adhoc

completed
2026-09-03T04:03:46.847408+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
434.5 s
total steps
125
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a red block left of center and a white bowl to its right in the top camera. I'll advance the left arm forward and down a bit to see how it moves relative to the block before homing in.
move_to
left_x0.3500left_y0.0000left_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]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0219, -0.0334, 0.9992, -0.0212, 0.7944, 0.6064, -0.3958, -0.0166, -0.0261, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0003 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5265, -1.388, 10.2222, 1.9609, -0.0366, 0.1636, -0.0952, -0.335, -1.6068, 9.7162, 1.9121, -0.0855, 0.1001, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.0, "left_z": 0.1, "left_gripper": 1}, "note": "I see a red block left of center and a white bowl to its right in the top camera. I'll advance the left arm forward and down a bit to see how it moves relative to the block before homing in."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe left gripper entered the top camera view from the left edge; the block is farther forward. Extending the left arm forward to x=0.45 to calibrate its position relative to the block in the top view.
move_to
left_x0.4500left_y0.0000left_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]: [-0.0193, 1.1675, 0.4519, 0.0235, -0.0223, -0.0383, 0.9992, -0.0212, 0.8001, 0.6117, -0.4213, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3308 left_y=0.0012 left_z=0.0821 left_yaw=0.0032 left_pitch=-0.1167 left_roll=-0.0013 left_gripper=0.9992 right_x=0.2905 right_y=0.0009 right_z=0.1733 right_yaw=0.0024 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.4034, -4.6017, 6.147, 2.0, -0.1001, -0.0073, -0.0952, -0.1436, -1.5521, 6.653, 2.0147, -0.0171, -0.0366, -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": 0.45, "left_y": 0.0, "left_z": 0.08}, "note": "The left gripper entered the top camera view from the left edge; the block is farther forward. Extending the left arm forward to x=0.45 to calibrate its position relative to the block in the top view."})
tool
executing move_to over 10 steps (1.0s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe left gripper tips are visible at top-left of the top camera; the block sits slightly ahead and a bit to the image-down direction. Extending forward to x=0.5 with a small y offset and lowering toward table height.
move_to
left_x0.5000left_y-0.0300left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 1.6661, 0.8204, 0.0933, -0.0223, -0.0422, 0.9992, -0.0212, 0.804, 0.6064, -0.4416, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4327 left_y=-0.0006 left_z=0.0628 left_yaw=0.0059 left_pitch=-0.1769 left_roll=-0.0028 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [0.1162, -7.8974, 8.253, 1.7705, 0.0122, 0.0366, -0.0171, -0.2256, -1.5521, 7.5419, 1.7998, -0.022, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.03, "left_z": 0.05}, "note": "The left gripper tips are visible at top-left of the top camera; the block sits slightly ahead and a bit to the image-down direction. Extending forward to x=0.5 with a small y offset and lowering toward table height."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteIn the top view the block is still ahead and slightly to the right of the left gripper tips. Moving forward to x=0.55, y=-0.05, keeping low, and commanding pitch back to 0 since it has been sagging.
move_to
left_x0.5500left_y-0.0500left_z0.0300left_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]: [-0.0864, 1.9091, 1.05, 0.054, -0.0704, -0.0925, 0.9991, -0.0212, 0.8078, 0.6056, -0.4557, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4834 left_y=-0.0258 left_z=0.0373 left_yaw=0.0081 left_pitch=-0.2272 left_roll=-0.0018 left_gripper=0.9991 right_x=0.285 right_y=0.0011 right_z=0.1617 right_yaw=0.0028 right_pitch=-0.0739 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.6769, -9.2513, 7.8427, 1.7021, -0.1001, -0.0562, -0.0171, -0.0889, -1.5932, 6.9949, 1.7705, -0.0513, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.05, "left_z": 0.03, "left_pitch": 0}, "note": "In the top view the block is still ahead and slightly to the right of the left gripper tips. Moving forward to x=0.55, y=-0.05, keeping low, and commanding pitch back to 0 since it has been sagging."})
tool
executing move_to over 8 steps (0.8s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe block is not yet visible in the left wrist camera, so it isn't directly ahead of the gripper. Pushing a bit farther forward and back toward y=-0.02 to sweep and find the block in the wrist view.
move_to
left_x0.5700left_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]: [-0.1299, 2.1181, 1.116, 0.3191, -0.1211, -0.1135, 0.9991, -0.0212, 0.8108, 0.6056, -0.4812, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5291 left_y=-0.044 left_z=0.0085 left_yaw=0.0168 left_pitch=-0.1018 left_roll=0.0022 left_gripper=0.9991 right_x=0.2812 right_y=0.0011 right_z=0.156 right_yaw=0.0026 right_pitch=-0.1026 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.8, -10.6051, 8.0205, 1.9463, -0.1148, 0.0415, -0.0122, -0.0752, -1.5111, 6.9402, 1.9121, -0.0611, -0.0415, -0.0122] 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": 0.57, "left_y": -0.02, "left_z": 0.02}, "note": "The block is not yet visible in the left wrist camera, so it isn't directly ahead of the gripper. Pushing a bit farther forward and back toward y=-0.02 to sweep and find the block in the wrist view."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe block still isn't in the left wrist camera, so it must be off to one side. I'll shift the left arm to its +y limit to see which way the gripper moves in the top view and locate the block.
move_to
left_y0.0500left_x0.5500left_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]: [-0.0669, 2.1899, 1.2812, 0.2268, -0.0952, -0.0978, 0.9991, -0.0212, 0.8116, 0.6056, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5623 left_y=-0.0173 left_z=0.0158 left_yaw=0.0494 left_pitch=-0.1029 left_roll=-0.002 left_gripper=0.9991 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0029 right_pitch=-0.1224 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [-0.3214, -11.2615, 7.6376, 1.6142, 0.1392, 0.1636, -0.0122, -0.0068, -1.347, 6.8991, 1.8095, -0.0562, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.05, "left_x": 0.55, "left_z": 0.03}, "note": "The block still isn't in the left wrist camera, so it must be off to one side. I'll shift the left arm to its +y limit to see which way the gripper moves in the top view and locate the block."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe left arm didn't track my last y command and the block still isn't in its wrist camera. Raising the left gripper to z=0.15 so I can spot it in the top camera and judge its offset from the block.
move_to
left_z0.1500left_y0.0500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0631, 2.1956, 1.3022, 0.1776, -0.0822, -0.0864, 0.9991, -0.0212, 0.8154, 0.6056, -0.5228, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5606 left_y=-0.0173 left_z=0.0114 left_yaw=0.0365 left_pitch=-0.1376 left_roll=0.0021 left_gripper=0.9991 right_x=0.2747 right_y=0.0013 right_z=0.147 right_yaw=0.003 right_pitch=-0.1487 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.0479, -11.494, 7.8838, 1.8046, 0.0366, 0.105, -0.0122, -0.1026, -1.4154, 7.0222, 1.8144, -0.0708, -0.0415, -0.0122] 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_z": 0.15, "left_y": 0.05}, "note": "The left arm didn't track my last y command and the block still isn't in its wrist camera. Raising the left gripper to z=0.15 so I can spot it in the top camera and judge its offset from the block."})
tool
executing move_to over 9 steps (0.9s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteI still can't see the left gripper in the top camera and the wrist view is confusing. Raising the left arm to z=0.3 and pulling back to x=0.45 to get a clear look at it in the top camera and figure out its offset from the block.
