adhoc

completed
2026-09-03T02:48:11.613144+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
886.8 s
total steps
119
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I can see a red block on the table (left-center in top view) and a white bowl to its right. The left arm looks best positioned to grab the block. Let me move the left arm above the block first.
agent noteRed block sits ahead of the left arm with the bowl further right; moving the left gripper forward and down to hover above the block's estimated position.
move_to
left_x0.4200left_y0.0000left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3866, -0.0193, -0.0322, 0.9993, -0.0212, 0.7944, 0.6056, -0.3958, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1773 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5128, -1.4564, 10.2085, 1.9316, -0.0952, 0.1538, -0.0904, -0.5812, -1.6205, 9.853, 1.917, -0.0415, 0.0024, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I can see a red block on the table (left-center in top view) and a white bowl to its right. The left arm looks best positioned to grab the block. Let me move the left arm above the block first.
move_to({"targets": {"left_x": 0.42, "left_y": 0.0, "left_z": 0.12, "left_gripper": 1.0}, "note": "Red block sits ahead of the left arm with the bowl further right; moving the left gripper forward and down to hover above the block's estimated position."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
The left arm moved forward but the top view shows the gripper still short of the block. I'll advance further along +x.
agent noteTop view shows the left gripper approaching from the left but still short of the red block; extending forward while staying above table height.
move_to
left_x0.5000left_y0.0000left_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]: [-0.0181, 1.4403, 0.6834, 0.0742, -0.0193, -0.0383, 0.9993, -0.0212, 0.7994, 0.6056, -0.4328, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3965 left_y=-0.0002 left_z=0.0937 left_yaw=0.0046 left_pitch=-0.1075 left_roll=-0.0027 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1685 right_yaw=0.0 right_pitch=-0.042 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [0.3487, -6.2017, 8.9778, 1.9707, -0.0122, 0.0317, -0.0855, -0.1299, -1.6205, 6.9812, 2.0537, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
The left arm moved forward but the top view shows the gripper still short of the block. I'll advance further along +x.
move_to({"targets": {"left_x": 0.5, "left_y": 0.0, "left_z": 0.09}, "note": "Top view shows the left gripper approaching from the left but still short of the red block; extending forward while staying above table height."})
tool
executing move_to over 8 steps (0.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
The gripper is close to target but I can't yet confirm alignment with the block in the top view. Let me lower it so I can see the gripper's position relative to the block.
agent noteLeft gripper is extended near the block area but not visible in top view yet; lowering toward table height to check alignment against the red block.
move_to
left_x0.5000left_y0.0000left_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]: [-0.0181, 1.8118, 1.0397, 0.0422, -0.0189, -0.0422, 0.9992, -0.0212, 0.8024, 0.6056, -0.4553, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4844 left_y=-0.0019 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1548 left_roll=-0.0047 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0675 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [0.4034, -9.2786, 8.1436, 1.7021, -0.0024, 0.0269, -0.0171, -0.0752, -1.4838, 7.2547, 1.8681, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
The gripper is close to target but I can't yet confirm alignment with the block in the top view. Let me lower it so I can see the gripper's position relative to the block.
move_to({"targets": {"left_x": 0.5, "left_y": 0.0, "left_z": 0.04}, "note": "Left gripper is extended near the block area but not visible in top view yet; lowering toward table height to check alignment against the red block."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteWrist cam shows no block between the fingers, so alignment is off; pulling back slightly and lowering so the gripper appears near the block in the top camera for a position comparison.
move_to
left_x0.4500left_y0.0000left_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0181, 1.9171, 1.0538, 0.1101, -0.0189, -0.0418, 0.9992, -0.0212, 0.8032, 0.6056, -0.4641, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4945 left_y=-0.002 left_z=0.0445 left_yaw=0.0064 left_pitch=-0.1781 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2835 right_y=0.0011 right_z=0.1613 right_yaw=0.0004 right_pitch=-0.077 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [0.3624, -9.6752, 5.6137, 1.9414, 0.0024, 0.0415, -0.0122, -0.0752, -1.2513, 6.9675, 1.8046, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": 0.0, "left_z": 0.03}, "note": "Wrist cam shows no block between the fingers, so alignment is off; pulling back slightly and lowering so the gripper appears near the block in the top camera for a position comparison."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteTop view shows the block slightly ahead and a touch to the arm's right of the gripper; advancing forward and a bit toward -y at low height to bracket the block between the fingers.
move_to
left_x0.5100left_y-0.0200left_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0181, 1.9278, 0.9989, 0.1242, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.4854, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4782 left_y=-0.0017 left_z=0.0214 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2803 right_y=0.0012 right_z=0.1569 right_yaw=0.0004 right_pitch=-0.0995 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.0615, -12.6017, 5.5726, 1.6777, -0.0415, -0.0415, -0.0122, -0.1709, -1.3333, 6.9538, 1.8437, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.02, "left_z": 0.02}, "note": "Top view shows the block slightly ahead and a touch to the arm's right of the gripper; advancing forward and a bit toward -y at low height to bracket the block between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe arm didn't advance last move (eef stuck at x≈0.478) and the wrist is sagging in pitch; commanding a farther forward target with positive pitch to tip the tool down over the block, which sits ~8cm ahead of the fingers in the top view.
move_to
left_x0.5300left_y-0.0200left_z0.0350left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0181, 1.9274, 0.9989, 0.1238, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.5003, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4781 left_y=-0.0017 left_z=0.0215 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0001 right_pitch=-0.1144 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [0.0068, -12.6154, 5.8051, 1.6728, -0.0708, -0.0415, -0.0073, -0.1573, -0.8684, 6.9265, 1.746, -0.0269, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.02, "left_z": 0.035, "left_pitch": 0.2}, "note": "The arm didn't advance last move (eef stuck at x\u22480.478) and the wrist is sagging in pitch; commanding a farther forward target with positive pitch to tip the tool down over the block, which sits ~8cm ahead of the fingers in the top view."})
tool
executing move_to over 15 steps (1.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteTop view shows the fingers just short of the block and the wrist cam still doesn't see it, so the block is a few cm ahead; pushing forward, lower, and pitching further down to get the block between the jaws.
move_to
left_x0.5600left_y-0.0250left_z0.0100left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0624, 2.1227, 0.9085, 0.7563, -0.07, -0.0612, 0.9992, -0.0212, 0.8043, 0.6056, -0.5236, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.5212 left_y=-0.0166 left_z=0.0194 left_yaw=0.0158 left_pitch=0.1182 left_roll=-0.0059 left_gripper=0.9992 right_x=0.2742 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1377 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.759, -9.8256, 4.9983, 2.2491, -0.0611, 0.0317, -0.0122, -0.0068, -1.2103, 7.2274, 1.79, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.56, "left_y": -0.025, "left_z": 0.01, "left_pitch": 0.3}, "note": "Top view shows the fingers just short of the block and the wrist cam still doesn't see it, so the block is a few cm ahead; pushing forward, lower, and pitching further down to get the block between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteTop view suggests the block is still a few cm ahead of and to the arm's right (-y) of the fingertips; shifting the gripper forward and toward -y to line the jaws up with the red block.
move_to
left_x0.5800left_y-0.0600left_z0.0200left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0742, 2.3238, 1.0023, 0.9981, -0.0952, -0.062, 0.9991, -0.0212, 0.8062, 0.6056, -0.561, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.5525 left_y=-0.0206 left_z=0.0041 left_yaw=0.0282 left_pitch=0.2532 left_roll=-0.0092 left_gripper=0.9991 right_x=0.268 right_y=0.0015 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.177 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.6085, -9.9077, 5.6, 1.79, -0.0073, 0.0122, -0.0171, -0.1026, -1.306, 6.9128, 1.9609, -0.0855, -0.0659, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.06, "left_z": 0.02, "left_pitch": 0.3}, "note": "Top view suggests the block is still a few cm ahead of and to the arm's right (-y) of the fingertips; shifting the gripper forward and toward -y to line the jaws up with the red block."})
tool
executing move_to over 4 steps (0.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteIn the top view the red block sits just below (further -y) the left gripper's fingertips; shifting a few more cm toward -y and down to table level so the block ends up between the jaws.
