adhoc - adhoc_e0d75213.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 426.6 s
total steps: 83

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

I'll start by lowering the left arm slightly toward the red block, which the left wrist camera shows just to the right of and below the fingers.

agent noteLeft wrist cam shows the red block at the bottom-right near the fingertips; right wrist cam shows the bowl to its left. Lowering the left arm and shifting slightly to -y to center over the block and check parallax.

move_to

left_x0.3000left_y-0.0600left_z0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.384, -0.0193, -0.0334, 0.999, -0.02, 0.7952, 0.6067, -0.3958, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1801 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.5128, -1.4564, 10.2359, 1.8291, -0.0806, 0.1441, -0.1197, -0.3761, -1.6889, 9.7299, 1.9023, -0.0171, 0.1001, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

I'll start by lowering the left arm slightly toward the red block, which the left wrist camera shows just to the right of and below the fingers.

move_to({"targets": {"left_x": 0.3, "left_y": -0.06, "left_z": 0.1, "left_gripper": 1.0}, "note": "Left wrist cam shows the red block at the bottom-right near the fingertips; right wrist cam shows the bowl to its left. Lowering the left arm and shifting slightly to -y to center over the block and check parallax."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

agent noteTop camera shows the red block about 5 cm-ish ahead of the left gripper at roughly the same lateral row; wrist cam shows it ahead-right of the fingers. Moving the left arm forward in x to bring the block between the fingers.

move_to

left_x0.3800left_y-0.0700left_z0.0800left_pitch0.0000left_yaw0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3828, 0.9604, 0.3645, -0.0994, -0.2733, -0.2111, 0.999, -0.0212, 0.8005, 0.6128, -0.4236, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.2878 left_y=-0.0606 left_z=0.0868 left_yaw=-0.0534 left_pitch=-0.0938 left_roll=0.0244 left_gripper=0.999 right_x=0.2903 right_y=0.001 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.0068, -2.7009, 6.3795, 1.9414, -0.3248, -0.0611, -0.1197, 0.0889, -1.6479, 6.5162, 2.0733, -0.0366, -0.0757, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.07, "left_z": 0.08, "left_pitch": 0.0, "left_yaw": 0.0, "left_roll": 0.0}, "note": "Top camera shows the red block about 5 cm-ish ahead of the left gripper at roughly the same lateral row; wrist cam shows it ahead-right of the fingers. Moving the left arm forward in x to bring the block between the fingers."})

tool

executing move_to over 8 steps (0.8s)

step 14

assistant

agent noteThe block left the left wrist camera's view to the right as I moved forward, so it lies further to -y (right side of the image is the arm's -y). Shifting the left gripper to y=-0.12 and slightly higher to re-find it.

move_to

left_x0.3800left_y-0.1200left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3149, 1.4311, 0.4892, 0.2459, -0.2741, -0.2134, 0.9989, -0.0212, 0.8043, 0.6075, -0.4423, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3585 left_y=-0.0627 left_z=0.0568 left_yaw=0.0164 left_pitch=-0.0943 left_roll=0.0233 left_gripper=0.9989 right_x=0.2871 right_y=0.001 right_z=0.1661 right_yaw=-0.0009 right_pitch=-0.0549 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.212, -5.5043, 7.7744, 1.9121, -0.0024, 0.1587, -0.022, -0.1162, -1.4154, 7.4051, 1.873, -0.0757, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.12, "left_z": 0.08}, "note": "The block left the left wrist camera's view to the right as I moved forward, so it lies further to -y (right side of the image is the arm's -y). Shifting the left gripper to y=-0.12 and slightly higher to re-find it."})

tool

executing move_to over 6 steps (0.6s)

step 20

assistant

agent noteThe red block now shows at the bottom-right of the left wrist camera, just under the right-hand finger, so it's slightly further to -y and close to the fingertips. Shifting a bit more to -y and lowering to bring it between the jaws.

move_to

left_x0.3700left_y-0.1450left_z0.0550

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4808, 1.5253, 0.6651, 0.104, -0.3794, -0.3218, 0.9988, -0.0212, 0.8043, 0.6075, -0.4557, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3721 left_y=-0.1163 left_z=0.0686 left_yaw=-0.0024 left_pitch=-0.1204 left_roll=0.027 left_gripper=0.9988 right_x=0.2851 right_y=0.0011 right_z=0.1635 right_yaw=-0.0009 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.2667, -5.9282, 8.0889, 1.5702, -0.2662, -0.0073, -0.0171, -0.0342, -1.265, 7.159, 1.7998, -0.0415, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.145, "left_z": 0.055}, "note": "The red block now shows at the bottom-right of the left wrist camera, just under the right-hand finger, so it's slightly further to -y and close to the fingertips. Shifting a bit more to -y and lowering to bring it between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 23

assistant

agent noteThe block sits at the bottom-right of the left wrist view, just inside/under the right finger, so I need about 2 cm more toward -y and to descend to table height. Moving down to z=0.02 with a small -y shift and levelling pitch.

move_to

left_x0.3600left_y-0.1600left_z0.0200left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5632, 1.6009, 0.6781, 0.1028, -0.4202, -0.3733, 0.9988, -0.0212, 0.8043, 0.6075, -0.4637, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.363 left_y=-0.1398 left_z=0.0477 left_yaw=-0.0199 left_pitch=-0.1606 left_roll=0.0446 left_gripper=0.9988 right_x=0.2839 right_y=0.0011 right_z=0.1619 right_yaw=-0.0009 right_pitch=-0.0763 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.0342, -6.9265, 6.7761, 1.7705, -0.4176, -0.1245, -0.0122, -0.1983, -1.2239, 6.9538, 1.8046, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.16, "left_z": 0.02, "left_pitch": 0.0}, "note": "The block sits at the bottom-right of the left wrist view, just inside/under the right finger, so I need about 2 cm more toward -y and to descend to table height. Moving down to z=0.02 with a small -y shift and levelling pitch."})

tool

executing move_to over 6 steps (0.6s)

step 29

assistant

agent noteThe arm barely moved on the last command (z stuck near 0.045), likely an IK hold; block still shows under the right finger at the bottom of the left wrist view. Trying a smaller step down and slightly to -y without commanding pitch.