move_to
left_z0.3000left_x0.4500left_y0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.104, 2.0056, 1.5574, -0.2176, -0.0021, -0.0177, 0.9991, -0.0212, 0.8173, 0.6056, -0.5537, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5686 left_y=0.0633 left_z=0.1471 left_yaw=0.098 left_pitch=-0.0906 left_roll=0.0018 left_gripper=0.9991 right_x=0.2696 right_y=0.0014 right_z=0.1409 right_yaw=0.0032 right_pitch=-0.1815 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.7316, -11.8769, 7.5145, 1.3211, 0.1978, 0.2369, -0.0122, -0.0342, -1.1419, 6.8581, 1.8486, -0.0855, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.45, "left_y": 0.0}, "note": "I still can't see the left gripper in the top camera and the wrist view is confusing. Raising the left arm to z=0.3 and pulling back to x=0.45 to get a clear look at it in the top camera and figure out its offset from the block."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe left arm never appears in the top camera even at x=0.46 z=0.27, so the block may be on the right arm's side; the right wrist camera already sees the bowl. Advancing the right arm forward to locate it in the top view.
move_to
right_x0.4000right_y0.1000right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0494, 1.6096, 1.5772, -0.691, -0.1062, -0.1112, 0.9991, -0.0212, 0.8185, 0.6056, -0.588, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4619 left_y=-0.0005 left_z=0.2653 left_yaw=0.0842 left_pitch=-0.1432 left_roll=0.0 left_gripper=0.9991 right_x=0.2636 right_y=0.0015 right_z=0.1347 right_yaw=0.003 right_pitch=-0.217 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.3761, -10.5504, 10.0718, 1.8437, -0.1685, 0.0562, -0.0122, 0.0068, -1.1829, 6.8444, 1.8486, -0.0269, -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": {"right_x": 0.4, "right_y": 0.1, "right_z": 0.15}, "note": "The left arm never appears in the top camera even at x=0.46 z=0.27, so the block may be on the right arm's side; the right wrist camera already sees the bowl. Advancing the right arm forward to locate it in the top view."})
tool
executing move_to over 11 steps (1.1s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe right arm is now visible near the bowl in the top camera, and the bowl appears forward-left in the right wrist view. The block is farther left, so I'm moving the right arm left (+y) and slightly forward and down toward the block.
move_to
right_x0.4200right_y0.2200right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0528, 1.6161, 1.5753, -0.7197, -0.1165, -0.1207, 0.9991, 0.326, 1.4719, 1.0157, -0.4339, 0.1997, 0.1982, 0.9996] state[eef_state]: left_x=0.4578 left_y=-0.0001 left_z=0.2566 left_yaw=0.0956 left_pitch=-0.1788 left_roll=0.0051 left_gripper=0.9991 right_x=0.3828 right_y=0.0962 right_z=0.1317 right_yaw=0.0312 right_pitch=-0.2824 right_roll=-0.0181 right_gripper=0.9996 state[joint_eff]: [0.0889, -8.3897, 6.9538, 1.8144, 0.022, 0.0171, -0.0122, 0.1709, -6.5436, 8.8547, 1.4725, 0.2369, 0.2418, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.42, "right_y": 0.22, "right_z": 0.1}, "note": "The right arm is now visible near the bowl in the top camera, and the bowl appears forward-left in the right wrist view. The block is farther left, so I'm moving the right arm left (+y) and slightly forward and down toward the block."})
tool
executing move_to over 11 steps (1.1s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe right gripper is directly over the bowl (bowl fills the wrist camera). The block is roughly 0.2 m further left in the top view, so I'm moving the right arm to y=0.35 at the same height to get the block into the wrist camera.
move_to
right_x0.4000right_y0.3500right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.7422, -0.1173, -0.1215, 0.9991, 0.6044, 1.8378, 1.277, -0.4393, 0.3416, 0.3977, 0.9996] state[eef_state]: left_x=0.4539 left_y=0.0006 left_z=0.2525 left_yaw=0.0981 left_pitch=-0.2013 left_roll=0.0086 left_gripper=0.9991 right_x=0.4075 right_y=0.2139 right_z=0.0883 right_yaw=0.0631 right_pitch=-0.3326 right_roll=-0.0437 right_gripper=0.9996 state[joint_eff]: [-0.2667, -7.665, 6.7487, 1.7216, -0.0952, -0.0171, -0.0122, 0.4034, -9.1009, 8.759, 1.3602, 0.3004, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.35, "right_z": 0.1}, "note": "The right gripper is directly over the bowl (bowl fills the wrist camera). The block is roughly 0.2 m further left in the top view, so I'm moving the right arm to y=0.35 at the same height to get the block into the wrist camera."})
tool
executing move_to over 12 steps (1.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe red block is now visible in the right wrist camera, slightly forward-left of the gripper fingers. Moving a bit forward and left and lowering to z=0.04 to line up for the grasp.
move_to
right_x0.4200right_y0.3800right_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]: [-0.0521, 1.6161, 1.5749, -0.7643, -0.1173, -0.1215, 0.9991, 0.8589, 2.1605, 1.792, -0.7464, 0.4412, 0.6033, 0.9996] state[eef_state]: left_x=0.45 left_y=0.0008 left_z=0.2487 left_yaw=0.0988 left_pitch=-0.2232 left_roll=0.012 left_gripper=0.9991 right_x=0.3929 right_y=0.3453 right_z=0.0929 right_yaw=0.0973 right_pitch=-0.3653 right_roll=-0.061 right_gripper=0.9996 state[joint_eff]: [-0.0615, -7.8291, 6.6667, 1.6923, -0.1148, -0.0366, -0.0122, 0.1436, -11.2752, 8.5265, 1.0281, 0.3785, 0.1587, -0.0073] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.38, "right_z": 0.04}, "note": "The red block is now visible in the right wrist camera, slightly forward-left of the gripper fingers. Moving a bit forward and left and lowering to z=0.04 to line up for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe block sits at the lower-left of the right wrist view, meaning it's slightly closer and further left than the gripper. Shifting to x=0.40, y=0.40 and lowering to z=0.03 to center the block between the fingers.
move_to
right_x0.4000right_y0.4000right_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]: [-0.0517, 1.6161, 1.5749, -0.7719, -0.1169, -0.1215, 0.9991, 0.8658, 2.3444, 1.9427, -0.7208, 0.4389, 0.606, 0.999] state[eef_state]: left_x=0.4487 left_y=0.001 left_z=0.2474 left_yaw=0.0992 left_pitch=-0.2308 left_roll=0.0129 left_gripper=0.9991 right_x=0.4128 right_y=0.3749 right_z=0.0532 right_yaw=0.1021 right_pitch=-0.3722 right_roll=-0.0634 right_gripper=0.999 state[joint_eff]: [-0.0889, -7.8154, 6.653, 1.5507, -0.0806, -0.0513, -0.0171, -0.2803, -10.8103, 6.9265, 0.8864, 0.2857, 0.0317, -0.0659] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.4, "right_z": 0.03}, "note": "The block sits at the lower-left of the right wrist view, meaning it's slightly closer and further left than the gripper. Shifting to x=0.40, y=0.40 and lowering to z=0.03 to center the block between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe block is still at the lower-left of the wrist view and the arm is barely tracking y; it may be near the y=0.4 limit. Pulling x back to 0.38 while holding y at the limit and lowering to z=0.02 to bring the block between the fingers.