move_to
left_x0.5850left_y-0.0850left_z0.0050left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1539, 2.3493, 1.1061, 0.9558, -0.1642, -0.0834, 0.9992, -0.0212, 0.807, 0.6056, -0.59, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.5738 left_y=-0.0562 left_z=0.0182 left_yaw=0.022 left_pitch=0.2915 left_roll=-0.0142 left_gripper=0.9992 right_x=0.263 right_y=0.0015 right_z=0.1371 right_yaw=0.0005 right_pitch=-0.2067 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.1162, -10.7419, 6.2154, 1.7558, -0.1343, -0.0317, -0.0073, -0.1846, -1.2239, 6.8444, 1.8828, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.585, "left_y": -0.085, "left_z": 0.005, "left_pitch": 0.3}, "note": "In the top view the red block sits just below (further -y) the left gripper's fingertips; shifting a few more cm toward -y and down to table level so the block ends up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteWrist cam still shows empty table between the fingers, and top view puts the block a bit farther out; extending to the reach limit and lowering to table level with more downward pitch to bring the jaws around the block.
move_to
left_x0.6000left_y-0.0800left_z0.0000left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1989, 2.4062, 1.1664, 0.9516, -0.2165, -0.099, 0.9991, -0.0212, 0.8097, 0.6056, -0.614, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.5816 left_y=-0.0749 left_z=0.0082 left_yaw=0.0316 left_pitch=0.2937 left_roll=-0.0146 left_gripper=0.9991 right_x=0.2588 right_y=0.0016 right_z=0.1324 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.7726, -10.8786, 5.7915, 1.6288, 0.0269, 0.0611, -0.0171, -0.0752, -1.3333, 7.0359, 1.8144, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.08, "left_z": 0.0, "left_pitch": 0.35}, "note": "Wrist cam still shows empty table between the fingers, and top view puts the block a bit farther out; extending to the reach limit and lowering to table level with more downward pitch to bring the jaws around the block."})
tool
executing move_to over 2 steps (0.2s)
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 wrist cam still shows only bare table between the fingers, so I overshot in -y; in the top view the red block sits slightly up-image from the gripper. Moving back toward y≈-0.03, lifting a little, and pitching down more so the wrist camera can find the block.
move_to
left_x0.5800left_y-0.0300left_z0.0500left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2138, 2.4561, 1.2247, 0.9943, -0.2337, -0.0933, 0.9991, -0.0212, 0.8108, 0.6056, -0.6209, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.5937 left_y=-0.0834 left_z=0.0115 left_yaw=0.0326 left_pitch=0.3444 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2576 right_y=0.0017 right_z=0.1309 right_yaw=0.001 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [0.759, -9.9487, 5.1487, 1.6679, 0.0415, -0.1148, -0.0122, -0.0752, -1.1692, 6.8171, 1.5897, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.03, "left_z": 0.05, "left_pitch": 0.45}, "note": "The wrist cam still shows only bare table between the fingers, so I overshot in -y; in the top view the red block sits slightly up-image from the gripper. Moving back toward y\u2248-0.03, lifting a little, and pitching down more so the wrist camera can find the block."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe arm barely moved and the wrist cam sees only bare table, which suggests I've overshot past the block; retreating to x≈0.48 and raising slightly with more downward pitch so the red block comes back into the wrist camera's view.
move_to
left_x0.4800left_y-0.0300left_z0.0700left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2073, 2.4844, 1.2522, 1.0332, -0.2333, -0.0837, 0.9991, -0.0212, 0.8154, 0.6056, -0.6357, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.6006 left_y=-0.081 left_z=0.0146 left_yaw=0.0367 left_pitch=0.3814 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2549 right_y=0.0017 right_z=0.1274 right_yaw=0.0007 right_pitch=-0.2609 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [0.1846, -10.9607, 5.5179, 1.7265, 0.0024, -0.0855, -0.0122, -0.1026, -1.4154, 6.7897, 1.6093, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.03, "left_z": 0.07, "left_pitch": 0.45}, "note": "The arm barely moved and the wrist cam sees only bare table, which suggests I've overshot past the block; retreating to x\u22480.48 and raising slightly with more downward pitch so the red block comes back into the wrist camera's view."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteComparing top views, the left gripper tip sat just left of the red block when at y≈-0.08, so the block is a bit further in -y at long reach; moving to x≈0.585, y≈-0.115 with the wrist pitched down to find the block in the wrist camera.
move_to
left_x0.5850left_y-0.1150left_z0.0400left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1291, 2.1296, 0.6479, 1.2892, -0.1833, -0.0685, 0.9991, -0.0212, 0.82, 0.6029, -0.6689, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4817 left_y=-0.0265 left_z=0.0508 left_yaw=0.0613 left_pitch=0.3858 left_roll=-0.0125 left_gripper=0.9991 right_x=0.2482 right_y=0.0018 right_z=0.1199 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.1846, -10.3863, 5.1214, 2.3419, 0.1685, 0.0708, -0.0122, -0.335, -1.388, 7.0906, 1.7607, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.585, "left_y": -0.115, "left_z": 0.04, "left_pitch": 0.45}, "note": "Comparing top views, the left gripper tip sat just left of the red block when at y\u2248-0.08, so the block is a bit further in -y at long reach; moving to x\u22480.585, y\u2248-0.115 with the wrist pitched down to find the block in the wrist camera."})
tool
executing move_to over 8 steps (0.8s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteTop view shows the red block just beyond and below the left gripper tip, and the wrist cam sees only table; extending to maximum reach, shifting further toward -y, and dropping to table level with the wrist pitched down to get the block between the jaws.
move_to
left_x0.6000left_y-0.1250left_z0.0050left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.2928, 2.4195, 1.1606, 1.1164, -0.3439, -0.0834, 0.9991, -0.0212, 0.823, 0.6018, -0.68, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.578 left_y=-0.1083 left_z=0.0384 left_yaw=0.0595 left_pitch=0.4409 left_roll=-0.015 left_gripper=0.9991 right_x=0.2459 right_y=0.0019 right_z=0.117 right_yaw=0.0011 right_pitch=-0.3166 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.4855, -11.9453, 5.1214, 2.1221, -0.1441, -0.0024, -0.0122, -0.0752, -1.347, 6.8034, 1.4921, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.125, "left_z": 0.005, "left_pitch": 0.5}, "note": "Top view shows the red block just beyond and below the left gripper tip, and the wrist cam sees only table; extending to maximum reach, shifting further toward -y, and dropping to table level with the wrist pitched down to get the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteTop view shows the fingertips right at the red block now, but the wrist cam still sees the block below its view; pressing down to table level so the open jaws straddle the block before closing.