move_to

left_x0.3600left_y-0.1550left_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]: [-0.5804, 1.6154, 0.6781, 0.1116, -0.4355, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.482, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3617 left_y=-0.1438 left_z=0.0447 left_yaw=-0.0109 left_pitch=-0.159 left_roll=0.0382 left_gripper=0.9988 right_x=0.2811 right_y=0.0011 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.1846, -6.8034, 6.7214, 1.6777, -0.3785, 0.0073, -0.0073, -0.0342, -1.265, 6.9402, 1.8339, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.155, "left_z": 0.03}, "note": "The arm barely moved on the last command (z stuck near 0.045), likely an IK hold; block still shows under the right finger at the bottom of the left wrist view. Trying a smaller step down and slightly to -y without commanding pitch."})

tool

executing move_to over 1 steps (0.1s)

step 30

assistant

agent noteThe left arm is not descending — the right finger appears to be resting on top of the red block, blocking the motion. Lifting up and shifting further to -y so the block will fall between the jaws before descending again.

move_to

left_x0.3600left_y-0.1700left_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]: [-0.58, 1.6154, 0.6781, 0.1116, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.4961, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3618 left_y=-0.1436 left_z=0.0447 left_yaw=-0.0102 left_pitch=-0.1588 left_roll=0.0385 left_gripper=0.9988 right_x=0.2789 right_y=0.0012 right_z=0.1556 right_yaw=-0.0008 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [0.212, -6.9402, 6.6803, 1.6679, -0.3736, -0.0073, -0.0073, -0.0752, -1.2513, 7.1863, 1.9219, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.09}, "note": "The left arm is not descending \u2014 the right finger appears to be resting on top of the red block, blocking the motion. Lifting up and shifting further to -y so the block will fall between the jaws before descending again."})

tool

executing move_to over 3 steps (0.3s)

step 33

assistant

agent noteThe left arm has been completely frozen for three commands (joint positions unchanged), so the IK seems stuck at this awkward pose. Retreating to a more comfortable pose nearer the base and higher, with neutral orientation, to unstick it.

move_to

left_x0.3000left_y-0.1200left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5804, 1.6154, 0.6781, 0.1112, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.5049, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3617 left_y=-0.1437 left_z=0.0447 left_yaw=-0.0105 left_pitch=-0.1591 left_roll=0.0387 left_gripper=0.9988 right_x=0.2775 right_y=0.0012 right_z=0.1539 right_yaw=-0.0011 right_pitch=-0.1179 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [0.1709, -6.7214, 6.8581, 1.6532, -0.3736, -0.0024, -0.0073, -0.1299, -1.1829, 6.9675, 1.6874, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.12, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left arm has been completely frozen for three commands (joint positions unchanged), so the IK seems stuck at this awkward pose. Retreating to a more comfortable pose nearer the base and higher, with neutral orientation, to unstick it."})

tool

executing move_to over 7 steps (0.7s)

step 40

assistant

agent noteArm is unstuck; the red block is now visible in the left wrist cam at bottom-center-right, and the top cam shows it just ahead of and slightly outboard of the gripper. Moving about 4 cm to -y, 2 cm forward and down to 8 cm to line the jaws up over it.

move_to

left_x0.3300left_y-0.1700left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6819, 1.1046, 0.6128, -0.1856, -0.5327, -0.4366, 0.9988, -0.0212, 0.8082, 0.6075, -0.5346, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3064 left_y=-0.1286 left_z=0.1459 left_yaw=-0.0228 left_pitch=0.0008 left_roll=-0.0234 left_gripper=0.9988 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.4034, -3.1658, 7.0632, 1.7998, -0.3053, -0.0952, -0.0122, -0.3077, -1.0462, 7.0222, 1.8779, -0.0464, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.08}, "note": "Arm is unstuck; the red block is now visible in the left wrist cam at bottom-center-right, and the top cam shows it just ahead of and slightly outboard of the gripper. Moving about 4 cm to -y, 2 cm forward and down to 8 cm to line the jaws up over it."})

tool

executing move_to over 5 steps (0.5s)

step 45

assistant

agent noteThe red block is now between the two fingers in the left wrist view, slightly right of center. Descending to table height with a 1 cm shift to -y so the jaws straddle it.

move_to

left_x0.3180left_y-0.1700left_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.746, 1.4445, 0.5671, 0.0769, -0.5701, -0.4816, 0.9988, -0.0212, 0.8116, 0.6075, -0.5655, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3182 left_y=-0.1594 left_z=0.0669 left_yaw=-0.031 left_pitch=-0.0782 left_roll=0.0373 left_gripper=0.9988 right_x=0.2677 right_y=0.0015 right_z=0.1411 right_yaw=-0.0006 right_pitch=-0.1854 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [-0.4991, -6.0513, 6.2564, 1.6386, -0.4176, -0.1148, -0.0122, -0.1709, -1.4838, 7.1316, 1.8339, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.318, "left_y": -0.17, "left_z": 0.025}, "note": "The red block is now between the two fingers in the left wrist view, slightly right of center. Descending to table height with a 1 cm shift to -y so the jaws straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 48

assistant

agent noteThe block is centered between the open jaws at z≈2.7 cm, roughly block height. Closing the left gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7723, 1.6032, 0.5308, 0.2333, -0.5804, -0.5011, 0.9988, -0.0212, 0.8139, 0.6075, -0.5846, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3165 left_y=-0.168 left_z=0.0275 left_yaw=-0.0369 left_pitch=-0.1016 left_roll=0.0532 left_gripper=0.9988 right_x=0.2644 right_y=0.0015 right_z=0.1372 right_yaw=-0.0003 right_pitch=-0.2067 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [-0.3624, -6.9949, 4.8068, 1.9316, -0.3297, -0.0562, -0.0073, -0.0752, -1.265, 6.9675, 1.8779, -0.0757, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The block is centered between the open jaws at z\u22482.7 cm, roughly block height. Closing the left gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 58

assistant

agent noteThe gripper closed almost fully (0.01), so it missed—the wrist cam shows the block just ahead of the fingertips, so it was slightly forward of the jaws. Re-opening, lifting, and shifting ~3 cm forward to re-center over the block.

