adhoc - adhoc_f0cf92a3.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
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: 296.8 s
total steps: 118

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

partial

Grader notes

trial 02

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

I can see the red block and bowl in the top camera. The left wrist camera shows the red block at its bottom-right, so the block is slightly forward and to the right of the left gripper. I'll start by moving the left arm to hover near the block.

agent noteThe red block appears just forward-right of the left gripper in the left wrist camera. Moving the left arm forward, right, and down to hover near the block.

move_to

left_x0.3300left_y-0.0900left_z0.1000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3878, -0.0193, -0.0326, 0.9993, -0.0204, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1775 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9512, -0.0317, 0.188, -0.0904, -0.3897, -1.5521, 9.7573, 1.9072, -0.0513, 0.0806, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.09, "left_z": 0.1, "left_gripper": 1}, "note": "The red block appears just forward-right of the left gripper in the left wrist camera. Moving the left arm forward, right, and down to hover near the block."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe block is now visible near the bottom-right of the left wrist camera, close to the right finger. Moving slightly forward-right and lowering toward grasp height.

move_to

left_x0.3450left_y-0.1150left_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.4641, 1.1843, 0.4664, 0.0078, -0.355, -0.2752, 0.9993, -0.0212, 0.8005, 0.6071, -0.4324, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3182 left_y=-0.0866 left_z=0.087 left_yaw=-0.0326 left_pitch=-0.0827 left_roll=0.028 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0416 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.1983, -4.0274, 6.3111, 1.8974, -0.3346, -0.022, -0.0904, -0.1162, -1.7573, 6.8855, 2.0342, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.345, "left_y": -0.115, "left_z": 0.035}, "note": "The block is now visible near the bottom-right of the left wrist camera, close to the right finger. Moving slightly forward-right and lowering toward grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 13

assistant

agent noteThe block is at the right edge of the left wrist view, so the gripper needs to shift further right (negative y). Shifting right and keeping low, leveling the pitch.

move_to

left_x0.3400left_y-0.1400left_z0.0200left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5144, 1.5162, 0.4576, 0.2348, -0.3897, -0.3069, 0.9992, -0.0212, 0.804, 0.606, -0.4515, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3279 left_y=-0.1041 left_z=0.0203 left_yaw=-0.0313 left_pitch=-0.1731 left_roll=0.076 left_gripper=0.9992 right_x=0.2855 right_y=0.0011 right_z=0.1637 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.4034, -6.2427, 6.4615, 1.7998, -0.2515, -0.0611, -0.0171, -0.2256, -1.4017, 7.2547, 1.8974, -0.0806, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.34, "left_y": -0.14, "left_z": 0.02, "left_pitch": 0}, "note": "The block is at the right edge of the left wrist view, so the gripper needs to shift further right (negative y). Shifting right and keeping low, leveling the pitch."})

tool

executing move_to over 6 steps (0.6s)

step 19

assistant

agent noteThe block is still right of center in the left wrist view; the gripper fingers are at the bottom-left. Shifting further right and slightly forward to center the block between the fingers.

move_to

left_x0.3500left_y-0.1750left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6472, 1.6772, 0.4389, 0.4698, -0.5156, -0.3439, 0.9992, -0.0212, 0.8036, 0.606, -0.4633, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3305 left_y=-0.1361 left_z=0.0071 left_yaw=-0.0495 left_pitch=-0.0776 left_roll=0.0966 left_gripper=0.9992 right_x=0.2837 right_y=0.0011 right_z=0.1615 right_yaw=-0.0011 right_pitch=-0.0767 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.9692, 4.3282, 1.9512, -0.4469, 0.022, -0.0122, -0.1026, -1.2103, 6.9675, 1.79, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.175, "left_z": 0.005}, "note": "The block is still right of center in the left wrist view; the gripper fingers are at the bottom-left. Shifting further right and slightly forward to center the block between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 23

assistant

agent noteThe block is now centered in the left wrist view, just ahead of the fingertips. Advancing slightly forward and down so the block sits between the fingers.

move_to

left_x0.3650left_y-0.1750left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.7078, 1.7866, 0.5682, 0.4217, -0.5556, -0.392, 0.9992, -0.0212, 0.8062, 0.6056, -0.4854, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3451 left_y=-0.1679 left_z=0.0034 left_yaw=-0.0525 left_pitch=-0.0812 left_roll=0.0979 left_gripper=0.9992 right_x=0.2804 right_y=0.0012 right_z=0.1564 right_yaw=-0.0008 right_pitch=-0.1018 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.5949, -6.2838, 5.9556, 1.5067, -0.359, -0.0708, -0.0171, -0.1026, -1.4154, 7.1453, 1.9267, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.175, "left_z": -0.005}, "note": "The block is now centered in the left wrist view, just ahead of the fingertips. Advancing slightly forward and down so the block sits between the fingers."})

tool

executing move_to over 2 steps (0.2s)

step 25

assistant

agent noteThe block sits just ahead of the fingertips in the left wrist view. Moving forward about 2.5 cm and slightly down so the fingers straddle the block.

move_to

left_x0.3850left_y-0.1800left_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6983, 1.8374, 0.6144, 0.44, -0.5579, -0.4019, 0.9992, -0.0212, 0.8062, 0.6056, -0.4973, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3576 left_y=-0.1734 left_z=0.0018 left_yaw=-0.0365 left_pitch=-0.0689 left_roll=0.0828 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1541 right_yaw=-0.0011 right_pitch=-0.1137 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [0.6769, -5.6821, 5.1761, 1.1209, -0.0562, 0.2955, -0.0122, -0.2256, -1.1692, 6.9128, 1.956, -0.0464, -0.0464, -0.0073] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.18, "left_z": -0.01}, "note": "The block sits just ahead of the fingertips in the left wrist view. Moving forward about 2.5 cm and slightly down so the fingers straddle the block."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe block is right at the fingertips in the wrist view but not yet between them. Advancing another ~2 cm forward before closing.