move_to
right_x0.3800right_y0.4000right_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]: [-0.0517, 1.6161, 1.5749, -0.7723, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999] state[eef_state]: left_x=0.4486 left_y=0.0011 left_z=0.2473 left_yaw=0.0995 left_pitch=-0.2311 left_roll=0.0132 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999 state[joint_eff]: [-0.1299, -7.788, 6.6393, 1.5067, -0.1245, -0.0611, -0.0171, -0.4444, -11.1385, 7.5009, 1.1648, 0.2711, -0.0171, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.4, "right_z": 0.02}, "note": "The block is still at the lower-left of the wrist view and the arm is barely tracking y; it may be near the y=0.4 limit. Pulling x back to 0.38 while holding y at the limit and lowering to z=0.02 to bring the block between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe arm didn't move on the last command; the block sits between/near the fingers at the bottom-left of the wrist view. Descending to table height at the y limit so the block ends up between the jaws.
move_to
right_x0.4000right_y0.4000right_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.7872, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999] state[eef_state]: left_x=0.4459 left_y=0.0011 left_z=0.2448 left_yaw=0.0997 left_pitch=-0.2458 left_roll=0.0155 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999 state[joint_eff]: [-0.3214, -7.665, 6.6393, 1.6435, -0.1001, -0.0757, -0.0122, -0.2803, -11.1248, 7.3778, 1.1502, 0.2759, -0.0269, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.4, "right_z": 0.0}, "note": "The arm didn't move on the last command; the block sits between/near the fingers at the bottom-left of the wrist view. Descending to table height at the y limit so the block ends up between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe arm hasn't moved for two commands—likely an IK-infeasible target at the y limit. The block appears at the bottom-left of the wrist view, meaning it's closer to the base; pulling back to x=0.36 and down to the table.
move_to
right_x0.3600right_y0.4000right_z0.0000right_pitch-0.3000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.794, -0.1169, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7017, 0.4335, 0.6029, 0.999] state[eef_state]: left_x=0.4447 left_y=0.0012 left_z=0.2437 left_yaw=0.1 left_pitch=-0.2527 left_roll=0.0163 left_gripper=0.9991 right_x=0.4168 right_y=0.3799 right_z=0.0506 right_yaw=0.1107 right_pitch=-0.3639 right_roll=-0.0497 right_gripper=0.999 state[joint_eff]: [-0.1709, -7.7744, 6.8171, 1.5409, -0.0513, -0.0659, -0.0122, -0.3077, -11.3299, 7.3504, 1.1453, 0.2955, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.4, "right_z": 0.0, "right_pitch": -0.3}, "note": "The arm hasn't moved for two commands\u2014likely an IK-infeasible target at the y limit. The block appears at the bottom-left of the wrist view, meaning it's closer to the base; pulling back to x=0.36 and down to the table."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe block now sits between the finger tips at the bottom of the wrist view, slightly left. Lowering to the table and nudging slightly back-left so the block is centered in the jaws before closing.
move_to
right_x0.3750right_y0.4150right_z-0.0100
assistant
agent noteThe block is between the fingertips, slightly left and below center in the wrist view. Lowering to the table at y=0.4 (the limit) and slightly back to center the block in the jaws.
move_to
right_x0.3750right_y0.4000right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.8089, -0.1169, -0.1215, 0.9991, 0.9745, 2.3032, 1.7294, -0.4145, 0.5671, 0.7086, 0.999] state[eef_state]: left_x=0.442 left_y=0.0014 left_z=0.2413 left_yaw=0.1006 left_pitch=-0.2674 left_roll=0.0186 left_gripper=0.9991 right_x=0.3875 right_y=0.4083 right_z=0.0429 right_yaw=0.0948 right_pitch=-0.198 right_roll=0.0288 right_gripper=0.999 state[joint_eff]: [-0.1709, -7.5829, 6.5983, 1.5946, -0.0757, -0.0513, -0.0122, 1.0735, -10.3726, 3.6444, 0.105, -0.4518, -0.359, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.415, "right_z": -0.01}, "note": "The block now sits between the finger tips at the bottom of the wrist view, slightly left. Lowering to the table and nudging slightly back-left so the block is centered in the jaws before closing."})
tool
target for right_y is outside [-0.08, 0.4]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.4, "right_z": -0.01}, "note": "The block is between the fingertips, slightly left and below center in the wrist view. Lowering to the table at y=0.4 (the limit) and slightly back to center the block in the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe block drifted to the left of the jaws after the wrist rolled. Restoring the earlier pose (x≈0.39, roll≈0) and descending to just above the table so the block sits between the fingers.
move_to
right_x0.3900right_y0.3900right_z-0.0150right_pitch-0.2000right_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]: [-0.0521, 1.6161, 1.5749, -0.8158, -0.1173, -0.1215, 0.9991, 0.9871, 2.2879, 1.6089, -0.1864, 0.5919, 0.7307, 0.999] state[eef_state]: left_x=0.4407 left_y=0.0013 left_z=0.2401 left_yaw=0.1008 left_pitch=-0.2741 left_roll=0.02 left_gripper=0.9991 right_x=0.3892 right_y=0.4169 right_z=0.039 right_yaw=0.0929 right_pitch=-0.1059 right_roll=0.129 right_gripper=0.999 state[joint_eff]: [-0.1983, -7.747, 6.612, 1.5458, -0.1099, -0.0464, -0.0122, -0.1299, -8.6769, 3.8085, 0.4713, 0.0366, -0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.39, "right_z": -0.015, "right_pitch": -0.2, "right_roll": 0.0}, "note": "The block drifted to the left of the jaws after the wrist rolled. Restoring the earlier pose (x\u22480.39, roll\u22480) and descending to just above the table so the block sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe block sits just left of the left finger in the wrist view; the wrist rolled slightly which shifted the jaws. Correcting roll and descending to table height so the block lands between the jaws.