move_to

left_gripper1.0000left_x0.3450left_y-0.1680left_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7776, 1.6352, 0.511, 0.2771, -0.5808, -0.5137, 0.0097, -0.0212, 0.8158, 0.6075, -0.6128, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3136 left_y=-0.1677 left_z=0.0174 left_yaw=-0.0346 left_pitch=-0.1069 left_roll=0.049 left_gripper=0.0097 right_x=0.2594 right_y=0.0016 right_z=0.1319 right_yaw=-0.0005 right_pitch=-0.2368 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.4308, -6.7761, 5.2034, 1.5604, -0.3199, 0.0073, 0.8425, -0.1846, -1.1419, 6.8171, 1.746, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_x": 0.345, "left_y": -0.168, "left_z": 0.06}, "note": "The gripper closed almost fully (0.01), so it missed\u2014the wrist cam shows the block just ahead of the fingertips, so it was slightly forward of the jaws. Re-opening, lifting, and shifting ~3 cm forward to re-center over the block."})

tool

executing move_to over 10 steps (1.0s)

step 68

assistant

agent noteThe block now sits between the open fingers in the left wrist view, slightly right of center and a touch ahead of the fingertips. Descending to grasp height with a small forward nudge so the jaws close on the block's middle.

move_to

left_x0.3520left_y-0.1650left_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7002, 1.5932, 0.6388, 0.0975, -0.535, -0.4648, 0.995, -0.0212, 0.8173, 0.6056, -0.6346, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3371 left_y=-0.1616 left_z=0.043 left_yaw=-0.0162 left_pitch=-0.1386 left_roll=0.0671 left_gripper=0.995 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0005 right_pitch=-0.262 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [0.253, -8.1846, 7.5966, 1.5067, -0.1099, 0.1343, -0.022, -0.1846, -1.1282, 6.9265, 1.6484, -0.0269, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.352, "left_y": -0.165, "left_z": 0.025}, "note": "The block now sits between the open fingers in the left wrist view, slightly right of center and a touch ahead of the fingertips. Descending to grasp height with a small forward nudge so the jaws close on the block's middle."})

tool

executing move_to over 2 steps (0.2s)

step 70

assistant

agent noteThe block is between the fingers but its center is still ahead of the fingertips (higher in the wrist image than the finger tips). Nudging ~2 cm forward and down to 2 cm so the jaws close on the block's middle.

move_to

left_x0.3620left_y-0.1630left_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]: [-0.688, 1.6531, 0.651, 0.1318, -0.5266, -0.4538, 0.9963, -0.0212, 0.8169, 0.6056, -0.6392, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3428 left_y=-0.1622 left_z=0.0308 left_yaw=-0.015 left_pitch=-0.1535 left_roll=0.079 left_gripper=0.9963 right_x=0.2543 right_y=0.0017 right_z=0.1265 right_yaw=-0.0005 right_pitch=-0.2662 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.5538, -6.0786, 6.2838, 1.3162, -0.1538, 0.0659, 0.1148, -0.0068, -1.0735, 6.7761, 1.5311, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.362, "left_y": -0.163, "left_z": 0.02}, "note": "The block is between the fingers but its center is still ahead of the fingertips (higher in the wrist image than the finger tips). Nudging ~2 cm forward and down to 2 cm so the jaws close on the block's middle."})

tool

executing move_to over 2 steps (0.2s)

step 72

assistant

agent noteThe block is now squarely between the fingers, spanning the jaw gap, at z≈1.6 cm. Closing the left gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6724, 1.7107, 0.6495, 0.1741, -0.5198, -0.4492, 0.9967, -0.0212, 0.8227, 0.6056, -0.6613, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3462 left_y=-0.1589 left_z=0.0158 left_yaw=-0.0052 left_pitch=-0.1702 left_roll=0.0888 left_gripper=0.9967 right_x=0.2502 right_y=0.0018 right_z=0.1216 right_yaw=-0.0004 right_pitch=-0.2941 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [0.5949, -8.0615, 7.3231, 1.3065, -0.2027, 0.1001, 0.0317, -0.0479, -1.6068, 6.7487, 1.6728, -0.0269, -0.0513, -0.0073] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The block is now squarely between the fingers, spanning the jaw gap, at z\u22481.6 cm. Closing the left gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteThe left gripper closed fully twice without capturing the block (gripper reads 0.01 ≈ fully closed); the second attempt knocked the block aside and rotated it. I have insufficient LLM-call budget remaining to re-approach, grasp, transport to the bowl, and release.

give_up

hindsightRig facts: the red block starts roughly at left_x≈0.35, left_y≈-0.16 in the left arm's base frame (about 16 cm to the arm's right of start), on the table at z≈0.01-0.02. The bowl is between the arms, roughly at left_y≈-0.35 / right_y≈+0.2 at x≈0.3. In the left wrist camera, image-right = arm -y and image-top = arm +x (forward); the camera is offset behind the fingertips, so an object appearing between the fingers at the bottom of the image is actually still ahead of the jaw centerline — go ~3-4 cm further +x than it looks before closing. The IK freezes completely (joint_pos unchanged) at around x≈0.36, y≈-0.14, z≈0.045 with pitch≈-0.16 — the wrist droops (pitch drifts negative as you descend) and gets stuck; retreat to x≈0.30, z≈0.15 with neutral orientation to unstick, then re-approach from closer to the base. Descent commands get delta-clamped; z requests below ~0.02 only reach ~0.012-0.017. Gripper fully closed reads 0.01; a captured ~4 cm block should stop it around 0.3-0.4. Budget is tight (20 calls): spend fewer calls on searching—move directly to the block coordinates above, verify once in the wrist cam, then grasp.