move_to

left_x0.3900left_y-0.1750left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6811, 1.8637, 0.6361, 0.4633, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5079, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.002 left_yaw=-0.0245 left_pitch=-0.0557 left_roll=0.0722 left_gripper=0.9992 right_x=0.277 right_y=0.0012 right_z=0.1509 right_yaw=-0.0011 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.4444, -6.735, 5.4632, 1.409, -0.2125, 0.0464, -0.0122, -0.1162, -1.5932, 6.9128, 1.7705, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.175, "left_z": -0.005}, "note": "The block is right at the fingertips in the wrist view but not yet between them. Advancing another ~2 cm forward before closing."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteThe arm did not move on the last command—likely an awkward IK target. Retrying with a slightly higher z, forward x, and a small forward pitch to help the reach.

move_to

left_x0.4000left_y-0.1750left_z0.0000left_pitch0.1000left_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]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5236, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0245 left_pitch=-0.056 left_roll=0.0725 left_gripper=0.9992 right_x=0.2744 right_y=0.0012 right_z=0.148 right_yaw=-0.0013 right_pitch=-0.1446 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [-0.294, -6.5709, 5.2718, 1.37, -0.2222, 0.0366, -0.0122, -0.0752, -0.7863, 6.8991, 1.7558, -0.0366, -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": 0.4, "left_y": -0.175, "left_z": 0.0, "left_pitch": 0.1, "left_roll": 0}, "note": "The arm did not move on the last command\u2014likely an awkward IK target. Retrying with a slightly higher z, forward x, and a small forward pitch to help the reach."})

tool

executing move_to over 6 steps (0.6s)

step 36

assistant

agent noteThe left arm is not tracking my targets—it's stuck at the same pose, likely an awkward IK configuration. Lifting slightly and pitching the tool downward-forward to break out and re-approach the block from above.

move_to

left_x0.3950left_y-0.1700left_z0.0300left_pitch0.2000left_yaw0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3988, 0.9992, -0.0212, 0.8108, 0.606, -0.5457, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0243 left_pitch=-0.056 left_roll=0.0721 left_gripper=0.9992 right_x=0.2708 right_y=0.0013 right_z=0.1442 right_yaw=-0.0012 right_pitch=-0.1663 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.2667, -6.7897, 5.135, 1.3651, -0.1832, 0.0122, -0.0122, -0.0479, -1.2239, 6.8581, 1.8193, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.17, "left_z": 0.03, "left_pitch": 0.2, "left_yaw": 0, "left_roll": 0}, "note": "The left arm is not tracking my targets\u2014it's stuck at the same pose, likely an awkward IK configuration. Lifting slightly and pitching the tool downward-forward to break out and re-approach the block from above."})

tool

executing move_to over 9 steps (0.9s)

step 45

assistant

agent noteThe block is now at the bottom-center of the wrist view, just ahead of the fingers. Advancing 2 cm forward and lowering to table level so the fingers straddle the block.

move_to

left_x0.4100left_y-0.1750left_z-0.0050left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.654, 1.9518, 0.577, 0.8383, -0.5919, -0.3195, 0.9992, -0.0212, 0.8139, 0.6056, -0.5728, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3884 left_y=-0.1691 left_z=0.0179 left_yaw=-0.0058 left_pitch=0.137 left_roll=0.0201 left_gripper=0.9992 right_x=0.2662 right_y=0.0014 right_z=0.1384 right_yaw=-0.0011 right_pitch=-0.1968 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [0.2256, -7.4872, 3.7538, 2.0879, -0.2759, 0.0806, -0.0122, -0.1709, -0.9641, 6.9128, 1.8291, -0.022, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.175, "left_z": -0.005, "left_pitch": 0.2}, "note": "The block is now at the bottom-center of the wrist view, just ahead of the fingers. Advancing 2 cm forward and lowering to table level so the fingers straddle the block."})

tool

executing move_to over 3 steps (0.3s)

step 48

assistant

agent noteThe block is at the bottom center-right of the wrist view, just short of the fingers. Advancing 2 cm forward and slightly right to put the block between the jaws.

move_to

left_x0.4250left_y-0.1850left_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]: [-0.6422, 2.1246, 0.6239, 1.0245, -0.6048, -0.3008, 0.9986, -0.0212, 0.8173, 0.6056, -0.5961, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4046 left_y=-0.1727 left_z=-0.0022 left_yaw=0.0123 left_pitch=0.1886 left_roll=0.0055 left_gripper=0.9986 right_x=0.2622 right_y=0.0016 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.2235 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [0.4855, -7.5966, 3.8632, 1.1941, -0.0513, 0.2369, -0.0708, -0.212, -1.4017, 6.8444, 1.7998, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.185, "left_z": -0.01}, "note": "The block is at the bottom center-right of the wrist view, just short of the fingers. Advancing 2 cm forward and slightly right to put the block between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 50

assistant

agent noteThe block is now between the fingertips in the wrist view. Advancing a touch more forward-right and closing the gripper on the block.