move_to
right_x0.3780right_y0.4000right_z-0.0150right_roll-0.0500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.8169, -0.1173, -0.1215, 0.9991, 0.9871, 2.289, 1.5974, -0.1543, 0.5945, 0.7303, 0.999] state[eef_state]: left_x=0.4405 left_y=0.0013 left_z=0.24 left_yaw=0.1009 left_pitch=-0.2753 left_roll=0.0202 left_gripper=0.9991 right_x=0.3905 right_y=0.4183 right_z=0.0389 right_yaw=0.0927 right_pitch=-0.0922 right_roll=0.1427 right_gripper=0.999 state[joint_eff]: [-0.3487, -7.7607, 6.8034, 1.4237, -0.1148, -0.0611, -0.0122, -0.1026, -8.759, 4.0957, 0.6911, -0.0366, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.378, "right_y": 0.4, "right_z": -0.015, "right_roll": -0.05}, "note": "The block sits just left of the left finger in the wrist view; the wrist rolled slightly which shifted the jaws. Correcting roll and descending to table height so the block lands between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0521, 1.6161, 1.5753, -0.8246, -0.1173, -0.1215, 0.9991, 0.9871, 2.289, 1.5974, -0.1543, 0.5945, 0.7307, 0.999] state[eef_state]: left_x=0.4391 left_y=0.0014 left_z=0.2389 left_yaw=0.1012 left_pitch=-0.2824 left_roll=0.0213 left_gripper=0.9991 right_x=0.3905 right_y=0.4183 right_z=0.0389 right_yaw=0.0925 right_pitch=-0.0922 right_roll=0.143 right_gripper=0.999 state[joint_eff]: [-0.1436, -7.747, 6.5983, 1.4921, -0.1148, -0.022, -0.0122, -0.1436, -8.7726, 4.0547, 0.6764, -0.0317, -0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 20.73 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, 0.6044, -0.3878, -0.0219, -0.0334, 0.9992, -0.0212, 0.7944, 0.6064, -0.3958, -0.0166, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0003 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.388, 10.2222, 1.9609, -0.0366, 0.1636, -0.0952, -0.335, -1.6068, 9.7162, 1.9121, -0.0855, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc957a5f25c137a84e2343b4dc250b17120e65792b0e00b11b2bf1e53b2253d9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e51502b73e4fab940ff981d577feca60ea45868121457875b4c2e457c422fd6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:96d4399f4733f090d5c719ed2cdf695c327478a5e34812767e98d0c999d56ee0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob dc957a5f25c1
wire blob 9e51502b73e4
wire blob 96d4399f4733
call 1 attempt 0 · /chat/completions · status 200 · 12.83 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": 0.0, \"left_z\": 0.1, \"left_gripper\": 1}, \"note\": \"I see a red block left of center and a white bowl to its right in the top camera. I'll advance the left arm forward and down a bit to see how it moves relative to the block before homing in.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VRS2Pqmc1KecxgHmxLX9C3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01VRS2Pqmc1KecxgHmxLX9C3"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 1.1675, 0.4519, 0.0235, -0.0223, -0.0383, 0.9992, -0.0212, 0.8001, 0.6117, -0.4213, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3308 left_y=0.0012 left_z=0.0821 left_yaw=0.0032 left_pitch=-0.1167 left_roll=-0.0013 left_gripper=0.9992 right_x=0.2905 right_y=0.0009 right_z=0.1733 right_yaw=0.0024 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.6017, 6.147, 2.0, -0.1001, -0.0073, -0.0952, -0.1436, -1.5521, 6.653, 2.0147, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:920da2e30f5bed719957e027ef8f9cdbc6c808d27b004430c62a8a502bc5d357"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e9973f06182bba86326a5d87f2f05b5e5ad0d43a1350ade0abb3da42713b9e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a0b1f9ec8a05db92656521903f7673bc00580d46558ac135c8a65c7977425516"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 920da2e30f5b
wire blob 8e9973f06182
wire blob a0b1f9ec8a05
call 2 attempt 0 · /chat/completions · status 200 · 25.45 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, 0.6044, -0.3878, -0.0219, -0.0334, 0.9992, -0.0212, 0.7944, 0.6064, -0.3958, -0.0166, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0003 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.388, 10.2222, 1.9609, -0.0366, 0.1636, -0.0952, -0.335, -1.6068, 9.7162, 1.9121, -0.0855, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": 0.0, \"left_z\": 0.08}, \"note\": \"The left gripper entered the top camera view from the left edge; the block is farther forward. Extending the left arm forward to x=0.45 to calibrate its position relative to the block in the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WvBqxx52GQRsoNNuK7RH2b",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01WvBqxx52GQRsoNNuK7RH2b"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 1.6661, 0.8204, 0.0933, -0.0223, -0.0422, 0.9992, -0.0212, 0.804, 0.6064, -0.4416, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4327 left_y=-0.0006 left_z=0.0628 left_yaw=0.0059 left_pitch=-0.1769 left_roll=-0.0028 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -7.8974, 8.253, 1.7705, 0.0122, 0.0366, -0.0171, -0.2256, -1.5521, 7.5419, 1.7998, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a19cd1ffc6c8317ced6a7c5ab98874a96c7e7e10d07fed39a9e38bec8a1de007"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7a5adcf4770bcf6a2a0d4b0ec2ae003102bcd18d11e17ed9e5e07634716f902"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:003de2f8e9386bff20e8ab762ddb59b637501d04a87188e6d60286dd3fc1a8b4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a19cd1ffc6c8
wire blob a7a5adcf4770
wire blob 003de2f8e938
call 3 attempt 0 · /chat/completions · status 200 · 12.9 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]: [-0.0193, 1.1675, 0.4519, 0.0235, -0.0223, -0.0383, 0.9992, -0.0212, 0.8001, 0.6117, -0.4213, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3308 left_y=0.0012 left_z=0.0821 left_yaw=0.0032 left_pitch=-0.1167 left_roll=-0.0013 left_gripper=0.9992 right_x=0.2905 right_y=0.0009 right_z=0.1733 right_yaw=0.0024 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.6017, 6.147, 2.0, -0.1001, -0.0073, -0.0952, -0.1436, -1.5521, 6.653, 2.0147, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.03, \"left_z\": 0.05}, \"note\": \"The left gripper tips are visible at top-left of the top camera; the block sits slightly ahead and a bit to the image-down direction. Extending forward to x=0.5 with a small y offset and lowering toward table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_017igbPqXYRcXZ5xWtoKMf8P",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_017igbPqXYRcXZ5xWtoKMf8P"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0864, 1.9091, 1.05, 0.054, -0.0704, -0.0925, 0.9991, -0.0212, 0.8078, 0.6056, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4834 left_y=-0.0258 left_z=0.0373 left_yaw=0.0081 left_pitch=-0.2272 left_roll=-0.0018 left_gripper=0.9991 right_x=0.285 right_y=0.0011 right_z=0.1617 right_yaw=0.0028 right_pitch=-0.0739 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -9.2513, 7.8427, 1.7021, -0.1001, -0.0562, -0.0171, -0.0889, -1.5932, 6.9949, 1.7705, -0.0513, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ece609b1c3ea7ea992209c03ff9d6d1e534d3c8a6eeb34e4b45959d2f2946ad8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c79e4bc7889714663ad88e467aa17363c237bdc5d8250fe14a67c207cc2f76e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:185e363e7e74c5e58924ff8f5b6e3d9d8d5ae57a9f0dabbc2cf38675c5f39628"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ece609b1c3ea
wire blob c79e4bc78897
wire blob 185e363e7e74