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6724, 1.7107, 0.6498, 0.1524, -0.5129, -0.4423, 0.0097, -0.0212, 0.823, 0.6056, -0.6765, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.343 left_y=-0.1577 left_z=0.0124 left_yaw=-0.0116 left_pitch=-0.1907 left_roll=0.103 left_gripper=0.0097 right_x=0.2473 right_y=0.0018 right_z=0.1191 right_yaw=-0.0003 right_pitch=-0.3097 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [0.3897, -7.9248, 6.6803, 1.4725, -0.2222, 0.0464, 0.7888, -0.0752, -1.1829, 7.0222, 1.5263, -0.0317, -0.0366, -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

give_up({"reason": "The left gripper closed fully twice without capturing the block (gripper reads 0.01 \u2248 fully closed); the second attempt knocked the block aside and rotated it. I have insufficient LLM-call budget remaining to re-approach, grasp, transport to the bowl, and release.", "hindsight": "Rig facts: the red block starts roughly at left_x\u22480.35, left_y\u2248-0.16 in the left arm's base frame (about 16 cm to the arm's right of start), on the table at z\u22480.01-0.02. The bowl is between the arms, roughly at left_y\u2248-0.35 / right_y\u2248+0.2 at x\u22480.3. In the left wrist camera, image-right = arm -y and image-top = arm +x (forward); the camera is offset behind the fingertips, so an object appearing between the fingers at the bottom of the image is actually still ahead of the jaw centerline \u2014 go ~3-4 cm further +x than it looks before closing. The IK freezes completely (joint_pos unchanged) at around x\u22480.36, y\u2248-0.14, z\u22480.045 with pitch\u2248-0.16 \u2014 the wrist droops (pitch drifts negative as you descend) and gets stuck; retreat to x\u22480.30, z\u22480.15 with neutral orientation to unstick, then re-approach from closer to the base. Descent commands get delta-clamped; z requests below ~0.02 only reach ~0.012-0.017. Gripper fully closed reads 0.01; a captured ~4 cm block should stop it around 0.3-0.4. Budget is tight (20 calls): spend fewer calls on searching\u2014move directly to the block coordinates above, verify once in the wrist cam, then grasp."})

tool

give_up: The left gripper closed fully twice without capturing the block (gripper reads 0.01 ≈ fully closed); the second attempt knocked the block aside and rotated it. I have insufficient LLM-call budget remaining to re-approach, grasp, transport to the bowl, and release.

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 · 47.01 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.384, -0.0193, -0.0334, 0.999, -0.02, 0.7952, 0.6067, -0.3958, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1801 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4564, 10.2359, 1.8291, -0.0806, 0.1441, -0.1197, -0.3761, -1.6889, 9.7299, 1.9023, -0.0171, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d83c658b06693598b004b8580a9febe4641fe96ac8a18cc270f28b74bf5b388"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:859704a71d61895be4d258f303131aac9d9396ec828a9183298ba3154f7d7cbe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5447acb0be066fba6e2d5acb09e3af2bcea744bc8b4e0e12c031a64ec1d93a27"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 33.11 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