move_to

left_x0.4250left_y-0.1900left_z-0.0150left_gripper0.3500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.638, 2.1414, 0.635, 1.0492, -0.6037, -0.2905, 0.9986, -0.0212, 0.8173, 0.6056, -0.6128, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4087 left_y=-0.1737 left_z=-0.0014 left_yaw=0.0121 left_pitch=0.2034 left_roll=0.003 left_gripper=0.9986 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=-0.0006 right_pitch=-0.2403 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.1983, -7.4188, 3.6991, 1.7949, -0.0708, 0.1783, -0.0171, -0.1573, -1.0051, 6.8171, 1.6484, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.19, "left_z": -0.015, "left_gripper": 0.35}, "note": "The block is now between the fingertips in the wrist view. Advancing a touch more forward-right and closing the gripper on the block."})

tool

executing move_to over 7 steps (0.7s)

step 57

assistant

agent noteThe gripper closed to 0.42 with rising effort, and the wrist camera shows the block held between the jaws. Lifting the block up to verify the grasp.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.638, 2.1414, 0.635, 1.0515, -0.6033, -0.2802, 0.4241, -0.0212, 0.8173, 0.6056, -0.6346, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4089 left_y=-0.1739 left_z=-0.001 left_yaw=0.0064 left_pitch=0.205 left_roll=0.0113 left_gripper=0.4241 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0004 right_pitch=-0.262 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [0.1573, -7.665, 3.7812, 1.8046, -0.0269, 0.1832, 1.7363, -0.1573, -1.1829, 6.9128, 1.6728, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "The gripper closed to 0.42 with rising effort, and the wrist camera shows the block held between the jaws. Lifting the block up to verify the grasp."})

tool

executing move_to over 8 steps (0.8s)

step 65

assistant

agent noteThe block is lifted and held securely in the jaws. The bowl appears in the top camera roughly ahead and toward the arm's left; moving the left arm over toward the bowl at a safe height.

move_to

left_x0.4200left_y-0.0500left_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]: [-0.6399, 1.7077, 0.6888, 0.5362, -0.6067, -0.2863, 0.4353, -0.0208, 0.8192, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4043 left_y=-0.1709 left_z=0.0966 left_yaw=0.0074 left_pitch=0.1838 left_roll=0.0238 left_gripper=0.4353 right_x=0.2509 right_y=0.0018 right_z=0.123 right_yaw=-0.0002 right_pitch=-0.2868 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.0068, -9.5795, 8.4308, 2.0342, -0.188, 0.0171, 1.0379, -0.0615, -1.0051, 7.0222, 1.6923, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.05, "left_z": 0.15}, "note": "The block is lifted and held securely in the jaws. The bowl appears in the top camera roughly ahead and toward the arm's left; moving the left arm over toward the bowl at a safe height."})

tool

executing move_to over 11 steps (1.1s)

step 76

assistant

agent noteThe block is held; the top camera shows the bowl ahead of the left gripper toward the center of the table. Moving further forward and left to position over the bowl.

move_to

left_x0.4600left_y0.0000left_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]: [-0.2401, 1.454, 0.6327, 0.3714, -0.2836, -0.1268, 0.4353, -0.0212, 0.8223, 0.6037, -0.6762, -0.0193, -0.0269, 0.9996] state[eef_state]: left_x=0.4167 left_y=-0.0475 left_z=0.1317 left_yaw=0.0538 left_pitch=0.1443 left_roll=0.0263 left_gripper=0.4353 right_x=0.247 right_y=0.0018 right_z=0.1186 right_yaw=-0.0006 right_pitch=-0.3105 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.1846, -7.747, 7.8154, 1.9609, 0.1734, 0.149, 1.0281, -0.0889, -1.1966, 6.8855, 1.5751, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": 0.0, "left_z": 0.15}, "note": "The block is held; the top camera shows the bowl ahead of the left gripper toward the center of the table. Moving further forward and left to position over the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 81

assistant

agent noteThe bowl isn't yet under the gripper; in the top camera it sits further forward from the left arm. Moving forward another ~7 cm and pitching down slightly to see the bowl in the wrist camera.

move_to

left_x0.5200left_y0.0000left_z0.1500left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0643, 1.5459, 0.7574, 0.2977, -0.1585, -0.0769, 0.4353, -0.0212, 0.8238, 0.6037, -0.6834, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4456 left_y=0.0028 left_z=0.1294 left_yaw=0.0961 left_pitch=0.091 left_roll=0.025 left_gripper=0.4353 right_x=0.2456 right_y=0.0019 right_z=0.1171 right_yaw=-0.0004 right_pitch=-0.3192 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.2017, 9.2103, 1.956, 0.1294, 0.232, 1.0281, -0.1026, -1.0188, 6.8991, 1.4481, -0.0269, -0.0708, -0.0122] 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": {"left_x": 0.52, "left_y": 0.0, "left_z": 0.15, "left_pitch": 0.3}, "note": "The bowl isn't yet under the gripper; in the top camera it sits further forward from the left arm. Moving forward another ~7 cm and pitching down slightly to see the bowl in the wrist camera."})

tool

executing move_to over 7 steps (0.7s)

step 88

assistant

agent noteThe arm barely advanced and the bowl still isn't visible in the wrist camera—it appears further forward in the top view. Commanding a larger forward step with more downward pitch to bring the bowl into view.