move_to
left_x0.6000left_y-0.1250left_z-0.0100left_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]: [-0.3092, 2.5752, 1.3079, 1.2011, -0.3759, -0.0685, 0.9986, -0.0212, 0.8261, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.5994 left_y=-0.1196 left_z=0.0226 left_yaw=0.0785 left_pitch=0.5133 left_roll=-0.0259 left_gripper=0.9986 right_x=0.2451 right_y=0.0019 right_z=0.1157 right_yaw=0.0012 right_pitch=-0.3238 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.7453, -10.4957, 4.5744, 1.2576, 0.2222, -0.3053, -0.0708, -0.0342, -0.7726, 6.7214, 1.4481, -0.0562, -0.0122, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.125, "left_z": -0.01, "left_gripper": 1.0}, "note": "Top view shows the fingertips right at the red block now, but the wrist cam still sees the block below its view; pressing down to table level so the open jaws straddle the block before closing."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe block now appears at the wrist rather than between the fingertips in the top view, and z didn't drop, so I'm slightly past it at the reach limit; retracting ~3cm and lowering to table level to straddle the block.
move_to
left_x0.5750left_y-0.1220left_z0.0000left_pitch0.5500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3134, 2.6156, 1.3556, 1.2655, -0.3874, -0.0681, 0.9987, -0.0212, 0.8288, 0.6014, -0.7021, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.6061 left_y=-0.1225 left_z=0.0312 left_yaw=0.1024 left_pitch=0.5795 left_roll=-0.0579 left_gripper=0.9987 right_x=0.2415 right_y=0.0019 right_z=0.1123 right_yaw=0.0013 right_pitch=-0.3448 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [-0.9094, -7.706, 4.4239, 1.4237, -0.0415, -0.0269, -0.149, -0.0752, -1.1556, 6.7214, 1.5214, -0.022, -0.0317, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.575, "left_y": -0.122, "left_z": 0.0, "left_pitch": 0.55}, "note": "The block now appears at the wrist rather than between the fingertips in the top view, and z didn't drop, so I'm slightly past it at the reach limit; retracting ~3cm and lowering to table level to straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe arm didn't track my last retract and the top view shows the red block now near the wrist, behind the fingertips; pulling back and up to hover so the wrist camera can re-acquire the block before a clean descent.
move_to
left_x0.5200left_y-0.1100left_z0.0700left_pitch0.5000left_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]: [-0.3145, 2.6221, 1.3643, 1.2865, -0.3904, -0.0685, 0.9985, -0.0212, 0.8288, 0.601, -0.7147, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.6071 left_y=-0.123 left_z=0.0355 left_yaw=0.1109 left_pitch=0.6007 left_roll=-0.0698 left_gripper=0.9985 right_x=0.2389 right_y=0.002 right_z=0.1103 right_yaw=0.0014 right_pitch=-0.3577 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [-0.8274, -8.1983, 4.4923, 1.5165, 0.0073, -0.0269, -0.022, -0.1436, -1.0872, 6.7077, 1.536, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.11, "left_z": 0.07, "left_pitch": 0.5, "left_gripper": 1.0}, "note": "The arm didn't track my last retract and the top view shows the red block now near the wrist, behind the fingertips; pulling back and up to hover so the wrist camera can re-acquire the block before a clean descent."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe red block sits right at the left gripper's fingertips in the top view; descending straight down to table level with the jaws open to straddle the block before grasping.
move_to
left_x0.6000left_y-0.1230left_z-0.0200left_pitch0.6000left_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]: [-0.3145, 2.624, 1.3685, 1.2869, -0.3904, -0.0685, 0.9987, -0.0212, 0.8314, 0.601, -0.7254, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.6078 left_y=-0.1233 left_z=0.036 left_yaw=0.1117 left_pitch=0.6031 left_roll=-0.0712 left_gripper=0.9987 right_x=0.2368 right_y=0.002 right_z=0.1082 right_yaw=0.0012 right_pitch=-0.3711 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [-0.6906, -8.4034, 4.2598, 1.4774, -0.0073, -0.0757, -0.1538, -0.1162, -1.347, 6.6803, 1.4383, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.123, "left_z": -0.02, "left_pitch": 0.6, "left_gripper": 1.0}, "note": "The red block sits right at the left gripper's fingertips in the top view; descending straight down to table level with the jaws open to straddle the block before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe wrist rose instead of descending, likely IK strain from excessive pitch at long reach; reducing pitch to 0.3 and commanding a descent to table level so the open jaws drop around the block at the fingertips.
move_to
left_x0.6000left_y-0.1250left_z-0.0100left_pitch0.3000left_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]: [-0.3248, 2.6789, 1.4296, 1.4601, -0.4057, -0.0689, 0.9987, -0.0212, 0.836, 0.601, -0.7387, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.6092 left_y=-0.1278 left_z=0.0653 left_yaw=0.1841 left_pitch=0.7625 left_roll=-0.1778 left_gripper=0.9987 right_x=0.234 right_y=0.002 right_z=0.1053 right_yaw=0.0014 right_pitch=-0.389 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [0.3487, -4.7385, 2.3726, 0.8913, 0.1148, -0.0415, -0.149, -0.1573, -1.1829, 6.6256, 1.5018, -0.0269, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.125, "left_z": -0.01, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "The wrist rose instead of descending, likely IK strain from excessive pitch at long reach; reducing pitch to 0.3 and commanding a descent to table level so the open jaws drop around the block at the fingertips."})
tool
executing move_to over 16 steps (1.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteRan out of call budget while trying to align the left gripper with the red block. The block sits near the left arm's reach limit (~x 0.55-0.6), where IK tracking became unreliable (commanded z descents were not executed, pitch sagged/overshot), and I could never confirm the block between the fingers in the wrist camera before exhausting my 20-call budget.
give_up
hindsightKey facts for a future attempt on this rig: (1) The red block is near the left arm's reach limit; at x>0.55 the IK tracks poorly — commanded z drops are ignored and pitch commands cause large uncommanded wrist motion. Consider using the RIGHT arm instead, or approach with less extension. (2) Do not chase in small increments; first hover HIGH (z~0.15) directly over the estimated block position and use the top camera to calibrate image-pixels-to-meters by moving a known 5cm step and observing pixel displacement, then descend once. (3) The wrist (left_cam) camera looks forward/down between the fingers; if the block never appears there, the gripper is not over it — the block in the top view sat around left-arm coordinates roughly (x≈0.55-0.6, y≈-0.08 to -0.12) but this was never verified by grasp. (4) Large pitch values (>0.45) at long reach cause the wrist to rise and roll instead of pitching; keep pitch ≤0.3. (5) Budget is tight (20 calls): plan for ~4 calls to grasp (hover, calibrate, descend, close) and ~3 to place (lift, move over bowl at ~top-view right of block, open). The bowl is at roughly the same depth as the block, ~10-15cm to the block's +x/-y side in the top view.