{
  "content": "I'll start by lowering the left arm slightly toward the red block, which the left wrist camera shows just to the right of and below the fingers.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.3, \"left_y\": -0.06, \"left_z\": 0.1, \"left_gripper\": 1.0}, \"note\": \"Left wrist cam shows the red block at the bottom-right near the fingertips; right wrist cam shows the bowl to its left. Lowering the left arm and shifting slightly to -y to center over the block and check parallax.\"}",
        "name": "move_to"
      },
      "id": "toolu_01S7PWJLAkGyJgy6kAHjo3nD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01S7PWJLAkGyJgy6kAHjo3nD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3828, 0.9604, 0.3645, -0.0994, -0.2733, -0.2111, 0.999, -0.0212, 0.8005, 0.6128, -0.4236, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0606 left_z=0.0868 left_yaw=-0.0534 left_pitch=-0.0938 left_roll=0.0244 left_gripper=0.999 right_x=0.2903 right_y=0.001 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.7009, 6.3795, 1.9414, -0.3248, -0.0611, -0.1197, 0.0889, -1.6479, 6.5162, 2.0733, -0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b47535b64d2f8f7e152497c4e241a1231ab91e61e16a7e85f03e11e369745db2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d49208dada1e6d02956932dd51f248da5043d2a3056b9d77c8190b23669abb6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d0c546b53ce92b0c345a128add3fc5d6c523505ca0c6281e8b41ff73d451688"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 23.38 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.384, -0.0193, -0.0334, 0.999, -0.02, 0.7952, 0.6067, -0.3958, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1801 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.999 right_x=0.2931 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4564, 10.2359, 1.8291, -0.0806, 0.1441, -0.1197, -0.3761, -1.6889, 9.7299, 1.9023, -0.0171, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.07, \"left_z\": 0.08, \"left_pitch\": 0.0, \"left_yaw\": 0.0, \"left_roll\": 0.0}, \"note\": \"Top camera shows the red block about 5 cm-ish ahead of the left gripper at roughly the same lateral row; wrist cam shows it ahead-right of the fingers. Moving the left arm forward in x to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01M5X15RA4bXgrSoCmcSts82",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01M5X15RA4bXgrSoCmcSts82"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3149, 1.4311, 0.4892, 0.2459, -0.2741, -0.2134, 0.9989, -0.0212, 0.8043, 0.6075, -0.4423, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3585 left_y=-0.0627 left_z=0.0568 left_yaw=0.0164 left_pitch=-0.0943 left_roll=0.0233 left_gripper=0.9989 right_x=0.2871 right_y=0.001 right_z=0.1661 right_yaw=-0.0009 right_pitch=-0.0549 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -5.5043, 7.7744, 1.9121, -0.0024, 0.1587, -0.022, -0.1162, -1.4154, 7.4051, 1.873, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0312b3d1747e8ab404860fa759891ea19ff2e36b1c7afbd81e4b68f9636c5608"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc23c09169119238203462431b70532d6c734a7869be922c1427ab9fba88d522"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1aab52ad5da1bf33cd4526958e6a1d4f725b5d1e757f42334a795aeea5490942"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 23.5 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3828, 0.9604, 0.3645, -0.0994, -0.2733, -0.2111, 0.999, -0.0212, 0.8005, 0.6128, -0.4236, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0606 left_z=0.0868 left_yaw=-0.0534 left_pitch=-0.0938 left_roll=0.0244 left_gripper=0.999 right_x=0.2903 right_y=0.001 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.7009, 6.3795, 1.9414, -0.3248, -0.0611, -0.1197, 0.0889, -1.6479, 6.5162, 2.0733, -0.0366, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.12, \"left_z\": 0.08}, \"note\": \"The block left the left wrist camera's view to the right as I moved forward, so it lies further to -y (right side of the image is the arm's -y). Shifting the left gripper to y=-0.12 and slightly higher to re-find it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01C8Jyd6pVv97AMqfqT92dHS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01C8Jyd6pVv97AMqfqT92dHS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4808, 1.5253, 0.6651, 0.104, -0.3794, -0.3218, 0.9988, -0.0212, 0.8043, 0.6075, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.1163 left_z=0.0686 left_yaw=-0.0024 left_pitch=-0.1204 left_roll=0.027 left_gripper=0.9988 right_x=0.2851 right_y=0.0011 right_z=0.1635 right_yaw=-0.0009 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -5.9282, 8.0889, 1.5702, -0.2662, -0.0073, -0.0171, -0.0342, -1.265, 7.159, 1.7998, -0.0415, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dacb99012b9e9882d375d3169d78edf5c1e75d3d4002f1f0d4631084aad58867"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00324299c7fae4305b772b19f714bac1a213232eafdd75262c61f88db16d7348"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b342721896f4a852fb8ae811e46447a6d18aa7f9b04233cbd47a9dd87b66fb63"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 12.24 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3149, 1.4311, 0.4892, 0.2459, -0.2741, -0.2134, 0.9989, -0.0212, 0.8043, 0.6075, -0.4423, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3585 left_y=-0.0627 left_z=0.0568 left_yaw=0.0164 left_pitch=-0.0943 left_roll=0.0233 left_gripper=0.9989 right_x=0.2871 right_y=0.001 right_z=0.1661 right_yaw=-0.0009 right_pitch=-0.0549 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -5.5043, 7.7744, 1.9121, -0.0024, 0.1587, -0.022, -0.1162, -1.4154, 7.4051, 1.873, -0.0757, -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\": 0.37, \"left_y\": -0.145, \"left_z\": 0.055}, \"note\": \"The red block now shows at the bottom-right of the left wrist camera, just under the right-hand finger, so it's slightly further to -y and close to the fingertips. Shifting a bit more to -y and lowering to bring it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RZLXWgJKjWw1dzgozHHs7p",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RZLXWgJKjWw1dzgozHHs7p"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5632, 1.6009, 0.6781, 0.1028, -0.4202, -0.3733, 0.9988, -0.0212, 0.8043, 0.6075, -0.4637, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.363 left_y=-0.1398 left_z=0.0477 left_yaw=-0.0199 left_pitch=-0.1606 left_roll=0.0446 left_gripper=0.9988 right_x=0.2839 right_y=0.0011 right_z=0.1619 right_yaw=-0.0009 right_pitch=-0.0763 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9265, 6.7761, 1.7705, -0.4176, -0.1245, -0.0122, -0.1983, -1.2239, 6.9538, 1.8046, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ecc6bae1b3c5f54a40843ef33bc751e1b61be1f30a60666f5efdd66f611c58a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df31b28bbeb5096d49e45476da0d8a8e986941bf9f3b59b8750efee184d72732"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c4a6a28cb971a0f3d96cb1d378693e90a1547a424ac242acb6edd5629894aee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 