move_to

left_x0.5500left_y0.0300left_z0.1300left_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0517, 1.5543, 0.7795, 0.2897, -0.1257, -0.0601, 0.4353, -0.0212, 0.8238, 0.6029, -0.7013, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4506 left_y=0.0025 left_z=0.1332 left_yaw=0.072 left_pitch=0.0942 left_roll=0.0239 left_gripper=0.4353 right_x=0.242 right_y=0.0019 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.3379 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.1162, -6.653, 8.5949, 2.0147, 0.0464, 0.1197, 1.033, -0.1709, -1.1419, 6.8581, 1.5653, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.55, "left_y": 0.03, "left_z": 0.13, "left_pitch": 0.4}, "note": "The arm barely advanced and the bowl still isn't visible in the wrist camera\u2014it appears further forward in the top view. Commanding a larger forward step with more downward pitch to bring the bowl into view."})

tool

executing move_to over 11 steps (1.1s)

step 99

assistant

agent noteThe bowl still isn't in the wrist view, though the top camera shows it near table center. Pitching the tool fully down and raising slightly so the wrist camera can look down and locate the bowl relative to the gripper.

move_to

left_x0.5300left_z0.1600left_pitch0.6000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0227, 1.9827, 0.9352, 0.7601, -0.0799, -0.0315, 0.4353, -0.0212, 0.8284, 0.6029, -0.7242, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5359 left_y=0.0299 left_z=0.1021 left_yaw=0.095 left_pitch=0.2887 left_roll=0.0137 left_gripper=0.4353 right_x=0.2374 right_y=0.002 right_z=0.1098 right_yaw=-0.0001 right_pitch=-0.3654 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [0.5538, -9.4838, 7.6103, 2.4054, 0.1587, 0.1734, 1.033, -0.1026, -1.4838, 6.6667, 1.5751, -0.0415, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.53, "left_z": 0.16, "left_pitch": 0.6}, "note": "The bowl still isn't in the wrist view, though the top camera shows it near table center. Pitching the tool fully down and raising slightly so the wrist camera can look down and locate the bowl relative to the gripper."})

tool

executing move_to over 11 steps (1.1s)

step 110

assistant

agent noteThe wrist camera looks down now but the bowl still isn't in view; the top camera suggests the bowl is further forward of the gripper. Advancing to x=0.58 to bring the bowl into the wrist camera's view.

move_to

left_x0.5800left_y0.0300left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0257, 1.9991, 0.8536, 1.0866, -0.0757, -0.0257, 0.4353, -0.0212, 0.8295, 0.6018, -0.7349, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5309 left_y=0.0306 left_z=0.1395 left_yaw=0.0978 left_pitch=0.5166 left_roll=0.0012 left_gripper=0.4353 right_x=0.235 right_y=0.0021 right_z=0.1075 right_yaw=0.0 right_pitch=-0.3784 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [-0.5128, -9.9897, 4.9846, 2.4005, -0.1587, 0.1001, 1.033, -0.0889, -1.1966, 6.7624, 1.4237, -0.0269, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": 0.03, "left_z": 0.14}, "note": "The wrist camera looks down now but the bowl still isn't in view; the top camera suggests the bowl is further forward of the gripper. Advancing to x=0.58 to bring the bowl into the wrist camera's view."})

tool

executing move_to over 4 steps (0.4s)

step 114

assistant

agent noteThe bowl in the top camera sits further forward and left of the gripper. Moving to the forward-left limit of the workspace at a height above the bowl rim before releasing.

move_to

left_x0.6000left_y0.0450left_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0257, 2.1174, 1.0355, 0.9997, -0.083, -0.0299, 0.4353, -0.0212, 0.8314, 0.6018, -0.7464, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.5702 left_y=0.0329 left_z=0.1295 left_yaw=0.1064 left_pitch=0.4934 left_roll=-0.001 left_gripper=0.4353 right_x=0.2327 right_y=0.0022 right_z=0.1055 right_yaw=0.0005 right_pitch=-0.3917 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.4855, -10.947, 7.3368, 2.1612, 0.0024, 0.0513, 1.033, -0.1026, -1.1966, 6.9812, 1.4286, -0.0757, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.6, "left_y": 0.045, "left_z": 0.17}, "note": "The bowl in the top camera sits further forward and left of the gripper. Moving to the forward-left limit of the workspace at a height above the bowl rim before releasing."})

tool

executing move_to over 3 steps (0.3s)

step 117

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [0.0429, 2.1262, 1.1652, 0.8272, -0.078, -0.0311, 0.4353, -0.0212, 0.8349, 0.6018, -0.7502, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.5917 left_y=0.0428 left_z=0.1373 left_yaw=0.1176 left_pitch=0.442 left_roll=0.0016 left_gripper=0.4353 right_x=0.2319 right_y=0.0022 right_z=0.1043 right_yaw=0.0002 right_pitch=-0.3989 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [0.5538, -13.7094, 7.7197, 2.3761, 0.2173, -0.0366, 1.0281, -0.1162, -1.3607, 6.612, 1.3358, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

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 · 33.59 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3878, -0.0193, -0.0326, 0.9993, -0.0204, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1775 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9512, -0.0317, 0.188, -0.0904, -0.3897, -1.5521, 9.7573, 1.9072, -0.0513, 0.0806, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90e1a170732f19c2a12de0e34c3f708540c0988941925b0937e7ba04775450e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ada0c4db0af8af77bb5c8d6f5028a9d7c23a88cce096f3020e989502ac8d3a7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34872c6978b562bd96c8ef711ba3fa2468402c440fb91b6898681061dd423630"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 11.63 s