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3256, 2.5393, 1.356, 1.0462, -0.4156, -0.2569, 0.9987, -0.0212, 0.8379, 0.601, -0.7479, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.6071 left_y=-0.1259 left_z=0.026 left_yaw=0.1982 left_pitch=0.4405 left_roll=-0.1975 left_gripper=0.9987 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0015 right_pitch=-0.4001 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [0.2803, -13.0393, 4.8752, 0.8864, 0.2222, -0.5055, -0.1538, -0.1162, -1.1966, 6.7077, 1.3358, -0.0171, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Ran out of call budget while trying to align the left gripper with the red block. The block sits near the left arm's reach limit (~x 0.55-0.6), where IK tracking became unreliable (commanded z descents were not executed, pitch sagged/overshot), and I could never confirm the block between the fingers in the wrist camera before exhausting my 20-call budget.", "hindsight": "Key facts for a future attempt on this rig: (1) The red block is near the left arm's reach limit; at x>0.55 the IK tracks poorly \u2014 commanded z drops are ignored and pitch commands cause large uncommanded wrist motion. Consider using the RIGHT arm instead, or approach with less extension. (2) Do not chase in small increments; first hover HIGH (z~0.15) directly over the estimated block position and use the top camera to calibrate image-pixels-to-meters by moving a known 5cm step and observing pixel displacement, then descend once. (3) The wrist (left_cam) camera looks forward/down between the fingers; if the block never appears there, the gripper is not over it \u2014 the block in the top view sat around left-arm coordinates roughly (x\u22480.55-0.6, y\u2248-0.08 to -0.12) but this was never verified by grasp. (4) Large pitch values (>0.45) at long reach cause the wrist to rise and roll instead of pitching; keep pitch \u22640.3. (5) Budget is tight (20 calls): plan for ~4 calls to grasp (hover, calibrate, descend, close) and ~3 to place (lift, move over bowl at ~top-view right of block, open). The bowl is at roughly the same depth as the block, ~10-15cm to the block's +x/-y side in the top view."})
tool
give_up: Ran out of call budget while trying to align the left gripper with the red block. The block sits near the left arm's reach limit (~x 0.55-0.6), where IK tracking became unreliable (commanded z descents were not executed, pitch sagged/overshot), and I could never confirm the block between the fingers in the wrist camera before exhausting my 20-call 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 · 22.36 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3866, -0.0193, -0.0322, 0.9993, -0.0212, 0.7944, 0.6056, -0.3958, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1773 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4564, 10.2085, 1.9316, -0.0952, 0.1538, -0.0904, -0.5812, -1.6205, 9.853, 1.917, -0.0415, 0.0024, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:907af81af00567eed91fa4dd661b69ba89c810b1bed573410f3e3b48609f1d1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e01de81fe9fedf392e522c865d9a829beff809a07b2db08ea0229e9daa422ec8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2584b4c1a88a14e66c4780dfc3595b82172a2b2e40e4afc8caf26277f5bda168"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 907af81af005
wire blob e01de81fe9fe
wire blob 2584b4c1a88a
call 1 attempt 0 · /chat/completions · status 200 · 12.42 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I can see a red block on the table (left-center in top view) and a white bowl to its right. The left arm looks best positioned to grab the block. Let me move the left arm above the block first.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": 0.0, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Red block sits ahead of the left arm with the bowl further right; moving the left gripper forward and down to hover above the block's estimated position.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CwLpsQAgGe6WUFmcAxktGv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01CwLpsQAgGe6WUFmcAxktGv"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.4403, 0.6834, 0.0742, -0.0193, -0.0383, 0.9993, -0.0212, 0.7994, 0.6056, -0.4328, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3965 left_y=-0.0002 left_z=0.0937 left_yaw=0.0046 left_pitch=-0.1075 left_roll=-0.0027 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1685 right_yaw=0.0 right_pitch=-0.042 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -6.2017, 8.9778, 1.9707, -0.0122, 0.0317, -0.0855, -0.1299, -1.6205, 6.9812, 2.0537, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04c4bf101a10f747dcd3d0412a4b8cfe509b62d7dad5c9b22c5a872de38ed7a0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51a63a026a0c8390ab2f7bd7133580cbaacb8b1997d5ed00f308dfaa6986869f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5dedfa82d8ce058c7685fb40202058db7d7d85f0197b01b5126f15cfb8954272"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 04c4bf101a10
wire blob 51a63a026a0c
wire blob 5dedfa82d8ce
call 2 attempt 0 · /chat/completions · status 200 · 12.99 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3866, -0.0193, -0.0322, 0.9993, -0.0212, 0.7944, 0.6056, -0.3958, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0009 right_z=0.1773 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4564, 10.2085, 1.9316, -0.0952, 0.1538, -0.0904, -0.5812, -1.6205, 9.853, 1.917, -0.0415, 0.0024, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The left arm moved forward but the top view shows the gripper still short of the block. I'll advance further along +x.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": 0.0, \"left_z\": 0.09}, \"note\": \"Top view shows the left gripper approaching from the left but still short of the red block; extending forward while staying above table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Epgss98uxc6bgQhZ7zJ84Q",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01Epgss98uxc6bgQhZ7zJ84Q"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.8118, 1.0397, 0.0422, -0.0189, -0.0422, 0.9992, -0.0212, 0.8024, 0.6056, -0.4553, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4844 left_y=-0.0019 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1548 left_roll=-0.0047 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0675 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.2786, 8.1436, 1.7021, -0.0024, 0.0269, -0.0171, -0.0752, -1.4838, 7.2547, 1.8681, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b77840b2ec8652cf186c5a15b9381417bfaab5eafa1de9f78b85670a78179885"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e1909df17280ef605d2fbafd788f56658f8f8076a9ecf71d6e02c806c234e84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc6eea3972fe44f5c4be969ae5a2f46fa9db4e401a4c65a17ce22c84dbb89c19"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b77840b2ec86
wire blob 1e1909df1728
wire blob bc6eea3972fe
call 3 attempt 0 · /chat/completions · status 200 · 20.56 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.4403, 0.6834, 0.0742, -0.0193, -0.0383, 0.9993, -0.0212, 0.7994, 0.6056, -0.4328, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3965 left_y=-0.0002 left_z=0.0937 left_yaw=0.0046 left_pitch=-0.1075 left_roll=-0.0027 left_gripper=0.9993 right_x=0.288 right_y=0.001 right_z=0.1685 right_yaw=0.0 right_pitch=-0.042 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -6.2017, 8.9778, 1.9707, -0.0122, 0.0317, -0.0855, -0.1299, -1.6205, 6.9812, 2.0537, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper is close to target but I can't yet confirm alignment with the block in the top view. Let me lower it so I can see the gripper's position relative to the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": 0.0, \"left_z\": 0.04}, \"note\": \"Left gripper is extended near the block area but not visible in top view yet; lowering toward table height to check alignment against the red block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KYqu4Nfku3mqsBhefEzK9G",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01KYqu4Nfku3mqsBhefEzK9G"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9171, 1.0538, 0.1101, -0.0189, -0.0418, 0.9992, -0.0212, 0.8032, 0.6056, -0.4641, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4945 left_y=-0.002 left_z=0.0445 left_yaw=0.0064 left_pitch=-0.1781 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2835 right_y=0.0011 right_z=0.1613 right_yaw=0.0004 right_pitch=-0.077 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.6752, 5.6137, 1.9414, 0.0024, 0.0415, -0.0122, -0.0752, -1.2513, 6.9675, 1.8046, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:517ccd6e5fc6bd755a972367c6130aea62c3c03b4f38a017ba168e72b8b2ef86"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9888fd0f6ff0ac1773f98612ebe97602c058a59bf36e07df4360705f53150ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4a9a36e53bfc1e12177582a651cd3a99b936094105561a0563a1477d8e18d28"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 517ccd6e5fc6
wire blob a9888fd0f6ff