10.45 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4808, 1.5253, 0.6651, 0.104, -0.3794, -0.3218, 0.9988, -0.0212, 0.8043, 0.6075, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.1163 left_z=0.0686 left_yaw=-0.0024 left_pitch=-0.1204 left_roll=0.027 left_gripper=0.9988 right_x=0.2851 right_y=0.0011 right_z=0.1635 right_yaw=-0.0009 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -5.9282, 8.0889, 1.5702, -0.2662, -0.0073, -0.0171, -0.0342, -1.265, 7.159, 1.7998, -0.0415, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.16, \"left_z\": 0.02, \"left_pitch\": 0.0}, \"note\": \"The block sits at the bottom-right of the left wrist view, just inside/under the right finger, so I need about 2 cm more toward -y and to descend to table height. Moving down to z=0.02 with a small -y shift and levelling pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FLYgKszZJHhkADTzZHBECt",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01FLYgKszZJHhkADTzZHBECt"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5804, 1.6154, 0.6781, 0.1116, -0.4355, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.482, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1438 left_z=0.0447 left_yaw=-0.0109 left_pitch=-0.159 left_roll=0.0382 left_gripper=0.9988 right_x=0.2811 right_y=0.0011 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.8034, 6.7214, 1.6777, -0.3785, 0.0073, -0.0073, -0.0342, -1.265, 6.9402, 1.8339, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f1ab700d9d98d6878437e54124642c349f690bb9808dbde35885bd244b53c83"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9f4ade86658f1bd2f353d1667c8a29b2950117e3534233a8b5038c34d171484b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb6421799d5dcfa153a7eb985c8a9406ae12b29df4a063bf3d059e46611f5696"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 8.879 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5632, 1.6009, 0.6781, 0.1028, -0.4202, -0.3733, 0.9988, -0.0212, 0.8043, 0.6075, -0.4637, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.363 left_y=-0.1398 left_z=0.0477 left_yaw=-0.0199 left_pitch=-0.1606 left_roll=0.0446 left_gripper=0.9988 right_x=0.2839 right_y=0.0011 right_z=0.1619 right_yaw=-0.0009 right_pitch=-0.0763 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9265, 6.7761, 1.7705, -0.4176, -0.1245, -0.0122, -0.1983, -1.2239, 6.9538, 1.8046, -0.0366, -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\": 0.36, \"left_y\": -0.155, \"left_z\": 0.03}, \"note\": \"The arm barely moved on the last command (z stuck near 0.045), likely an IK hold; block still shows under the right finger at the bottom of the left wrist view. Trying a smaller step down and slightly to -y without commanding pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MLgdZ1AjkSwTQ4gBz4Qkpf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01MLgdZ1AjkSwTQ4gBz4Qkpf"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.58, 1.6154, 0.6781, 0.1116, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.4961, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3618 left_y=-0.1436 left_z=0.0447 left_yaw=-0.0102 left_pitch=-0.1588 left_roll=0.0385 left_gripper=0.9988 right_x=0.2789 right_y=0.0012 right_z=0.1556 right_yaw=-0.0008 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.9402, 6.6803, 1.6679, -0.3736, -0.0073, -0.0073, -0.0752, -1.2513, 7.1863, 1.9219, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43d6b91fad655d6ac54c8a3cc4fe2e181fad83d693a24b8a8b9b97fb72c9321a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6ef6865f164a3faaf2737bc455214dc29d943e6c773b7058e01d216e681ebe4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5cdbfceceec5896b41807cd333898218a34978515e4803129d83627b7538766"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 8.367 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5804, 1.6154, 0.6781, 0.1116, -0.4355, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.482, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1438 left_z=0.0447 left_yaw=-0.0109 left_pitch=-0.159 left_roll=0.0382 left_gripper=0.9988 right_x=0.2811 right_y=0.0011 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.8034, 6.7214, 1.6777, -0.3785, 0.0073, -0.0073, -0.0342, -1.265, 6.9402, 1.8339, -0.0415, -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\": 0.36, \"left_y\": -0.17, \"left_z\": 0.09}, \"note\": \"The left arm is not descending \\u2014 the right finger appears to be resting on top of the red block, blocking the motion. Lifting up and shifting further to -y so the block will fall between the jaws before descending again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QdHSjc7pHTLgc8J18T22pA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01QdHSjc7pHTLgc8J18T22pA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5804, 1.6154, 0.6781, 0.1112, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.5049, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1437 left_z=0.0447 left_yaw=-0.0105 left_pitch=-0.1591 left_roll=0.0387 left_gripper=0.9988 right_x=0.2775 right_y=0.0012 right_z=0.1539 right_yaw=-0.0011 right_pitch=-0.1179 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.7214, 6.8581, 1.6532, -0.3736, -0.0024, -0.0073, -0.1299, -1.1829, 6.9675, 1.6874, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef622b5739cd6c72b70c53705717fe00e0a51a6b9d8c7d7dcf4a7cc4092c4ed8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a5e1b52c7f68c768b3b6f329095b7302142c2bc92251624294a0501d826d3561"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87977f364c3bc980ded1fcb4e7b5fb874b137ab11e087198dedc66a8ad89ba8e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 22.41 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.58, 1.6154, 0.6781, 0.1116, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.4961, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3618 left_y=-0.1436 left_z=0.0447 left_yaw=-0.0102 left_pitch=-0.1588 left_roll=0.0385 left_gripper=0.9988 right_x=0.2789 right_y=0.0012 right_z=0.1556 right_yaw=-0.0008 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.212, -6.9402, 6.6803, 1.6679, -0.3736, -0.0073, -0.0073, -0.0752, -1.2513, 7.1863, 1.9219, -0.0611, -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\": 0.3, \"left_y\": -0.12, \"left_z\": 0.15, \"left_yaw\": 0.0, \"left_pitch\": 0.0, \"left_roll\": 0.0}, \"note\": \"The left arm has been completely frozen for three commands (joint positions unchanged), so the IK seems stuck at this awkward pose. Retreating to a more comfortable pose nearer the base and higher, with neutral orientation, to unstick it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UafYeqv9nPCNhbEA4oYRDe",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01UafYeqv9nPCNhbEA4oYRDe"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6819, 