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

{
  "content": "I can see the red block and bowl in the top camera. The left wrist camera shows the red block at its bottom-right, so the block is slightly forward and to the right of the left gripper. I'll start by moving the left arm to hover near the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.33, \"left_y\": -0.09, \"left_z\": 0.1, \"left_gripper\": 1}, \"note\": \"The red block appears just forward-right of the left gripper in the left wrist camera. Moving the left arm forward, right, and down to hover near the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01H2wqgU3DdYdRg5Vi1Km2j6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01H2wqgU3DdYdRg5Vi1Km2j6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4641, 1.1843, 0.4664, 0.0078, -0.355, -0.2752, 0.9993, -0.0212, 0.8005, 0.6071, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3182 left_y=-0.0866 left_z=0.087 left_yaw=-0.0326 left_pitch=-0.0827 left_roll=0.028 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0416 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -4.0274, 6.3111, 1.8974, -0.3346, -0.022, -0.0904, -0.1162, -1.7573, 6.8855, 2.0342, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30230994545e57c937391c389424c2d248ee4f3f63de7aad8f2a794682549419"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9395a58b4027cc8165e02cc7eb2c6ac2e333ddd78a09347903bfe3caf6c3227b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a34690e89d630bcc12a5291fe011d9b6c3075c191ac4c71e71af57c91859f68"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 7.648 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3878, -0.0193, -0.0326, 0.9993, -0.0204, 0.794, 0.606, -0.3962, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0011 right_z=0.1775 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4017, 10.2085, 1.9512, -0.0317, 0.188, -0.0904, -0.3897, -1.5521, 9.7573, 1.9072, -0.0513, 0.0806, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.345, \"left_y\": -0.115, \"left_z\": 0.035}, \"note\": \"The block is now visible near the bottom-right of the left wrist camera, close to the right finger. Moving slightly forward-right and lowering toward grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BndJpcU3Bmn4teRmmkHt4o",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01BndJpcU3Bmn4teRmmkHt4o"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5144, 1.5162, 0.4576, 0.2348, -0.3897, -0.3069, 0.9992, -0.0212, 0.804, 0.606, -0.4515, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3279 left_y=-0.1041 left_z=0.0203 left_yaw=-0.0313 left_pitch=-0.1731 left_roll=0.076 left_gripper=0.9992 right_x=0.2855 right_y=0.0011 right_z=0.1637 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.2427, 6.4615, 1.7998, -0.2515, -0.0611, -0.0171, -0.2256, -1.4017, 7.2547, 1.8974, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60ed4ff4e9830c6ae4513a4f33b5cfbf5e05a350586bfa05ff515c7897e40fa4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:57ecbed28e6ea617f5655c85e30cf0958995aa433950caa31cb8e63a25195f1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:08d4db06e465700d858b75f0839db90cdec63ad567f0be020cbacf1ca0efd001"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 7.695 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]: [-0.4641, 1.1843, 0.4664, 0.0078, -0.355, -0.2752, 0.9993, -0.0212, 0.8005, 0.6071, -0.4324, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3182 left_y=-0.0866 left_z=0.087 left_yaw=-0.0326 left_pitch=-0.0827 left_roll=0.028 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0416 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -4.0274, 6.3111, 1.8974, -0.3346, -0.022, -0.0904, -0.1162, -1.7573, 6.8855, 2.0342, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.34, \"left_y\": -0.14, \"left_z\": 0.02, \"left_pitch\": 0}, \"note\": \"The block is at the right edge of the left wrist view, so the gripper needs to shift further right (negative y). Shifting right and keeping low, leveling the pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VP3vqLsNAsujfYAn1ibvva",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01VP3vqLsNAsujfYAn1ibvva"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6472, 1.6772, 0.4389, 0.4698, -0.5156, -0.3439, 0.9992, -0.0212, 0.8036, 0.606, -0.4633, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1361 left_z=0.0071 left_yaw=-0.0495 left_pitch=-0.0776 left_roll=0.0966 left_gripper=0.9992 right_x=0.2837 right_y=0.0011 right_z=0.1615 right_yaw=-0.0011 right_pitch=-0.0767 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9692, 4.3282, 1.9512, -0.4469, 0.022, -0.0122, -0.1026, -1.2103, 6.9675, 1.79, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fe43cb6c6a2e8811363a73ece9db16b3edc13a9fe3be966113f39530a172410"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:957688d39174eb749d56c17653a4e1c31a966661f3b705317f0fbc8475edd856"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:575b249c0584ffdfb1b7240e6037ab593c048a460a7f350f290aefec4ca87a36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 5.984 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]: [-0.5144, 1.5162, 0.4576, 0.2348, -0.3897, -0.3069, 0.9992, -0.0212, 0.804, 0.606, -0.4515, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3279 left_y=-0.1041 left_z=0.0203 left_yaw=-0.0313 left_pitch=-0.1731 left_roll=0.076 left_gripper=0.9992 right_x=0.2855 right_y=0.0011 right_z=0.1637 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -6.2427, 6.4615, 1.7998, -0.2515, -0.0611, -0.0171, -0.2256, -1.4017, 7.2547, 1.8974, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.175, \"left_z\": 0.005}, \"note\": \"The block is still right of center in the left wrist view; the gripper fingers are at the bottom-left. Shifting further right and slightly forward to center