call 4 attempt 0 · /chat/completions · status 200 · 24.89 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]: [-0.0189, 1.6661, 0.8204, 0.0933, -0.0223, -0.0422, 0.9992, -0.0212, 0.804, 0.6064, -0.4416, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4327 left_y=-0.0006 left_z=0.0628 left_yaw=0.0059 left_pitch=-0.1769 left_roll=-0.0028 left_gripper=0.9992 right_x=0.287 right_y=0.001 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -7.8974, 8.253, 1.7705, 0.0122, 0.0366, -0.0171, -0.2256, -1.5521, 7.5419, 1.7998, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.05, \"left_z\": 0.03, \"left_pitch\": 0}, \"note\": \"In the top view the block is still ahead and slightly to the right of the left gripper tips. Moving forward to x=0.55, y=-0.05, keeping low, and commanding pitch back to 0 since it has been sagging.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y1u1i5Y4pBDGnNmP9Dvnm7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y1u1i5Y4pBDGnNmP9Dvnm7"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1299, 2.1181, 1.116, 0.3191, -0.1211, -0.1135, 0.9991, -0.0212, 0.8108, 0.6056, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5291 left_y=-0.044 left_z=0.0085 left_yaw=0.0168 left_pitch=-0.1018 left_roll=0.0022 left_gripper=0.9991 right_x=0.2812 right_y=0.0011 right_z=0.156 right_yaw=0.0026 right_pitch=-0.1026 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.8, -10.6051, 8.0205, 1.9463, -0.1148, 0.0415, -0.0122, -0.0752, -1.5111, 6.9402, 1.9121, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b60484c61a23c6e94f6e617f07bc776557a8a22189dbc353460778687d3dce2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b33967f2ec1534641545eaf64e0cce1b2e55cf34a2c20d4a43c0b607b29d61f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48f673509f03009d274bf31aa7b4244b31ca559884e3e53ea1140d925071ad4e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1b60484c61a2
wire blob 9b33967f2ec1
wire blob 48f673509f03
call 5 attempt 0 · /chat/completions · status 200 · 15.21 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]: [-0.0864, 1.9091, 1.05, 0.054, -0.0704, -0.0925, 0.9991, -0.0212, 0.8078, 0.6056, -0.4557, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4834 left_y=-0.0258 left_z=0.0373 left_yaw=0.0081 left_pitch=-0.2272 left_roll=-0.0018 left_gripper=0.9991 right_x=0.285 right_y=0.0011 right_z=0.1617 right_yaw=0.0028 right_pitch=-0.0739 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -9.2513, 7.8427, 1.7021, -0.1001, -0.0562, -0.0171, -0.0889, -1.5932, 6.9949, 1.7705, -0.0513, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.57, \"left_y\": -0.02, \"left_z\": 0.02}, \"note\": \"The block is not yet visible in the left wrist camera, so it isn't directly ahead of the gripper. Pushing a bit farther forward and back toward y=-0.02 to sweep and find the block in the wrist view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LwQ9HqH1LtgGbjsxXStTtr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01LwQ9HqH1LtgGbjsxXStTtr"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0669, 2.1899, 1.2812, 0.2268, -0.0952, -0.0978, 0.9991, -0.0212, 0.8116, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5623 left_y=-0.0173 left_z=0.0158 left_yaw=0.0494 left_pitch=-0.1029 left_roll=-0.002 left_gripper=0.9991 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0029 right_pitch=-0.1224 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.2615, 7.6376, 1.6142, 0.1392, 0.1636, -0.0122, -0.0068, -1.347, 6.8991, 1.8095, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb2e47934db0cbc1918bb0309465524b55fa208b6876e974934cb19dc9a77afe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc4c0cdfe40fa22c903fd7979439669f803eb6b626b6fb374289ae6e4d8d94d3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7939b1c15f9ef6861dfdb0b6b9ce028c5bd59ab2f61e14ad99e70efb5e907660"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob eb2e47934db0
wire blob fc4c0cdfe40f
wire blob 7939b1c15f9e
call 6 attempt 0 · /chat/completions · status 200 · 16.58 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]: [-0.1299, 2.1181, 1.116, 0.3191, -0.1211, -0.1135, 0.9991, -0.0212, 0.8108, 0.6056, -0.4812, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5291 left_y=-0.044 left_z=0.0085 left_yaw=0.0168 left_pitch=-0.1018 left_roll=0.0022 left_gripper=0.9991 right_x=0.2812 right_y=0.0011 right_z=0.156 right_yaw=0.0026 right_pitch=-0.1026 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.8, -10.6051, 8.0205, 1.9463, -0.1148, 0.0415, -0.0122, -0.0752, -1.5111, 6.9402, 1.9121, -0.0611, -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_y\": 0.05, \"left_x\": 0.55, \"left_z\": 0.03}, \"note\": \"The block still isn't in the left wrist camera, so it must be off to one side. I'll shift the left arm to its +y limit to see which way the gripper moves in the top view and locate the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01J7BVkEsPdG9omySvewESWM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01J7BVkEsPdG9omySvewESWM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0631, 2.1956, 1.3022, 0.1776, -0.0822, -0.0864, 0.9991, -0.0212, 0.8154, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5606 left_y=-0.0173 left_z=0.0114 left_yaw=0.0365 left_pitch=-0.1376 left_roll=0.0021 left_gripper=0.9991 right_x=0.2747 right_y=0.0013 right_z=0.147 right_yaw=0.003 right_pitch=-0.1487 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -11.494, 7.8838, 1.8046, 0.0366, 0.105, -0.0122, -0.1026, -1.4154, 7.0222, 1.8144, -0.0708, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b768220afbc482969b15a8d2d1b53f95e0c35bcd5344ae0de930a9dbb03c66d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:566d2af8e4c36613d3c25f4a5ce17556a708b7746449af4443c474f8459c7f49"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f2a2a214d48816dca0e68f4f4299584661fc6b834daa08f5938805b2b9a267a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0b768220afbc
wire blob 566d2af8e4c3
wire blob 1f2a2a214d48
call 7 attempt 0 · /chat/completions · status 200 · 14.31 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]: [-0.0669, 2.1899, 1.2812, 0.2268, -0.0952, -0.0978, 0.9991, -0.0212, 0.8116, 0.6056, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5623 left_y=-0.0173 left_z=0.0158 left_yaw=0.0494 left_pitch=-0.1029 left_roll=-0.002 left_gripper=0.9991 right_x=0.2782 right_y=0.0012 right_z=0.1522 right_yaw=0.0029 right_pitch=-0.1224 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.2615, 7.6376, 1.6142, 0.1392, 0.1636, -0.0122, -0.0068, -1.347, 6.8991, 1.8095, -0.0562, -0.0464, -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_z\": 0.15, \"left_y\": 0.05}, \"note\": \"The left arm didn't track my last y command and the block still isn't in its wrist camera. Raising the left gripper to z=0.15 so I can spot it in the top camera and judge its offset from the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HPCmG4bFASY6Ycp4Svhfpc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01HPCmG4bFASY6Ycp4Svhfpc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.104, 2.0056, 1.5574, -0.2176, -0.0021, -0.0177, 0.9991, -0.0212, 0.8173, 0.6056, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5686 left_y=0.0633 left_z=0.1471 left_yaw=0.098 left_pitch=-0.0906 left_roll=0.0018 left_gripper=0.9991 right_x=0.2696 right_y=0.0014 right_z=0.1409 right_yaw=0.0032 right_pitch=-0.1815 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.8769, 7.5145, 1.3211, 0.1978, 0.2369, -0.0122, -0.0342, -1.1419, 6.8581, 1.8486, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56db02bbafdded5fab7d2841d98f9ebd729bb5984a1a241e3ef1d0b6a0a561b8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3825309ea8b13f87bfecffc8343f1da7ae83fa33d8ddb07c5572e3acd797a323"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c2c1f744f4825db635f3689c11cb734543595a72b1796cbae7d2ca7c51d3c9c7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 56db02bbafdd