1.1046, 0.6128, -0.1856, -0.5327, -0.4366, 0.9988, -0.0212, 0.8082, 0.6075, -0.5346, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.1286 left_z=0.1459 left_yaw=-0.0228 left_pitch=0.0008 left_roll=-0.0234 left_gripper=0.9988 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1658, 7.0632, 1.7998, -0.3053, -0.0952, -0.0122, -0.3077, -1.0462, 7.0222, 1.8779, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:195fb84463eeaa2ace42dd8c5c3fd36beff5da0ac83be75b9c77fa271789de45"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:18dd541d6234ffb26a87dff64ca89f43e939e3bc2774b9af259b4a0a7789abeb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6669062b34f1420de5e8d5037358ba135f5fe9911ed12d77210194b86f8a6f83"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 12.23 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5804, 1.6154, 0.6781, 0.1112, -0.4358, -0.3985, 0.9988, -0.0212, 0.8047, 0.6075, -0.5049, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.1437 left_z=0.0447 left_yaw=-0.0105 left_pitch=-0.1591 left_roll=0.0387 left_gripper=0.9988 right_x=0.2775 right_y=0.0012 right_z=0.1539 right_yaw=-0.0011 right_pitch=-0.1179 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.7214, 6.8581, 1.6532, -0.3736, -0.0024, -0.0073, -0.1299, -1.1829, 6.9675, 1.6874, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.33, \"left_y\": -0.17, \"left_z\": 0.08}, \"note\": \"Arm is unstuck; the red block is now visible in the left wrist cam at bottom-center-right, and the top cam shows it just ahead of and slightly outboard of the gripper. Moving about 4 cm to -y, 2 cm forward and down to 8 cm to line the jaws up over it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Ve2bAsAJdbCeyKgWgnsYMB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Ve2bAsAJdbCeyKgWgnsYMB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.746, 1.4445, 0.5671, 0.0769, -0.5701, -0.4816, 0.9988, -0.0212, 0.8116, 0.6075, -0.5655, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3182 left_y=-0.1594 left_z=0.0669 left_yaw=-0.031 left_pitch=-0.0782 left_roll=0.0373 left_gripper=0.9988 right_x=0.2677 right_y=0.0015 right_z=0.1411 right_yaw=-0.0006 right_pitch=-0.1854 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -6.0513, 6.2564, 1.6386, -0.4176, -0.1148, -0.0122, -0.1709, -1.4838, 7.1316, 1.8339, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f916cff8ef2959760ed19e5a39fcf64f3b25b54868bd4861f90900b32e598fed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:abefa6be982bde4c64b829c551ec5c863d86711571f4d825c67259b3042e1650"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc10e90e2e6112fe30a0f0328213b7b06214c503464dfaf1603910399dff0b16"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 7.139 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6819, 1.1046, 0.6128, -0.1856, -0.5327, -0.4366, 0.9988, -0.0212, 0.8082, 0.6075, -0.5346, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.1286 left_z=0.1459 left_yaw=-0.0228 left_pitch=0.0008 left_roll=-0.0234 left_gripper=0.9988 right_x=0.2728 right_y=0.0014 right_z=0.1475 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1658, 7.0632, 1.7998, -0.3053, -0.0952, -0.0122, -0.3077, -1.0462, 7.0222, 1.8779, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.318, \"left_y\": -0.17, \"left_z\": 0.025}, \"note\": \"The red block is now between the two fingers in the left wrist view, slightly right of center. Descending to table height with a 1 cm shift to -y so the jaws straddle it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GXzfJL12FeBUd5bnYNr3x8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01GXzfJL12FeBUd5bnYNr3x8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7723, 1.6032, 0.5308, 0.2333, -0.5804, -0.5011, 0.9988, -0.0212, 0.8139, 0.6075, -0.5846, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.168 left_z=0.0275 left_yaw=-0.0369 left_pitch=-0.1016 left_roll=0.0532 left_gripper=0.9988 right_x=0.2644 right_y=0.0015 right_z=0.1372 right_yaw=-0.0003 right_pitch=-0.2067 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.9949, 4.8068, 1.9316, -0.3297, -0.0562, -0.0073, -0.0752, -1.265, 6.9675, 1.8779, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad467cc15bd4908002446917d3120e5b215ad1dc14ee737b2fe1559b341aea3c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a51e29769fb8c0a884ba42578d57909b0aa39f64cd5739806faa2eeed1cb343"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4dfd315f2030d3776de7d64039579085d04ac6d5e99cab3b542a20f8c19f6d6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 10.73 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.746, 1.4445, 0.5671, 0.0769, -0.5701, -0.4816, 0.9988, -0.0212, 0.8116, 0.6075, -0.5655, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3182 left_y=-0.1594 left_z=0.0669 left_yaw=-0.031 left_pitch=-0.0782 left_roll=0.0373 left_gripper=0.9988 right_x=0.2677 right_y=0.0015 right_z=0.1411 right_yaw=-0.0006 right_pitch=-0.1854 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -6.0513, 6.2564, 1.6386, -0.4176, -0.1148, -0.0122, -0.1709, -1.4838, 7.1316, 1.8339, -0.0562, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is centered between the open jaws at z\\u22482.7 cm, roughly block height. Closing the left gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Qcp8NGiKcg25Y1c5MkU35M",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Qcp8NGiKcg25Y1c5MkU35M"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7776, 1.6352, 0.511, 0.2771, -0.5808, -0.5137, 0.0097, -0.0212, 0.8158, 0.6075, -0.6128, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.1677 left_z=0.0174 left_yaw=-0.0346 left_pitch=-0.1069 left_roll=0.049 left_gripper=0.0097 right_x=0.2594 right_y=0.0016 right_z=0.1319 right_yaw=-0.0005 right_pitch=-0.2368 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7761, 5.2034, 1.5604, -0.3199, 0.0073, 0.8425, -0.1846, -1.1419, 6.8171, 1.746, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:218a1274b8484078a5a8b81aef19c8943b17fc09982875d2c5fded5e09045faf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a3904b2f09281638723fd1c885dd41ed670262336bc4219500eed4dc1f4424e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a32a9450fbcadf1c76869405515867d121e608d7f52c7d4019b52738334f6fd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 15.34 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7723, 1.6032, 0.5308, 0.2333, -0.5804, -0.5011, 0.9988, -0.0212, 0.8139, 0.6075, -0.5846, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.168 left_z=0.0275 left_yaw=-0.0369 left_pitch=-0.1016 left_roll=0.0532 left_gripper=0.9988 right_x=0.2644 right_y=0.0015 right_z=0.1372 right_yaw=-0.0003 right_pitch=-0.2067 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.9949, 4.8068, 1.9316, -0.3297, -0.0562, -0.0073, -0.0752, -1.265, 6.9675, 1.8779, -0.0757, -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_gripper\": 1.0, \"left_x\": 