the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PMhJf5soQ3pMnKY5wtbLS7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01PMhJf5soQ3pMnKY5wtbLS7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7078, 1.7866, 0.5682, 0.4217, -0.5556, -0.392, 0.9992, -0.0212, 0.8062, 0.6056, -0.4854, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3451 left_y=-0.1679 left_z=0.0034 left_yaw=-0.0525 left_pitch=-0.0812 left_roll=0.0979 left_gripper=0.9992 right_x=0.2804 right_y=0.0012 right_z=0.1564 right_yaw=-0.0008 right_pitch=-0.1018 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2838, 5.9556, 1.5067, -0.359, -0.0708, -0.0171, -0.1026, -1.4154, 7.1453, 1.9267, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcee36365a39a79850862130dcaa68a235389c8361377cded41492f65da8073a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d92b788b591cc4f856056ff7319b958fa730879a0936edcc95530ff9c24d3df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b3437470e31bb4322421fa85a7152889a0ad7480e48f132c07b3071553cb808"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 6.676 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]: [-0.6472, 1.6772, 0.4389, 0.4698, -0.5156, -0.3439, 0.9992, -0.0212, 0.8036, 0.606, -0.4633, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1361 left_z=0.0071 left_yaw=-0.0495 left_pitch=-0.0776 left_roll=0.0966 left_gripper=0.9992 right_x=0.2837 right_y=0.0011 right_z=0.1615 right_yaw=-0.0011 right_pitch=-0.0767 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9692, 4.3282, 1.9512, -0.4469, 0.022, -0.0122, -0.1026, -1.2103, 6.9675, 1.79, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.365, \"left_y\": -0.175, \"left_z\": -0.005}, \"note\": \"The block is now centered in the left wrist view, just ahead of the fingertips. Advancing slightly forward and down so the block sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BxguFsrCtbL1BQRrAYFdKu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BxguFsrCtbL1BQRrAYFdKu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6983, 1.8374, 0.6144, 0.44, -0.5579, -0.4019, 0.9992, -0.0212, 0.8062, 0.6056, -0.4973, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1734 left_z=0.0018 left_yaw=-0.0365 left_pitch=-0.0689 left_roll=0.0828 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1541 right_yaw=-0.0011 right_pitch=-0.1137 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -5.6821, 5.1761, 1.1209, -0.0562, 0.2955, -0.0122, -0.2256, -1.1692, 6.9128, 1.956, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94f572bce00e0349baa056705e2bf6a337e9683309616b7e38826dd88c6615f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d21c4cce7de248dde4ba6057814c679ed986c60de3364745232a476cb3f01486"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a39c9530aede1fd0b691731e2dcf94d44c0a251186e5541b37ecfe86301442c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 6.737 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]: [-0.7078, 1.7866, 0.5682, 0.4217, -0.5556, -0.392, 0.9992, -0.0212, 0.8062, 0.6056, -0.4854, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3451 left_y=-0.1679 left_z=0.0034 left_yaw=-0.0525 left_pitch=-0.0812 left_roll=0.0979 left_gripper=0.9992 right_x=0.2804 right_y=0.0012 right_z=0.1564 right_yaw=-0.0008 right_pitch=-0.1018 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2838, 5.9556, 1.5067, -0.359, -0.0708, -0.0171, -0.1026, -1.4154, 7.1453, 1.9267, -0.0464, -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_x\": 0.385, \"left_y\": -0.18, \"left_z\": -0.01}, \"note\": \"The block sits just ahead of the fingertips in the left wrist view. Moving forward about 2.5 cm and slightly down so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TLTcLAFtW2zfgBPnmiEW9E",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TLTcLAFtW2zfgBPnmiEW9E"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6811, 1.8637, 0.6361, 0.4633, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5079, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.002 left_yaw=-0.0245 left_pitch=-0.0557 left_roll=0.0722 left_gripper=0.9992 right_x=0.277 right_y=0.0012 right_z=0.1509 right_yaw=-0.0011 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -6.735, 5.4632, 1.409, -0.2125, 0.0464, -0.0122, -0.1162, -1.5932, 6.9128, 1.7705, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3164e258b6bc0178dbe9e5431b4c490c8cf38db9136306a30111ab87c3461e12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5b61857f86ea73fc413d7a4b1c41a9c86b25794f36c609a76c699a5919dd26da"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2ab4036e465b33f696a1b828d57f714eacc9ac835e8579925b5250d45c1687cf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 10.43 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]: [-0.6983, 1.8374, 0.6144, 0.44, -0.5579, -0.4019, 0.9992, -0.0212, 0.8062, 0.6056, -0.4973, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1734 left_z=0.0018 left_yaw=-0.0365 left_pitch=-0.0689 left_roll=0.0828 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1541 right_yaw=-0.0011 right_pitch=-0.1137 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -5.6821, 5.1761, 1.1209, -0.0562, 0.2955, -0.0122, -0.2256, -1.1692, 6.9128, 1.956, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.175, \"left_z\": -0.005}, \"note\": \"The block is right at the fingertips in the wrist view but not yet between them. Advancing another ~2 cm forward before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_016xX9BM8P1ZiCPdFYupHhXW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_016xX9BM8P1ZiCPdFYupHhXW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5236, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0245 left_pitch=-0.056 left_roll=0.0725 left_gripper=0.9992 right_x=0.2744 right_y=0.0012 right_z=0.148 right_yaw=-0.0013 right_pitch=-0.1446 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.5709, 5.2718, 1.37, -0.2222, 0.0366, -0.0122, -0.0752, -0.7863, 6.8991, 