wire blob b4a9a36e53bf
call 4 attempt 0 · /chat/completions · status 200 · 11.58 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 8 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.8118, 1.0397, 0.0422, -0.0189, -0.0422, 0.9992, -0.0212, 0.8024, 0.6056, -0.4553, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4844 left_y=-0.0019 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1548 left_roll=-0.0047 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0675 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.2786, 8.1436, 1.7021, -0.0024, 0.0269, -0.0171, -0.0752, -1.4838, 7.2547, 1.8681, -0.0317, -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\": 0.45, \"left_y\": 0.0, \"left_z\": 0.03}, \"note\": \"Wrist cam shows no block between the fingers, so alignment is off; pulling back slightly and lowering so the gripper appears near the block in the top camera for a position comparison.\"}",
        "name": "move_to"
      },
      "id": "toolu_01D2d38B23EY5RJBNTeHfjtX",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01D2d38B23EY5RJBNTeHfjtX"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9278, 0.9989, 0.1242, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.4854, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4782 left_y=-0.0017 left_z=0.0214 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2803 right_y=0.0012 right_z=0.1569 right_yaw=0.0004 right_pitch=-0.0995 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -12.6017, 5.5726, 1.6777, -0.0415, -0.0415, -0.0122, -0.1709, -1.3333, 6.9538, 1.8437, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7bc7d7250066f7c4d8f969907bde4fa114d9986d5fe61566ddd5513d3a361712"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:523a6b3419a435ff380d4a87ee1da69e274e4ab4c0a7d816b2f81712c27334d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cba3f53c55ad3761430854c24db876cd5b668bfe0fdab22bc4b1d4da3af69846"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7bc7d7250066
wire blob 523a6b3419a4
wire blob cba3f53c55ad
call 5 attempt 0 · /chat/completions · status 200 · 15.51 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9171, 1.0538, 0.1101, -0.0189, -0.0418, 0.9992, -0.0212, 0.8032, 0.6056, -0.4641, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4945 left_y=-0.002 left_z=0.0445 left_yaw=0.0064 left_pitch=-0.1781 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2835 right_y=0.0011 right_z=0.1613 right_yaw=0.0004 right_pitch=-0.077 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -9.6752, 5.6137, 1.9414, 0.0024, 0.0415, -0.0122, -0.0752, -1.2513, 6.9675, 1.8046, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.02, \"left_z\": 0.02}, \"note\": \"Top view shows the block slightly ahead and a touch to the arm's right of the gripper; advancing forward and a bit toward -y at low height to bracket the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_019Bbh8AZjSqDw7MmicYB2sH",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_019Bbh8AZjSqDw7MmicYB2sH"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9274, 0.9989, 0.1238, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.5003, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4781 left_y=-0.0017 left_z=0.0215 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0001 right_pitch=-0.1144 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -12.6154, 5.8051, 1.6728, -0.0708, -0.0415, -0.0073, -0.1573, -0.8684, 6.9265, 1.746, -0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2bebaa88eec832f18b44acb8fb2179cfcf191d05a991922af538ee786ebd5e79"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21b6a03ea81b6858db9c43349c20f03419a0990f185235656b2469af3c7c3546"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7799dea92ad374b79924e0d3f1dba854a573fce807f41a3902f4eb8a6c945bf8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2bebaa88eec8
wire blob 21b6a03ea81b
wire blob 7799dea92ad3
call 6 attempt 0 · /chat/completions · status 200 · 13.73 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9278, 0.9989, 0.1242, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.4854, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4782 left_y=-0.0017 left_z=0.0214 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2803 right_y=0.0012 right_z=0.1569 right_yaw=0.0004 right_pitch=-0.0995 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -12.6017, 5.5726, 1.6777, -0.0415, -0.0415, -0.0122, -0.1709, -1.3333, 6.9538, 1.8437, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.02, \"left_z\": 0.035, \"left_pitch\": 0.2}, \"note\": \"The arm didn't advance last move (eef stuck at x\\u22480.478) and the wrist is sagging in pitch; commanding a farther forward target with positive pitch to tip the tool down over the block, which sits ~8cm ahead of the fingers in the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Uh15HKHnvAEf9sQVfqjw2j",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Uh15HKHnvAEf9sQVfqjw2j"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0624, 2.1227, 0.9085, 0.7563, -0.07, -0.0612, 0.9992, -0.0212, 0.8043, 0.6056, -0.5236, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5212 left_y=-0.0166 left_z=0.0194 left_yaw=0.0158 left_pitch=0.1182 left_roll=-0.0059 left_gripper=0.9992 right_x=0.2742 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1377 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -9.8256, 4.9983, 2.2491, -0.0611, 0.0317, -0.0122, -0.0068, -1.2103, 7.2274, 1.79, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e5d4cd6014629d77e3cd7ad64c973b1e4bbc3e6868bcee8b569ee1411fbe18f0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3951de3f11537b848aea90fdd55eafe262bf90b206fcbc89017327654423fe0e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e82a04861bdb37a0dbf81128838f88259745d229fe442bddb51cfaa012d78f4e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e5d4cd601462
wire blob 3951de3f1153
wire blob e82a04861bdb
call 7 attempt 0 · /chat/completions · status 200 · 18.5 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0181, 1.9274, 0.9989, 0.1238, -0.0193, -0.0422, 0.9992, -0.0212, 0.8043, 0.6056, -0.5003, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4781 left_y=-0.0017 left_z=0.0215 left_yaw=0.0072 left_pitch=-0.2296 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2779 right_y=0.0012 right_z=0.154 right_yaw=0.0001 right_pitch=-0.1144 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -12.6154, 5.8051, 1.6728, -0.0708, -0.0415, -0.0073, -0.1573, -0.8684, 6.9265, 1.746, -0.0269, -0.0171, -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\": 0.56, \"left_y\": -0.025, \"left_z\": 0.01, \"left_pitch\": 0.3}, \"note\": \"Top view shows the fingers just short of the block and the wrist cam still doesn't see it, so the block is a few cm ahead; pushing forward, lower, and pitching further down to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PDSuq37jdSrw9wZbm8Vk94",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01PDSuq37jdSrw9wZbm8Vk94"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0742, 2.3238, 1.0023, 0.9981, -0.0952, -0.062, 0.9991, -0.0212, 0.8062, 0.6056, -0.561, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5525 left_y=-0.0206 left_z=0.0041 left_yaw=0.0282 left_pitch=0.2532 left_roll=-0.0092 left_gripper=0.9991 right_x=0.268 right_y=0.0015 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.177 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.9077, 5.6, 1.79, -0.0073, 0.0122, -0.0171, -0.1026, -1.306, 6.9128, 1.9609, -0.0855, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5845c69d70d9ccdbd05a727446720b02f35788d547e84420791b2ba1a043956b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9032f9b138d46a1095ded03d79d52dd1f12da5ec497d727cea89a3920d19bcf7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04efa0846b7a71ea396b0fa908ebb5d78385de9e831755d1077ceb20a25d9914"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5845c69d70d9
wire blob 9032f9b138d4
wire blob 04efa0846b7a