0.345, \"left_y\": -0.168, \"left_z\": 0.06}, \"note\": \"The gripper closed almost fully (0.01), so it missed\\u2014the wrist cam shows the block just ahead of the fingertips, so it was slightly forward of the jaws. Re-opening, lifting, and shifting ~3 cm forward to re-center over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GcSGPTbdh5huyZZDkJgbhU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01GcSGPTbdh5huyZZDkJgbhU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7002, 1.5932, 0.6388, 0.0975, -0.535, -0.4648, 0.995, -0.0212, 0.8173, 0.6056, -0.6346, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3371 left_y=-0.1616 left_z=0.043 left_yaw=-0.0162 left_pitch=-0.1386 left_roll=0.0671 left_gripper=0.995 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0005 right_pitch=-0.262 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.1846, 7.5966, 1.5067, -0.1099, 0.1343, -0.022, -0.1846, -1.1282, 6.9265, 1.6484, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62085d23ce468acc27f694c07df34102d573ed3a65726d018426084521d9c9cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bf2a927112149e8a1eb0f26820d9e948b950b26f3c6bdf7df0d714fa5864b0a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b49129d9559e2d4b90c1dfc08973b74bbe722fd0c61ba0ca3029f776261a1b37"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 19.64 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7776, 1.6352, 0.511, 0.2771, -0.5808, -0.5137, 0.0097, -0.0212, 0.8158, 0.6075, -0.6128, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.1677 left_z=0.0174 left_yaw=-0.0346 left_pitch=-0.1069 left_roll=0.049 left_gripper=0.0097 right_x=0.2594 right_y=0.0016 right_z=0.1319 right_yaw=-0.0005 right_pitch=-0.2368 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7761, 5.2034, 1.5604, -0.3199, 0.0073, 0.8425, -0.1846, -1.1419, 6.8171, 1.746, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.352, \"left_y\": -0.165, \"left_z\": 0.025}, \"note\": \"The block now sits between the open fingers in the left wrist view, slightly right of center and a touch ahead of the fingertips. Descending to grasp height with a small forward nudge so the jaws close on the block's middle.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EmbnnHtG6YFWTBeabLiuXS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01EmbnnHtG6YFWTBeabLiuXS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.688, 1.6531, 0.651, 0.1318, -0.5266, -0.4538, 0.9963, -0.0212, 0.8169, 0.6056, -0.6392, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3428 left_y=-0.1622 left_z=0.0308 left_yaw=-0.015 left_pitch=-0.1535 left_roll=0.079 left_gripper=0.9963 right_x=0.2543 right_y=0.0017 right_z=0.1265 right_yaw=-0.0005 right_pitch=-0.2662 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -6.0786, 6.2838, 1.3162, -0.1538, 0.0659, 0.1148, -0.0068, -1.0735, 6.7761, 1.5311, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e337590d1ae7ddf4103d2310205beee6e5e489beafdc233164cc181154dccbd7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b60ac05ee7602980ae4c42c54b81417efa4d8a338a5c32bea654801ea1ddb286"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b14d4528ad15f96671d1a1fc8adf3edad38d06ac9edd752df2a50b40a6246dd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 7.965 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7002, 1.5932, 0.6388, 0.0975, -0.535, -0.4648, 0.995, -0.0212, 0.8173, 0.6056, -0.6346, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3371 left_y=-0.1616 left_z=0.043 left_yaw=-0.0162 left_pitch=-0.1386 left_roll=0.0671 left_gripper=0.995 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0005 right_pitch=-0.262 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.1846, 7.5966, 1.5067, -0.1099, 0.1343, -0.022, -0.1846, -1.1282, 6.9265, 1.6484, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.362, \"left_y\": -0.163, \"left_z\": 0.02}, \"note\": \"The block is between the fingers but its center is still ahead of the fingertips (higher in the wrist image than the finger tips). Nudging ~2 cm forward and down to 2 cm so the jaws close on the block's middle.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YQGmmphN2pxgrieL6Rxc25",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01YQGmmphN2pxgrieL6Rxc25"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6724, 1.7107, 0.6495, 0.1741, -0.5198, -0.4492, 0.9967, -0.0212, 0.8227, 0.6056, -0.6613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3462 left_y=-0.1589 left_z=0.0158 left_yaw=-0.0052 left_pitch=-0.1702 left_roll=0.0888 left_gripper=0.9967 right_x=0.2502 right_y=0.0018 right_z=0.1216 right_yaw=-0.0004 right_pitch=-0.2941 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -8.0615, 7.3231, 1.3065, -0.2027, 0.1001, 0.0317, -0.0479, -1.6068, 6.7487, 1.6728, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:14b75177ace360cbe251df530c3db98d08938304533011a043e46032ea7ddfc2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2539070706dcd6158ac7d8a9dddd74132a37e794dfca9a1881d1354ed25fc2f7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d99d17b48ea0a25cca83041638b64ea913f18869f18e138cf5ae00a7b7c90c71"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 19.15 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.688, 1.6531, 0.651, 0.1318, -0.5266, -0.4538, 0.9963, -0.0212, 0.8169, 0.6056, -0.6392, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3428 left_y=-0.1622 left_z=0.0308 left_yaw=-0.015 left_pitch=-0.1535 left_roll=0.079 left_gripper=0.9963 right_x=0.2543 right_y=0.0017 right_z=0.1265 right_yaw=-0.0005 right_pitch=-0.2662 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -6.0786, 6.2838, 1.3162, -0.1538, 0.0659, 0.1148, -0.0068, -1.0735, 6.7761, 1.5311, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is now squarely between the fingers, spanning the jaw gap, at z\\u22481.6 cm. Closing the left gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NNMR369rNcGoaYFT3YU63z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NNMR369rNcGoaYFT3YU63z"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6724, 1.7107, 0.6498, 0.1524, -0.5129, -0.4423, 0.0097, -0.0212, 0.823, 0.6056, -0.6765, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.343 left_y=-0.1577 left_z=0.0124 left_yaw=-0.0116 left_pitch=-0.1907 left_roll=0.103 left_gripper=0.0097 right_x=0.2473 right_y=0.0018 right_z=0.1191 right_yaw=-0.0003 right_pitch=-0.3097 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -7.9248, 6.6803, 1.4725, -0.2222, 0.0464, 0.7888, -0.0752, -1.1829, 7.0222, 1.5263, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:666da23633c75fc9e2a2a0f60b612d54af230405f340d6961621f5dcda0e5f25"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a65d3aa8e16cf331a7e8b08d7723f5101d2bbcf1a613524efe1e6d8b24058b9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b81f9caa8e39aae7cc93092770576e5b37850c54001499141f66856b4313723b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}