1.7558, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f12d950caab11a7500d1171444cec44669d34358a22e9373f154132a71ec2a51"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bcaf3275ae742790da2c54070a77e8fe1ac34152682fd81034413dbdc5632692"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dcee2354e98a46e92e3cc034e62cb69aaeefd51ccf989ab461013b4147311fac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 22.19 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]: [-0.6811, 1.8637, 0.6361, 0.4633, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5079, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.002 left_yaw=-0.0245 left_pitch=-0.0557 left_roll=0.0722 left_gripper=0.9992 right_x=0.277 right_y=0.0012 right_z=0.1509 right_yaw=-0.0011 right_pitch=-0.1289 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -6.735, 5.4632, 1.409, -0.2125, 0.0464, -0.0122, -0.1162, -1.5932, 6.9128, 1.7705, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.175, \"left_z\": 0.0, \"left_pitch\": 0.1, \"left_roll\": 0}, \"note\": \"The arm did not move on the last command\\u2014likely an awkward IK target. Retrying with a slightly higher z, forward x, and a small forward pitch to help the reach.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PHDjAQcw37bGAMJn8bvNBQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01PHDjAQcw37bGAMJn8bvNBQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3988, 0.9992, -0.0212, 0.8108, 0.606, -0.5457, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0243 left_pitch=-0.056 left_roll=0.0721 left_gripper=0.9992 right_x=0.2708 right_y=0.0013 right_z=0.1442 right_yaw=-0.0012 right_pitch=-0.1663 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.7897, 5.135, 1.3651, -0.1832, 0.0122, -0.0122, -0.0479, -1.2239, 6.8581, 1.8193, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9700c47d764c11682bfdb09babc60a1a8e7ce674b78999e7dbdb3c1eedfd147"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f8c310697c4df5a17199005a47862d76f667ca6f3f10b0feb1b121a997b3efc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba99a99a8eb180bc7839b8c50c0f0a921f8e2a6932e5eb335e6aaf079bf99910"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 8.904 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]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3985, 0.9992, -0.0212, 0.8108, 0.6056, -0.5236, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0245 left_pitch=-0.056 left_roll=0.0725 left_gripper=0.9992 right_x=0.2744 right_y=0.0012 right_z=0.148 right_yaw=-0.0013 right_pitch=-0.1446 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.5709, 5.2718, 1.37, -0.2222, 0.0366, -0.0122, -0.0752, -0.7863, 6.8991, 1.7558, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.17, \"left_z\": 0.03, \"left_pitch\": 0.2, \"left_yaw\": 0, \"left_roll\": 0}, \"note\": \"The left arm is not tracking my targets\\u2014it's stuck at the same pose, likely an awkward IK configuration. Lifting slightly and pitching the tool downward-forward to break out and re-approach the block from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_018NTUGzRy9U7kbjLAcpnXLm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_018NTUGzRy9U7kbjLAcpnXLm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.654, 1.9518, 0.577, 0.8383, -0.5919, -0.3195, 0.9992, -0.0212, 0.8139, 0.6056, -0.5728, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.1691 left_z=0.0179 left_yaw=-0.0058 left_pitch=0.137 left_roll=0.0201 left_gripper=0.9992 right_x=0.2662 right_y=0.0014 right_z=0.1384 right_yaw=-0.0011 right_pitch=-0.1968 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.4872, 3.7538, 2.0879, -0.2759, 0.0806, -0.0122, -0.1709, -0.9641, 6.9128, 1.8291, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd66037fb05fbdcfd4c49b486d63c1c1c3dbc99f89dbe1c96914f0e646df39f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e1d7070441f84021f63cb48b4c0a1d85ea212a516bc5eb939073c66348b9b8f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eaccafc687c74ddce161c2f032d8b111969970e52cf651cb9e5a6a17ed90302b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 7.73 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]: [-0.6811, 1.8645, 0.6361, 0.4637, -0.5545, -0.3988, 0.9992, -0.0212, 0.8108, 0.606, -0.5457, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3671 left_y=-0.1732 left_z=0.0017 left_yaw=-0.0243 left_pitch=-0.056 left_roll=0.0721 left_gripper=0.9992 right_x=0.2708 right_y=0.0013 right_z=0.1442 right_yaw=-0.0012 right_pitch=-0.1663 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.7897, 5.135, 1.3651, -0.1832, 0.0122, -0.0122, -0.0479, -1.2239, 6.8581, 1.8193, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.175, \"left_z\": -0.005, \"left_pitch\": 0.2}, \"note\": \"The block is now at the bottom-center of the wrist view, just ahead of the fingers. Advancing 2 cm forward and lowering to table level so the fingers straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GHF6ydcQzTcSpfXnNLvsUj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01GHF6ydcQzTcSpfXnNLvsUj"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6422, 2.1246, 0.6239, 1.0245, -0.6048, -0.3008, 0.9986, -0.0212, 0.8173, 0.6056, -0.5961, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4046 left_y=-0.1727 left_z=-0.0022 left_yaw=0.0123 left_pitch=0.1886 left_roll=0.0055 left_gripper=0.9986 right_x=0.2622 right_y=0.0016 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.2235 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -7.5966, 3.8632, 1.1941, -0.0513, 0.2369, -0.0708, -0.212, -1.4017, 6.8444, 1.7998, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a84f30219cdc7f316f8f4441ff250b83bd44cd2cd28490fd5bc02985b5149829"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d00726332ba1f4105f4bd2f439c604b0c91a5f8adc273bffd29602311c11d51f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe32150bf1e18a4c1aab0eb0150f47c429ebfb43d890e9f1b43f46e4c7dc760e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 