call 8 attempt 0 · /chat/completions · status 200 · 22.28 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0624, 2.1227, 0.9085, 0.7563, -0.07, -0.0612, 0.9992, -0.0212, 0.8043, 0.6056, -0.5236, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5212 left_y=-0.0166 left_z=0.0194 left_yaw=0.0158 left_pitch=0.1182 left_roll=-0.0059 left_gripper=0.9992 right_x=0.2742 right_y=0.0013 right_z=0.1497 right_yaw=0.0007 right_pitch=-0.1377 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -9.8256, 4.9983, 2.2491, -0.0611, 0.0317, -0.0122, -0.0068, -1.2103, 7.2274, 1.79, -0.0513, -0.0415, -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\": 0.58, \"left_y\": -0.06, \"left_z\": 0.02, \"left_pitch\": 0.3}, \"note\": \"Top view suggests the block is still a few cm ahead of and to the arm's right (-y) of the fingertips; shifting the gripper forward and toward -y to line the jaws up with the red block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01L9ZPUiKVc3jfadWooNWTiJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01L9ZPUiKVc3jfadWooNWTiJ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1539, 2.3493, 1.1061, 0.9558, -0.1642, -0.0834, 0.9992, -0.0212, 0.807, 0.6056, -0.59, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5738 left_y=-0.0562 left_z=0.0182 left_yaw=0.022 left_pitch=0.2915 left_roll=-0.0142 left_gripper=0.9992 right_x=0.263 right_y=0.0015 right_z=0.1371 right_yaw=0.0005 right_pitch=-0.2067 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -10.7419, 6.2154, 1.7558, -0.1343, -0.0317, -0.0073, -0.1846, -1.2239, 6.8444, 1.8828, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f80b07c475c52572d4444cd346c8618b16ac473fda56b18bf24b93b77e2365d1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5347eb94b47e330655175f0f7053ffd3510eadf28b1fc86983faf6010f327c11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b0c726c8bea5e8dcc7ccc093cf3af77564a01b430aac0c2afd9c7e50276e38b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f80b07c475c5
wire blob 5347eb94b47e
wire blob 8b0c726c8bea
call 9 attempt 0 · /chat/completions · status 200 · 12.78 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0742, 2.3238, 1.0023, 0.9981, -0.0952, -0.062, 0.9991, -0.0212, 0.8062, 0.6056, -0.561, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.5525 left_y=-0.0206 left_z=0.0041 left_yaw=0.0282 left_pitch=0.2532 left_roll=-0.0092 left_gripper=0.9991 right_x=0.268 right_y=0.0015 right_z=0.1424 right_yaw=0.0009 right_pitch=-0.177 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -9.9077, 5.6, 1.79, -0.0073, 0.0122, -0.0171, -0.1026, -1.306, 6.9128, 1.9609, -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\": 0.585, \"left_y\": -0.085, \"left_z\": 0.005, \"left_pitch\": 0.3}, \"note\": \"In the top view the red block sits just below (further -y) the left gripper's fingertips; shifting a few more cm toward -y and down to table level so the block ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K87s8V2KX2dHsS4bgKEgdz",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01K87s8V2KX2dHsS4bgKEgdz"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1989, 2.4062, 1.1664, 0.9516, -0.2165, -0.099, 0.9991, -0.0212, 0.8097, 0.6056, -0.614, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5816 left_y=-0.0749 left_z=0.0082 left_yaw=0.0316 left_pitch=0.2937 left_roll=-0.0146 left_gripper=0.9991 right_x=0.2588 right_y=0.0016 right_z=0.1324 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.8786, 5.7915, 1.6288, 0.0269, 0.0611, -0.0171, -0.0752, -1.3333, 7.0359, 1.8144, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70e377ff307f990dbad70421971bae3d09ec56332241dfba47eccaeff01b5cbe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9010fdbb11a4d9a9f5d0ec717299176c7fa6285a8441aab30c3137629798ce48"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5710890f71cd85324a0bd485daa6bb8d9a35df78431ae2f705ac6b61c34efac0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 70e377ff307f
wire blob 9010fdbb11a4
wire blob 5710890f71cd
call 10 attempt 0 · /chat/completions · status 200 · 41.6 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1539, 2.3493, 1.1061, 0.9558, -0.1642, -0.0834, 0.9992, -0.0212, 0.807, 0.6056, -0.59, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5738 left_y=-0.0562 left_z=0.0182 left_yaw=0.022 left_pitch=0.2915 left_roll=-0.0142 left_gripper=0.9992 right_x=0.263 right_y=0.0015 right_z=0.1371 right_yaw=0.0005 right_pitch=-0.2067 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -10.7419, 6.2154, 1.7558, -0.1343, -0.0317, -0.0073, -0.1846, -1.2239, 6.8444, 1.8828, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.08, \"left_z\": 0.0, \"left_pitch\": 0.35}, \"note\": \"Wrist cam still shows empty table between the fingers, and top view puts the block a bit farther out; extending to the reach limit and lowering to table level with more downward pitch to bring the jaws around the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DnmPH2ytVqZraywzXRahCD",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DnmPH2ytVqZraywzXRahCD"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2138, 2.4561, 1.2247, 0.9943, -0.2337, -0.0933, 0.9991, -0.0212, 0.8108, 0.6056, -0.6209, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5937 left_y=-0.0834 left_z=0.0115 left_yaw=0.0326 left_pitch=0.3444 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2576 right_y=0.0017 right_z=0.1309 right_yaw=0.001 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.759, -9.9487, 5.1487, 1.6679, 0.0415, -0.1148, -0.0122, -0.0752, -1.1692, 6.8171, 1.5897, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d74ed768e4382bc955e207c9c5f8a697e7577129197ce141f125c574abac6b4d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:98f681f4f1144fb9bc4849b681bfb7a8b58bb3974f2c0998427f20c27f18ed1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d436f53fe0c4f53dc0f624340f37133a90e6c55ae786d5f6e9964823d57f1ca"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d74ed768e438
wire blob 98f681f4f114
wire blob 1d436f53fe0c
call 11 attempt 0 · /chat/completions · status 200 · 18.5 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1989, 2.4062, 1.1664, 0.9516, -0.2165, -0.099, 0.9991, -0.0212, 0.8097, 0.6056, -0.614, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5816 left_y=-0.0749 left_z=0.0082 left_yaw=0.0316 left_pitch=0.2937 left_roll=-0.0146 left_gripper=0.9991 right_x=0.2588 right_y=0.0016 right_z=0.1324 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -10.8786, 5.7915, 1.6288, 0.0269, 0.0611, -0.0171, -0.0752, -1.3333, 7.0359, 1.8144, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.03, \"left_z\": 0.05, \"left_pitch\": 0.45}, \"note\": \"The wrist cam still shows only bare table between the fingers, so I overshot in -y; in the top view the red block sits slightly up-image from the gripper. Moving back toward y\\u2248-0.03, lifting a little, and pitching down more so the wrist camera can find the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01A73z1RZmkZAzoa2koG24Ss",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01A73z1RZmkZAzoa2koG24Ss"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2073, 2.4844, 1.2522, 1.0332, -0.2333, -0.0837, 0.9991, -0.0212, 0.8154, 0.6056, -0.6357, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6006 left_y=-0.081 left_z=0.0146 left_yaw=0.0367 left_pitch=0.3814 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2549 right_y=0.0017 right_z=0.1274 right_yaw=0.0007 right_pitch=-0.2609 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.9607, 5.5179, 1.7265, 0.0024, -0.0855, -0.0122, -0.1026, -1.4154, 6.7897, 1.6093, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11e072a9bb3794878595a4c903909cec902d860570442651522e5dc593eb50f3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dde227bc54111125ffd04bf243679ed666cfbd8ffdd4beb7288b1fcc4471eb30"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc00189f2fe8ec76f503e029e11a8b648ff161b71122f7ffc4c934b620b407ad"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 11e072a9bb37
wire blob dde227bc5411
wire blob fc00189f2fe8
