581, 0.0181, -0.1978, -0.017, 0.4507, -0.0212, 0.8249, 0.6018, -0.7242, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4595 left_y=0.0 left_z=0.1227 left_yaw=0.0767 left_pitch=-0.0718 left_roll=0.1231 left_gripper=0.4507 right_x=0.2372 right_y=0.002 right_z=0.11 right_yaw=0.0019 right_pitch=-0.3635 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.1402, 6.4205, 1.9072, 0.1587, 0.1001, 1.033, -0.1846, -1.0735, 6.694, 1.5311, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d2693a703a3eae01dcf6a9164b485ba4cad98d3cd800447f5917e5a75ac650b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55122b97d20e6d473b6e0b4fbe1ec2d7d6e6fb463ea0de2eac26bf71ad89b832"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:053424c6b11ad9e730a6568716561fe6f08fd2e7499a65f1e1f6066a5c349ae3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1d2693a703a3
wire blob 55122b97d20e
wire blob 053424c6b11a
call 18 attempt 0 · /chat/completions · status 200 · 13.78 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4675, 2.0724, 1.4815, -0.0883, -0.482, -0.2352, 0.4479, -0.0212, 0.823, 0.6018, -0.7025, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.5386 left_y=-0.1762 left_z=0.1146 left_yaw=0.0426 left_pitch=-0.0239 left_roll=0.1197 left_gripper=0.4479 right_x=0.2415 right_y=0.0019 right_z=0.1136 right_yaw=0.0017 right_pitch=-0.3398 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -11.0974, 9.1419, 1.6679, -0.0562, 0.3004, 1.0281, -0.1026, -1.4017, 6.7624, 1.5018, -0.0415, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.32, \"left_z\": 0.16}, \"note\": \"Correction: in the top camera +y moves the gripper image-left, so the bowl (image-right of the gripper) is actually at about y=-0.32, x=0.41 in the left arm frame. Carrying the held block over to that position above the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ArcGysiEsqsdeehwAgLjrn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 29 steps (2.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01ArcGysiEsqsdeehwAgLjrn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9009, 2.0586, 1.7039, -0.6579, -0.7509, -0.6895, 0.4508, -0.0212, 0.8249, 0.6018, -0.7406, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4077 left_y=-0.3147 left_z=0.1475 left_yaw=0.0622 left_pitch=-0.1034 left_roll=0.1268 left_gripper=0.4508 right_x=0.2339 right_y=0.0022 right_z=0.1077 right_yaw=0.0024 right_pitch=-0.3798 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.988, 9.4564, 1.0672, -0.7302, -0.0269, 1.033, -0.1162, -1.0462, 6.653, 1.4383, -0.0513, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca40079e216940aa6691d77baf33050de4743599901b5a87d8b111d637f89607"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e980e6db426844873ef5161b2cc624baf2610f7d2085b5ed8830f442843404fd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5bc3bf7e2fb0b3ed676f7adc5ad2e05a5ab69203822998800efdb35bd46c21f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ca40079e2169
wire blob e980e6db4268
wire blob f5bc3bf7e2fb
call 19 attempt 0 · /chat/completions · status 200 · 13.07 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0834, 1.6287, 0.9581, 0.0181, -0.1978, -0.017, 0.4507, -0.0212, 0.8249, 0.6018, -0.7242, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4595 left_y=0.0 left_z=0.1227 left_yaw=0.0767 left_pitch=-0.0718 left_roll=0.1231 left_gripper=0.4507 right_x=0.2372 right_y=0.002 right_z=0.11 right_yaw=0.0019 right_pitch=-0.3635 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.1402, 6.4205, 1.9072, 0.1587, 0.1001, 1.033, -0.1846, -1.0735, 6.694, 1.5311, -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\": 0.4, \"left_y\": -0.375, \"left_z\": 0.11, \"left_gripper\": 1.0}, \"note\": \"The bowl rim is visible at the right edge of the left wrist camera, so the bowl center is ~6 cm further toward -y; moving over the bowl and releasing the block into it (budget nearly exhausted, so combining the final approach and release).\"}",
        "name": "move_to"
      },
      "id": "toolu_01K3ahhjLjqvMenbkdSuMZ8A",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01K3ahhjLjqvMenbkdSuMZ8A"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9852, 2.2692, 1.8774, -0.7303, -0.7696, -0.7914, 0.9954, -0.0212, 0.8249, 0.6018, -0.7475, -0.0196, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.3672 left_z=0.0988 left_yaw=0.0543 left_pitch=-0.1408 left_roll=0.1496 left_gripper=0.9954 right_x=0.2325 right_y=0.0021 right_z=0.1067 right_yaw=0.0021 right_pitch=-0.3867 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.6564, 8.8274, 0.9841, -0.696, 0.022, -0.1001, -0.0889, -0.9094, 6.6256, 1.409, -0.0513, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2605126ddafcd1fc5dbe2caf91bed8bd3731c1e1104d8552a714675e691318a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73ea0647c8b5fe044955d6a5709ade45a23f83892ae9b873991dfc346071f54e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1837cc486cd2437e8429fef277da71325ce7e4acf3fe835954b6fd8238c45d2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2605126ddafc
wire blob 73ea0647c8b5
wire blob f1837cc486cd