wire blob 3825309ea8b1
wire blob c2c1f744f482
call 8 attempt 0 · /chat/completions · status 200 · 14.52 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]: [-0.0631, 2.1956, 1.3022, 0.1776, -0.0822, -0.0864, 0.9991, -0.0212, 0.8154, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5606 left_y=-0.0173 left_z=0.0114 left_yaw=0.0365 left_pitch=-0.1376 left_roll=0.0021 left_gripper=0.9991 right_x=0.2747 right_y=0.0013 right_z=0.147 right_yaw=0.003 right_pitch=-0.1487 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -11.494, 7.8838, 1.8046, 0.0366, 0.105, -0.0122, -0.1026, -1.4154, 7.0222, 1.8144, -0.0708, -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_z\": 0.3, \"left_x\": 0.45, \"left_y\": 0.0}, \"note\": \"I still can't see the left gripper in the top camera and the wrist view is confusing. Raising the left arm to z=0.3 and pulling back to x=0.45 to get a clear look at it in the top camera and figure out its offset from the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_019cC8qpQ3TdeuZbvi4K6V6f",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_019cC8qpQ3TdeuZbvi4K6V6f"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0494, 1.6096, 1.5772, -0.691, -0.1062, -0.1112, 0.9991, -0.0212, 0.8185, 0.6056, -0.588, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0005 left_z=0.2653 left_yaw=0.0842 left_pitch=-0.1432 left_roll=0.0 left_gripper=0.9991 right_x=0.2636 right_y=0.0015 right_z=0.1347 right_yaw=0.003 right_pitch=-0.217 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -10.5504, 10.0718, 1.8437, -0.1685, 0.0562, -0.0122, 0.0068, -1.1829, 6.8444, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ff172aa5c1ee42dd073dc8eaf953935c73afc3cef8962d97b729503d170b672"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e038fa640fd5f925db1544aaa7859e100da4348fb887acf54d96fb5b9a8716b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52d2b2833465159f54cdc92cfb83aa05e4eb3c4634b32bafa42ce2a96417775a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 7ff172aa5c1e
wire blob 8e038fa640fd
wire blob 52d2b2833465
call 9 attempt 0 · /chat/completions · status 200 · 20.43 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]: [0.104, 2.0056, 1.5574, -0.2176, -0.0021, -0.0177, 0.9991, -0.0212, 0.8173, 0.6056, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5686 left_y=0.0633 left_z=0.1471 left_yaw=0.098 left_pitch=-0.0906 left_roll=0.0018 left_gripper=0.9991 right_x=0.2696 right_y=0.0014 right_z=0.1409 right_yaw=0.0032 right_pitch=-0.1815 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -11.8769, 7.5145, 1.3211, 0.1978, 0.2369, -0.0122, -0.0342, -1.1419, 6.8581, 1.8486, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.1, \"right_z\": 0.15}, \"note\": \"The left arm never appears in the top camera even at x=0.46 z=0.27, so the block may be on the right arm's side; the right wrist camera already sees the bowl. Advancing the right arm forward to locate it in the top view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AbikPqPu5ePDYEvtKeAA2q",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01AbikPqPu5ePDYEvtKeAA2q"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0528, 1.6161, 1.5753, -0.7197, -0.1165, -0.1207, 0.9991, 0.326, 1.4719, 1.0157, -0.4339, 0.1997, 0.1982, 0.9996]\nstate[eef_state]: left_x=0.4578 left_y=-0.0001 left_z=0.2566 left_yaw=0.0956 left_pitch=-0.1788 left_roll=0.0051 left_gripper=0.9991 right_x=0.3828 right_y=0.0962 right_z=0.1317 right_yaw=0.0312 right_pitch=-0.2824 right_roll=-0.0181 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -8.3897, 6.9538, 1.8144, 0.022, 0.0171, -0.0122, 0.1709, -6.5436, 8.8547, 1.4725, 0.2369, 0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c276d4630bf439d9ac625fbe66697dfb71ddc111b99216fc495166c412be87e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9bdb98fffb3a3b2345d62b8badc9a8afb4f62eeee24f7629dda0137934c3a7eb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:365221ef5a28f749c2820afb43f79c21ea1aa1df674ee72b70aa43cb6641e9a2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8c276d4630bf
wire blob 9bdb98fffb3a
wire blob 365221ef5a28
call 10 attempt 0 · /chat/completions · status 200 · 12.9 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]: [-0.0494, 1.6096, 1.5772, -0.691, -0.1062, -0.1112, 0.9991, -0.0212, 0.8185, 0.6056, -0.588, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0005 left_z=0.2653 left_yaw=0.0842 left_pitch=-0.1432 left_roll=0.0 left_gripper=0.9991 right_x=0.2636 right_y=0.0015 right_z=0.1347 right_yaw=0.003 right_pitch=-0.217 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -10.5504, 10.0718, 1.8437, -0.1685, 0.0562, -0.0122, 0.0068, -1.1829, 6.8444, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.22, \"right_z\": 0.1}, \"note\": \"The right arm is now visible near the bowl in the top camera, and the bowl appears forward-left in the right wrist view. The block is farther left, so I'm moving the right arm left (+y) and slightly forward and down toward the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PonrXnt3XpAiz5RMT4uRn5",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01PonrXnt3XpAiz5RMT4uRn5"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.7422, -0.1173, -0.1215, 0.9991, 0.6044, 1.8378, 1.277, -0.4393, 0.3416, 0.3977, 0.9996]\nstate[eef_state]: left_x=0.4539 left_y=0.0006 left_z=0.2525 left_yaw=0.0981 left_pitch=-0.2013 left_roll=0.0086 left_gripper=0.9991 right_x=0.4075 right_y=0.2139 right_z=0.0883 right_yaw=0.0631 right_pitch=-0.3326 right_roll=-0.0437 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.665, 6.7487, 1.7216, -0.0952, -0.0171, -0.0122, 0.4034, -9.1009, 8.759, 1.3602, 0.3004, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:afa287ab30996354f7960486b179466d650d492f8af7c19e95d8369d96c82409"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed106e1f9b04de3a73a7edffcc6815c78ee3094c8e46471a75bfd51aac390bee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ed9c743559292b17cc46c2b6d94cdc3b14bd1c2eac23cea328243d25c50b727"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob afa287ab3099
wire blob ed106e1f9b04
wire blob 7ed9c7435592
call 11 attempt 0 · /chat/completions · status 200 · 7.588 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]: [-0.0528, 1.6161, 1.5753, -0.7197, -0.1165, -0.1207, 0.9991, 0.326, 1.4719, 1.0157, -0.4339, 0.1997, 0.1982, 0.9996]\nstate[eef_state]: left_x=0.4578 left_y=-0.0001 left_z=0.2566 left_yaw=0.0956 left_pitch=-0.1788 left_roll=0.0051 left_gripper=0.9991 right_x=0.3828 right_y=0.0962 right_z=0.1317 right_yaw=0.0312 right_pitch=-0.2824 right_roll=-0.0181 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -8.3897, 6.9538, 1.8144, 0.022, 0.0171, -0.0122, 0.1709, -6.5436, 8.8547, 1.4725, 0.2369, 0.2418, -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\": {\"right_x\": 0.4, \"right_y\": 0.35, \"right_z\": 0.1}, \"note\": \"The right gripper is directly over the bowl (bowl fills the wrist camera). The block is roughly 0.2 m further left in the top view, so I'm moving the right arm to y=0.35 at the same height to get the block into the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_018VCS4LqR1zihpvp59vS4Ae",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_018VCS4LqR1zihpvp59vS4Ae"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.7643, -0.1173, -0.1215, 0.9991, 0.8589, 2.1605, 1.792, -0.7464, 0.4412, 0.6033, 0.9996]\nstate[eef_state]: left_x=0.45 left_y=0.0008 left_z=0.2487 left_yaw=0.0988 left_pitch=-0.2232 left_roll=0.012 left_gripper=0.9991 right_x=0.3929 right_y=0.3453 right_z=0.0929 right_yaw=0.0973 right_pitch=-0.3653 right_roll=-0.061 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.8291, 6.6667, 1.6923, -0.1148, -0.0366, -0.0122, 0.1436, -11.2752, 8.5265, 1.0281, 0.3785, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdaeb8ee18147f302a4f7a8b60bb6a779cd6ee98c17cf31aea340364187e232c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7c5a7369337a972f8d59e2b98fc7bb00e22bf5cda4e634f3675c2f619e2666a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0be0983e864bb011758aa511862abc7fd18c26ef7fe65bc22514ae9014643805"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob cdaeb8ee1814