call 12 attempt 0 · /chat/completions · status 200 · 61.05 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2138, 2.4561, 1.2247, 0.9943, -0.2337, -0.0933, 0.9991, -0.0212, 0.8108, 0.6056, -0.6209, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5937 left_y=-0.0834 left_z=0.0115 left_yaw=0.0326 left_pitch=0.3444 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2576 right_y=0.0017 right_z=0.1309 right_yaw=0.001 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.759, -9.9487, 5.1487, 1.6679, 0.0415, -0.1148, -0.0122, -0.0752, -1.1692, 6.8171, 1.5897, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": -0.03, \"left_z\": 0.07, \"left_pitch\": 0.45}, \"note\": \"The arm barely moved and the wrist cam sees only bare table, which suggests I've overshot past the block; retreating to x\\u22480.48 and raising slightly with more downward pitch so the red block comes back into the wrist camera's view.\"}",
        "name": "move_to"
      },
      "id": "toolu_019rA2Pey7jwp4Wm1HVF5Nx1",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_019rA2Pey7jwp4Wm1HVF5Nx1"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1291, 2.1296, 0.6479, 1.2892, -0.1833, -0.0685, 0.9991, -0.0212, 0.82, 0.6029, -0.6689, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4817 left_y=-0.0265 left_z=0.0508 left_yaw=0.0613 left_pitch=0.3858 left_roll=-0.0125 left_gripper=0.9991 right_x=0.2482 right_y=0.0018 right_z=0.1199 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.3863, 5.1214, 2.3419, 0.1685, 0.0708, -0.0122, -0.335, -1.388, 7.0906, 1.7607, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b921d04ec4c04b3a8ce6882d34500014d5bd3f11e7738866db27983377c25a20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b369c2077c7be07712ccc23a2a115b7dfedb9890318d07205b6f7c60b0099896"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85901311555df4f1db6cfddf3de506153c302f865bcb12e45698b12b359810ab"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b921d04ec4c0
wire blob b369c2077c7b
wire blob 85901311555d
call 13 attempt 0 · /chat/completions · status 200 · 55.41 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2073, 2.4844, 1.2522, 1.0332, -0.2333, -0.0837, 0.9991, -0.0212, 0.8154, 0.6056, -0.6357, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6006 left_y=-0.081 left_z=0.0146 left_yaw=0.0367 left_pitch=0.3814 left_roll=-0.0169 left_gripper=0.9991 right_x=0.2549 right_y=0.0017 right_z=0.1274 right_yaw=0.0007 right_pitch=-0.2609 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.9607, 5.5179, 1.7265, 0.0024, -0.0855, -0.0122, -0.1026, -1.4154, 6.7897, 1.6093, -0.0464, -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_x\": 0.585, \"left_y\": -0.115, \"left_z\": 0.04, \"left_pitch\": 0.45}, \"note\": \"Comparing top views, the left gripper tip sat just left of the red block when at y\\u2248-0.08, so the block is a bit further in -y at long reach; moving to x\\u22480.585, y\\u2248-0.115 with the wrist pitched down to find the block in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_012SYi243YnFKEGkcq1skRJF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_012SYi243YnFKEGkcq1skRJF"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2928, 2.4195, 1.1606, 1.1164, -0.3439, -0.0834, 0.9991, -0.0212, 0.823, 0.6018, -0.68, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.578 left_y=-0.1083 left_z=0.0384 left_yaw=0.0595 left_pitch=0.4409 left_roll=-0.015 left_gripper=0.9991 right_x=0.2459 right_y=0.0019 right_z=0.117 right_yaw=0.0011 right_pitch=-0.3166 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.9453, 5.1214, 2.1221, -0.1441, -0.0024, -0.0122, -0.0752, -1.347, 6.8034, 1.4921, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e8d7a77f10532f2e48244c1c839b47c8139d1f52be2eeb976d0155c6fcf51f5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3237b0c28412c7a1a102af80cdb9ba2f3b4846037a6659584373c5c2089c4f53"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95f91a98dc2b4fd8896d8682e29ca03a91b77b6fc4dc334390f8c8906b988e82"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3e8d7a77f105
wire blob 3237b0c28412
wire blob 95f91a98dc2b
call 14 attempt 0 · /chat/completions · status null · 120.1 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1291, 2.1296, 0.6479, 1.2892, -0.1833, -0.0685, 0.9991, -0.0212, 0.82, 0.6029, -0.6689, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4817 left_y=-0.0265 left_z=0.0508 left_yaw=0.0613 left_pitch=0.3858 left_roll=-0.0125 left_gripper=0.9991 right_x=0.2482 right_y=0.0018 right_z=0.1199 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.3863, 5.1214, 2.3419, 0.1685, 0.0708, -0.0122, -0.335, -1.388, 7.0906, 1.7607, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.125, \"left_z\": 0.005, \"left_pitch\": 0.5}, \"note\": \"Top view shows the red block just beyond and below the left gripper tip, and the wrist cam sees only table; extending to maximum reach, shifting further toward -y, and dropping to table level with the wrist pitched down to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_018QffnUVzpEkMVbkdnbbSFB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_018QffnUVzpEkMVbkdnbbSFB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3092, 2.5752, 1.3079, 1.2011, -0.3759, -0.0685, 0.9986, -0.0212, 0.8261, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5994 left_y=-0.1196 left_z=0.0226 left_yaw=0.0785 left_pitch=0.5133 left_roll=-0.0259 left_gripper=0.9986 right_x=0.2451 right_y=0.0019 right_z=0.1157 right_yaw=0.0012 right_pitch=-0.3238 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.4957, 4.5744, 1.2576, 0.2222, -0.3053, -0.0708, -0.0342, -0.7726, 6.7214, 1.4481, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ff8949c209aa97aaba0d1ab7319ad9900388d3b291f1f3c8051c91f50a20e76"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7897ea315bd6e3d3990d534195dcaaeb0460a7877a9eb2632ab19304c99eac3b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d490522f40e42d6c72b49f71c83240906013fad838a684d1edd8460880b1c1f7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8ff8949c209a
wire blob 7897ea315bd6
wire blob d490522f40e4
call 14 attempt 1 · /chat/completions · status 200 · 25.12 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

no new messages

call 15 attempt 0 · /chat/completions · status 200 · 19.7 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2928, 2.4195, 1.1606, 1.1164, -0.3439, -0.0834, 0.9991, -0.0212, 0.823, 0.6018, -0.68, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.578 left_y=-0.1083 left_z=0.0384 left_yaw=0.0595 left_pitch=0.4409 left_roll=-0.015 left_gripper=0.9991 right_x=0.2459 right_y=0.0019 right_z=0.117 right_yaw=0.0011 right_pitch=-0.3166 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.9453, 5.1214, 2.1221, -0.1441, -0.0024, -0.0122, -0.0752, -1.347, 6.8034, 1.4921, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.125, \"left_z\": -0.01, \"left_gripper\": 1.0}, \"note\": \"Top view shows the fingertips right at the red block now, but the wrist cam still sees the block below its view; pressing down to table level so the open jaws straddle the block before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_015mixa9mEhhW9USTFPgBy2T",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015mixa9mEhhW9USTFPgBy2T"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3134, 2.6156, 1.3556, 1.2655, -0.3874, -0.0681, 0.9987, -0.0212, 0.8288, 0.6014, -0.7021, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6061 left_y=-0.1225 left_z=0.0312 left_yaw=0.1024 left_pitch=0.5795 left_roll=-0.0579 left_gripper=0.9987 right_x=0.2415 right_y=0.0019 right_z=0.1123 right_yaw=0.0013 right_pitch=-0.3448 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -7.706, 4.4239, 1.4237, -0.0415, -0.0269, -0.149, -0.0752, -1.1556, 6.7214, 1.5214, -0.022, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e82bdb071e87dbaf1ec18a5cb4ce461103ee211acf38113dd3153ed7d9750f09"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2015e136be040ed64ebab0aedd378d6e9326867add33e1252cbb2e7e2b4ac879"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eae8c70df88599c4fbad80e7fdddc57b39bfc39316f3780ffe61494bce7582f1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob e82bdb071e87
wire blob 2015e136be04
wire blob eae8c70df885