wire blob 7c5a7369337a
wire blob 0be0983e864b
call 12 attempt 0 · /chat/completions · status 200 · 6.945 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]: [-0.0521, 1.6161, 1.5749, -0.7422, -0.1173, -0.1215, 0.9991, 0.6044, 1.8378, 1.277, -0.4393, 0.3416, 0.3977, 0.9996]\nstate[eef_state]: left_x=0.4539 left_y=0.0006 left_z=0.2525 left_yaw=0.0981 left_pitch=-0.2013 left_roll=0.0086 left_gripper=0.9991 right_x=0.4075 right_y=0.2139 right_z=0.0883 right_yaw=0.0631 right_pitch=-0.3326 right_roll=-0.0437 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.665, 6.7487, 1.7216, -0.0952, -0.0171, -0.0122, 0.4034, -9.1009, 8.759, 1.3602, 0.3004, 0.1538, -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\": {\"right_x\": 0.42, \"right_y\": 0.38, \"right_z\": 0.04}, \"note\": \"The red block is now visible in the right wrist camera, slightly forward-left of the gripper fingers. Moving a bit forward and left and lowering to z=0.04 to line up for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_014zLHMaKx1ef96u1wCLjNfs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_014zLHMaKx1ef96u1wCLjNfs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.7719, -0.1169, -0.1215, 0.9991, 0.8658, 2.3444, 1.9427, -0.7208, 0.4389, 0.606, 0.999]\nstate[eef_state]: left_x=0.4487 left_y=0.001 left_z=0.2474 left_yaw=0.0992 left_pitch=-0.2308 left_roll=0.0129 left_gripper=0.9991 right_x=0.4128 right_y=0.3749 right_z=0.0532 right_yaw=0.1021 right_pitch=-0.3722 right_roll=-0.0634 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.8154, 6.653, 1.5507, -0.0806, -0.0513, -0.0171, -0.2803, -10.8103, 6.9265, 0.8864, 0.2857, 0.0317, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab0e8301e90865f8be9c569bccfb383cf29fb6ba760d287dce85ef10b3469648"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e19425b1ec953ce444ed250ff1daabbd4aa23340450974b427359f6cf2137cb0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6e9d093a7e5edaaca6e4c393a440fb9301a3ee250c48d46c5d3fb39a053fd29"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ab0e8301e908
wire blob e19425b1ec95
wire blob e6e9d093a7e5
call 13 attempt 0 · /chat/completions · status 200 · 7.555 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]: [-0.0521, 1.6161, 1.5749, -0.7643, -0.1173, -0.1215, 0.9991, 0.8589, 2.1605, 1.792, -0.7464, 0.4412, 0.6033, 0.9996]\nstate[eef_state]: left_x=0.45 left_y=0.0008 left_z=0.2487 left_yaw=0.0988 left_pitch=-0.2232 left_roll=0.012 left_gripper=0.9991 right_x=0.3929 right_y=0.3453 right_z=0.0929 right_yaw=0.0973 right_pitch=-0.3653 right_roll=-0.061 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.8291, 6.6667, 1.6923, -0.1148, -0.0366, -0.0122, 0.1436, -11.2752, 8.5265, 1.0281, 0.3785, 0.1587, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.4, \"right_z\": 0.03}, \"note\": \"The block sits at the lower-left of the right wrist view, meaning it's slightly closer and further left than the gripper. Shifting to x=0.40, y=0.40 and lowering to z=0.03 to center the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RzsAirqRVjYrPaf54yyBFR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RzsAirqRVjYrPaf54yyBFR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.7723, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4486 left_y=0.0011 left_z=0.2473 left_yaw=0.0995 left_pitch=-0.2311 left_roll=0.0132 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.788, 6.6393, 1.5067, -0.1245, -0.0611, -0.0171, -0.4444, -11.1385, 7.5009, 1.1648, 0.2711, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:985dd016dcf22b5b318a48306432807192ee888ffab3ad7409a81fdc055a5184"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2a1f5bf48a37ceb79e1d4eb4486bf3bf25332269f6c209e4848180ead92deb01"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d835fe290fa7f4dd7831413da8a7f87065d4fc0ef865cb4951ab8b4271a733a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 985dd016dcf2
wire blob 2a1f5bf48a37
wire blob 8d835fe290fa
call 14 attempt 0 · /chat/completions · status 200 · 27.69 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]: [-0.0517, 1.6161, 1.5749, -0.7719, -0.1169, -0.1215, 0.9991, 0.8658, 2.3444, 1.9427, -0.7208, 0.4389, 0.606, 0.999]\nstate[eef_state]: left_x=0.4487 left_y=0.001 left_z=0.2474 left_yaw=0.0992 left_pitch=-0.2308 left_roll=0.0129 left_gripper=0.9991 right_x=0.4128 right_y=0.3749 right_z=0.0532 right_yaw=0.1021 right_pitch=-0.3722 right_roll=-0.0634 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -7.8154, 6.653, 1.5507, -0.0806, -0.0513, -0.0171, -0.2803, -10.8103, 6.9265, 0.8864, 0.2857, 0.0317, -0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.4, \"right_z\": 0.02}, \"note\": \"The block is still at the lower-left of the wrist view and the arm is barely tracking y; it may be near the y=0.4 limit. Pulling x back to 0.38 while holding y at the limit and lowering to z=0.02 to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PWh7jKTLRH2f9nBxbjenUm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PWh7jKTLRH2f9nBxbjenUm"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.7872, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4459 left_y=0.0011 left_z=0.2448 left_yaw=0.0997 left_pitch=-0.2458 left_roll=0.0155 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -7.665, 6.6393, 1.6435, -0.1001, -0.0757, -0.0122, -0.2803, -11.1248, 7.3778, 1.1502, 0.2759, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:16149a7d862e97b3b076210d0caec6779d8129a386710a1cd45cbdec357cfbf9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4bce4a9d6b363ad5ad1a81c757b73cac04cd6459cbdf58e07ff07029052fee1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c231c12182b269f58d1f468df23943a0d25dafd2602625ebec95e64b94e37e22"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 16149a7d862e
wire blob f4bce4a9d6b3
wire blob c231c12182b2
call 15 attempt 0 · /chat/completions · status 200 · 13.19 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]: [-0.0517, 1.6161, 1.5749, -0.7723, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4486 left_y=0.0011 left_z=0.2473 left_yaw=0.0995 left_pitch=-0.2311 left_roll=0.0132 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.788, 6.6393, 1.5067, -0.1245, -0.0611, -0.0171, -0.4444, -11.1385, 7.5009, 1.1648, 0.2711, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.4, \"right_z\": 0.0}, \"note\": \"The arm didn't move on the last command; the block sits between/near the fingers at the bottom-left of the wrist view. Descending to table height at the y limit so the block ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HH7hBAgX8E1jRpAQqyf3iS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01HH7hBAgX8E1jRpAQqyf3iS"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.794, -0.1169, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7017, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4447 left_y=0.0012 left_z=0.2437 left_yaw=0.1 left_pitch=-0.2527 left_roll=0.0163 left_gripper=0.9991 right_x=0.4168 right_y=0.3799 right_z=0.0506 right_yaw=0.1107 right_pitch=-0.3639 right_roll=-0.0497 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -7.7744, 6.8171, 1.5409, -0.0513, -0.0659, -0.0122, -0.3077, -11.3299, 7.3504, 1.1453, 0.2955, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:43af959f706366379fe18b2363a662d59e00ab28041ece5801bacd51b5a3bfa0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9493a5389575b525e2b63e391d28683f6b6c1c0947cd5a6d586663dbb0c6c789"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a2769d52b03ff16b8e971b987752a35a5c43e4e6f17119513536c64b735de3f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 43af959f7063
wire blob 9493a5389575
wire blob 4a2769d52b03
call 16 attempt 0 · /chat/completions · status 200 · 10.53 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]: [-0.0521, 1.6161, 1.5749, -0.7872, -0.1173, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7036, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4459 left_y=0.0011 left_z=0.2448 left_yaw=0.0997 left_pitch=-0.2458 left_roll=0.0155 left_gripper=0.9991 right_x=0.4165 right_y=0.3796 right_z=0.0504 right_yaw=0.1102 right_pitch=-0.3653 right_roll=-0.0511 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -7.665, 6.6393, 1.6435, -0.1001, -0.0757, -0.0122, -0.2803, -11.1248, 7.3778, 1.1502, 0.2759, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.4, \"right_z\": 0.0, \"right_pitch\": -0.3}, \"note\": \"The arm hasn't moved for two commands\\u2014likely an IK-infeasible target at the y limit. The block appears at the bottom-left of the wrist view, meaning it's closer to the base; pulling back to x=0.36 and down to the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EWmTVftYstKET4k2gAT1bu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01EWmTVftYstKET4k2gAT1bu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0517, 1.6161, 1.5749, -0.8089, -0.1169, -0.1215, 0.9991, 0.9745, 2.3032, 1.7294, -0.4145, 0.5671, 0.7086, 0.999]\nstate[eef_state]: left_x=0.442 left_y=0.0014 left_z=0.2413 left_yaw=0.1006 left_pitch=-0.2674 left_roll=0.0186 left_gripper=0.9991 right_x=0.3875 right_y=0.4083 right_z=0.0429 right_yaw=0.0948 right_pitch=-0.198 right_roll=0.0288 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -7.5829, 6.5983, 1.5946, -0.0757, -0.0513, -0.0122, 1.0735, -10.3726, 3.6444, 0.105, -0.4518, -0.359, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e76f41b361e15addbad723998161c5c16299229794e17af057be8e6377272bd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8689a5944cc5bb96fed211e42b7e703319a58b527a5e3e470bdef4a95108f11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ef049cf9666deac594e0547c27db0425cf0a0345d5b5c73a4956c4fe8e49503"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5e76f41b361e
wire blob c8689a5944cc
wire blob 6ef049cf9666
call 17 attempt 0 · /chat/completions · status 200 · 7.442 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.415, \"right_z\": -0.01}, \"note\": \"The block now sits between the finger tips at the bottom of the wrist view, slightly left. Lowering to the table and nudging slightly back-left so the block is centered in the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TuU3jmc7ttFLXeR8x94arQ",
      "type": "function"
    }
  ]
}
{
  "content": "target for right_y is outside [-0.08, 0.4]",
  "role": "tool",
  "tool_call_id": "toolu_01TuU3jmc7ttFLXeR8x94arQ"
}
call 18 attempt 0 · /chat/completions · status 200 · 25.12 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]: [-0.0517, 1.6161, 1.5749, -0.794, -0.1169, -0.1215, 0.9991, 0.8646, 2.3608, 1.956, -0.7017, 0.4335, 0.6029, 0.999]\nstate[eef_state]: left_x=0.4447 left_y=0.0012 left_z=0.2437 left_yaw=0.1 left_pitch=-0.2527 left_roll=0.0163 left_gripper=0.9991 right_x=0.4168 right_y=0.3799 right_z=0.0506 right_yaw=0.1107 right_pitch=-0.3639 right_roll=-0.0497 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -7.7744, 6.8171, 1.5409, -0.0513, -0.0659, -0.0122, -0.3077, -11.3299, 7.3504, 1.1453, 0.2955, 0.0073, -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\": {\"right_x\": 0.375, \"right_y\": 0.4, \"right_z\": -0.01}, \"note\": \"The block is between the fingertips, slightly left and below center in the wrist view. Lowering to the table at y=0.4 (the limit) and slightly back to center the block in the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Vw9j1DTcs6VX5MZFdS7jTU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Vw9j1DTcs6VX5MZFdS7jTU"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.8158, -0.1173, -0.1215, 0.9991, 0.9871, 2.2879, 1.6089, -0.1864, 0.5919, 0.7307, 0.999]\nstate[eef_state]: left_x=0.4407 left_y=0.0013 left_z=0.2401 left_yaw=0.1008 left_pitch=-0.2741 left_roll=0.02 left_gripper=0.9991 right_x=0.3892 right_y=0.4169 right_z=0.039 right_yaw=0.0929 right_pitch=-0.1059 right_roll=0.129 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -7.747, 6.612, 1.5458, -0.1099, -0.0464, -0.0122, -0.1299, -8.6769, 3.8085, 0.4713, 0.0366, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bbd7872ced23fafe645d83db0181e92ad212d28284df0aa13f6c048764f50d0c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5b5d2074663653d484a2a9be544c29d094a70a0d8e8121e1a4fd7363d4f3f8ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:781cad5dcc5f1959de2c89d7f5c7a2c8a5176b0bce5dec918a2c05dc41b1b47e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bbd7872ced23
wire blob 5b5d20746636
wire blob 781cad5dcc5f
call 19 attempt 0 · /chat/completions · status 200 · 41.45 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]: [-0.0517, 1.6161, 1.5749, -0.8089, -0.1169, -0.1215, 0.9991, 0.9745, 2.3032, 1.7294, -0.4145, 0.5671, 0.7086, 0.999]\nstate[eef_state]: left_x=0.442 left_y=0.0014 left_z=0.2413 left_yaw=0.1006 left_pitch=-0.2674 left_roll=0.0186 left_gripper=0.9991 right_x=0.3875 right_y=0.4083 right_z=0.0429 right_yaw=0.0948 right_pitch=-0.198 right_roll=0.0288 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -7.5829, 6.5983, 1.5946, -0.0757, -0.0513, -0.0122, 1.0735, -10.3726, 3.6444, 0.105, -0.4518, -0.359, -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\": {\"right_x\": 0.39, \"right_y\": 0.39, \"right_z\": -0.015, \"right_pitch\": -0.2, \"right_roll\": 0.0}, \"note\": \"The block drifted to the left of the jaws after the wrist rolled. Restoring the earlier pose (x\\u22480.39, roll\\u22480) and descending to just above the table so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BhqH68Lk6k3T9wxs2dJCwb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01BhqH68Lk6k3T9wxs2dJCwb"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0521, 1.6161, 1.5749, -0.8169, -0.1173, -0.1215, 0.9991, 0.9871, 2.289, 1.5974, -0.1543, 0.5945, 0.7303, 0.999]\nstate[eef_state]: left_x=0.4405 left_y=0.0013 left_z=0.24 left_yaw=0.1009 left_pitch=-0.2753 left_roll=0.0202 left_gripper=0.9991 right_x=0.3905 right_y=0.4183 right_z=0.0389 right_yaw=0.0927 right_pitch=-0.0922 right_roll=0.1427 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -7.7607, 6.8034, 1.4237, -0.1148, -0.0611, -0.0122, -0.1026, -8.759, 4.0957, 0.6911, -0.0366, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26d917ba966ca003bb2c2f7090d0d108dc45beb53c432e5c86786e2829d50ab8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0484a7a371db542799c60cc726dd0bbe5486ece00aa60ef00d5ad3e9d9506e71"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef3a1d488f6bffaf2fb992183324984087585d4bc1aad52c4a47ef2b992a7130"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 26d917ba966c
wire blob 0484a7a371db
wire blob ef3a1d488f6b