call 16 attempt 0 · /chat/completions · status 200 · 69.15 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3092, 2.5752, 1.3079, 1.2011, -0.3759, -0.0685, 0.9986, -0.0212, 0.8261, 0.6018, -0.6842, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.5994 left_y=-0.1196 left_z=0.0226 left_yaw=0.0785 left_pitch=0.5133 left_roll=-0.0259 left_gripper=0.9986 right_x=0.2451 right_y=0.0019 right_z=0.1157 right_yaw=0.0012 right_pitch=-0.3238 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -10.4957, 4.5744, 1.2576, 0.2222, -0.3053, -0.0708, -0.0342, -0.7726, 6.7214, 1.4481, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.575, \"left_y\": -0.122, \"left_z\": 0.0, \"left_pitch\": 0.55}, \"note\": \"The block now appears at the wrist rather than between the fingertips in the top view, and z didn't drop, so I'm slightly past it at the reach limit; retracting ~3cm and lowering to table level to straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HddSRx8PefKK5M9ZrAtdGM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01HddSRx8PefKK5M9ZrAtdGM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3145, 2.6221, 1.3643, 1.2865, -0.3904, -0.0685, 0.9985, -0.0212, 0.8288, 0.601, -0.7147, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6071 left_y=-0.123 left_z=0.0355 left_yaw=0.1109 left_pitch=0.6007 left_roll=-0.0698 left_gripper=0.9985 right_x=0.2389 right_y=0.002 right_z=0.1103 right_yaw=0.0014 right_pitch=-0.3577 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -8.1983, 4.4923, 1.5165, 0.0073, -0.0269, -0.022, -0.1436, -1.0872, 6.7077, 1.536, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bbf76bc764fb1cb98d6202952162d37851b9edfa74060bbce2b026ae1df0bcbf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2bbeac9abfe11f36e30e19013af54cfa635a98bdf064cd93f7e656f7be261635"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd01c1774c4141c475749ae1f16b9339b976c1d7ecf4836d80e026fc1f3dede3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bbf76bc764fb
wire blob 2bbeac9abfe1
wire blob dd01c1774c41
call 17 attempt 0 · /chat/completions · status 200 · 81.71 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3134, 2.6156, 1.3556, 1.2655, -0.3874, -0.0681, 0.9987, -0.0212, 0.8288, 0.6014, -0.7021, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6061 left_y=-0.1225 left_z=0.0312 left_yaw=0.1024 left_pitch=0.5795 left_roll=-0.0579 left_gripper=0.9987 right_x=0.2415 right_y=0.0019 right_z=0.1123 right_yaw=0.0013 right_pitch=-0.3448 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -7.706, 4.4239, 1.4237, -0.0415, -0.0269, -0.149, -0.0752, -1.1556, 6.7214, 1.5214, -0.022, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.11, \"left_z\": 0.07, \"left_pitch\": 0.5, \"left_gripper\": 1.0}, \"note\": \"The arm didn't track my last retract and the top view shows the red block now near the wrist, behind the fingertips; pulling back and up to hover so the wrist camera can re-acquire the block before a clean descent.\"}",
        "name": "move_to"
      },
      "id": "toolu_016iqsWjZkp25zsGfGaDwe5D",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_016iqsWjZkp25zsGfGaDwe5D"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3145, 2.624, 1.3685, 1.2869, -0.3904, -0.0685, 0.9987, -0.0212, 0.8314, 0.601, -0.7254, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6078 left_y=-0.1233 left_z=0.036 left_yaw=0.1117 left_pitch=0.6031 left_roll=-0.0712 left_gripper=0.9987 right_x=0.2368 right_y=0.002 right_z=0.1082 right_yaw=0.0012 right_pitch=-0.3711 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -8.4034, 4.2598, 1.4774, -0.0073, -0.0757, -0.1538, -0.1162, -1.347, 6.6803, 1.4383, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54ca2e622264f03ef2323088ff8959e8efad5d84b48f6affea3e788103c6c556"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6257dee4e1163305f76b108e0b66278e29a43880b502f578de0d0a00250db9c6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bce19dcc09e1a92637a1bf0b5ef22496cebe96bf22875ebdbcfddbf2a719a851"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 54ca2e622264
wire blob 6257dee4e116
wire blob bce19dcc09e1
call 18 attempt 0 · /chat/completions · status null · 120.1 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3145, 2.6221, 1.3643, 1.2865, -0.3904, -0.0685, 0.9985, -0.0212, 0.8288, 0.601, -0.7147, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6071 left_y=-0.123 left_z=0.0355 left_yaw=0.1109 left_pitch=0.6007 left_roll=-0.0698 left_gripper=0.9985 right_x=0.2389 right_y=0.002 right_z=0.1103 right_yaw=0.0014 right_pitch=-0.3577 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -8.1983, 4.4923, 1.5165, 0.0073, -0.0269, -0.022, -0.1436, -1.0872, 6.7077, 1.536, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.123, \"left_z\": -0.02, \"left_pitch\": 0.6, \"left_gripper\": 1.0}, \"note\": \"The red block sits right at the left gripper's fingertips in the top view; descending straight down to table level with the jaws open to straddle the block before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_018qKnd2jgMkgj3yVgSDESR3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018qKnd2jgMkgj3yVgSDESR3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3248, 2.6789, 1.4296, 1.4601, -0.4057, -0.0689, 0.9987, -0.0212, 0.836, 0.601, -0.7387, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6092 left_y=-0.1278 left_z=0.0653 left_yaw=0.1841 left_pitch=0.7625 left_roll=-0.1778 left_gripper=0.9987 right_x=0.234 right_y=0.002 right_z=0.1053 right_yaw=0.0014 right_pitch=-0.389 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -4.7385, 2.3726, 0.8913, 0.1148, -0.0415, -0.149, -0.1573, -1.1829, 6.6256, 1.5018, -0.0269, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:97ccc07c7a6498a6e771dc1ff154182e3267f2aa7bb391afe6a828233c014d18"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4cf9aa39ec225808fe5d782cbb125713afa2e63af442aa5d5c6d8bd524852c8d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4afc352d1643c446e251eb4107a2decc5381c221ef5ac3319c403f8e58559d3e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 97ccc07c7a64
wire blob 4cf9aa39ec22
wire blob 4afc352d1643
call 18 attempt 1 · /chat/completions · status 200 · 43.12 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

no new messages

call 19 attempt 0 · /chat/completions · status 200 · 35.32 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3145, 2.624, 1.3685, 1.2869, -0.3904, -0.0685, 0.9987, -0.0212, 0.8314, 0.601, -0.7254, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6078 left_y=-0.1233 left_z=0.036 left_yaw=0.1117 left_pitch=0.6031 left_roll=-0.0712 left_gripper=0.9987 right_x=0.2368 right_y=0.002 right_z=0.1082 right_yaw=0.0012 right_pitch=-0.3711 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -8.4034, 4.2598, 1.4774, -0.0073, -0.0757, -0.1538, -0.1162, -1.347, 6.6803, 1.4383, -0.0269, -0.0415, -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\": 0.6, \"left_y\": -0.125, \"left_z\": -0.01, \"left_pitch\": 0.3, \"left_gripper\": 1.0}, \"note\": \"The wrist rose instead of descending, likely IK strain from excessive pitch at long reach; reducing pitch to 0.3 and commanding a descent to table level so the open jaws drop around the block at the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P2wu9iovQQRLXHp4iHWzNm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 16 steps (1.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01P2wu9iovQQRLXHp4iHWzNm"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3256, 2.5393, 1.356, 1.0462, -0.4156, -0.2569, 0.9987, -0.0212, 0.8379, 0.601, -0.7479, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.6071 left_y=-0.1259 left_z=0.026 left_yaw=0.1982 left_pitch=0.4405 left_roll=-0.1975 left_gripper=0.9987 right_x=0.2322 right_y=0.0021 right_z=0.1036 right_yaw=0.0015 right_pitch=-0.4001 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -13.0393, 4.8752, 0.8864, 0.2222, -0.5055, -0.1538, -0.1162, -1.1966, 6.7077, 1.3358, -0.0171, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53ea70247d81c2d5c7b2ea7fd93661390b99a8df4a3974eeeac0949ed11fe0b9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e4db52949f1ca5e3f5451f0ab45f103397d0bdedf4f8cf19b8ac0501b30092c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36a332aed0c982522ad30806c940558761202646ffd73b7e76de8ba2ab6c2881"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 53ea70247d81
wire blob 1e4db52949f1
wire blob 36a332aed0c9