7.725 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]: [-0.654, 1.9518, 0.577, 0.8383, -0.5919, -0.3195, 0.9992, -0.0212, 0.8139, 0.6056, -0.5728, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3884 left_y=-0.1691 left_z=0.0179 left_yaw=-0.0058 left_pitch=0.137 left_roll=0.0201 left_gripper=0.9992 right_x=0.2662 right_y=0.0014 right_z=0.1384 right_yaw=-0.0011 right_pitch=-0.1968 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.4872, 3.7538, 2.0879, -0.2759, 0.0806, -0.0122, -0.1709, -0.9641, 6.9128, 1.8291, -0.022, -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_x\": 0.425, \"left_y\": -0.185, \"left_z\": -0.01}, \"note\": \"The block is at the bottom center-right of the wrist view, just short of the fingers. Advancing 2 cm forward and slightly right to put the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WFBjXatjybqHqxueboJpcE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01WFBjXatjybqHqxueboJpcE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.638, 2.1414, 0.635, 1.0492, -0.6037, -0.2905, 0.9986, -0.0212, 0.8173, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4087 left_y=-0.1737 left_z=-0.0014 left_yaw=0.0121 left_pitch=0.2034 left_roll=0.003 left_gripper=0.9986 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=-0.0006 right_pitch=-0.2403 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.4188, 3.6991, 1.7949, -0.0708, 0.1783, -0.0171, -0.1573, -1.0051, 6.8171, 1.6484, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:adc30646b05fd0fa15fe269910f4e85f489a2653d488a6ade520ed8ca8455a52"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32115d25f6b3efa1cf813443725a2abbe540e836d9a1da131153efde46a0d519"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6aed0d73aeb2d7d4d8d9cdf07f665d206e74edc6e162768a629ea1cda18fa69"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 8.628 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]: [-0.6422, 2.1246, 0.6239, 1.0245, -0.6048, -0.3008, 0.9986, -0.0212, 0.8173, 0.6056, -0.5961, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4046 left_y=-0.1727 left_z=-0.0022 left_yaw=0.0123 left_pitch=0.1886 left_roll=0.0055 left_gripper=0.9986 right_x=0.2622 right_y=0.0016 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.2235 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -7.5966, 3.8632, 1.1941, -0.0513, 0.2369, -0.0708, -0.212, -1.4017, 6.8444, 1.7998, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.425, \"left_y\": -0.19, \"left_z\": -0.015, \"left_gripper\": 0.35}, \"note\": \"The block is now between the fingertips in the wrist view. Advancing a touch more forward-right and closing the gripper on the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MYJAZRLqJo4jE9rbGSQ3ZQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01MYJAZRLqJo4jE9rbGSQ3ZQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.638, 2.1414, 0.635, 1.0515, -0.6033, -0.2802, 0.4241, -0.0212, 0.8173, 0.6056, -0.6346, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4089 left_y=-0.1739 left_z=-0.001 left_yaw=0.0064 left_pitch=0.205 left_roll=0.0113 left_gripper=0.4241 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0004 right_pitch=-0.262 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.665, 3.7812, 1.8046, -0.0269, 0.1832, 1.7363, -0.1573, -1.1829, 6.9128, 1.6728, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a759a5bf02063265d96178988a81dcf432ea03bdf167d06ad4eea3d31d5f8c73"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b607770823453f3e3bd1321a3132a842c17132c32fdf576e1c61dd61410ee11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:531544018bcf98f9076c295f7456b5baf55bb3cbcb2f8cef41f19d25b9b9ce31"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 10.59 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]: [-0.638, 2.1414, 0.635, 1.0492, -0.6037, -0.2905, 0.9986, -0.0212, 0.8173, 0.6056, -0.6128, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4087 left_y=-0.1737 left_z=-0.0014 left_yaw=0.0121 left_pitch=0.2034 left_roll=0.003 left_gripper=0.9986 right_x=0.2591 right_y=0.0016 right_z=0.1307 right_yaw=-0.0006 right_pitch=-0.2403 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.4188, 3.6991, 1.7949, -0.0708, 0.1783, -0.0171, -0.1573, -1.0051, 6.8171, 1.6484, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.12}, \"note\": \"The gripper closed to 0.42 with rising effort, and the wrist camera shows the block held between the jaws. Lifting the block up to verify the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AcMg3DXNkhXwugZogFBL59",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01AcMg3DXNkhXwugZogFBL59"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6399, 1.7077, 0.6888, 0.5362, -0.6067, -0.2863, 0.4353, -0.0208, 0.8192, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.1709 left_z=0.0966 left_yaw=0.0074 left_pitch=0.1838 left_roll=0.0238 left_gripper=0.4353 right_x=0.2509 right_y=0.0018 right_z=0.123 right_yaw=-0.0002 right_pitch=-0.2868 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.5795, 8.4308, 2.0342, -0.188, 0.0171, 1.0379, -0.0615, -1.0051, 7.0222, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eff25ae45dd58570ba22ff7c95eef4f2db834abfba336091ffae62e7bf759355"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de12f7f637a034aa9f22b20d92175c410cc371cd89a50efab9a370d90ba846a0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b065c9541589aa80b5961ec43ae1a80c106ca136e844a8a75aba104b717b56d8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 9.474 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]: [-0.638, 2.1414, 0.635, 1.0515, -0.6033, -0.2802, 0.4241, -0.0212, 0.8173, 0.6056, -0.6346, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4089 left_y=-0.1739 left_z=-0.001 left_yaw=0.0064 left_pitch=0.205 left_roll=0.0113 left_gripper=0.4241 right_x=0.2552 right_y=0.0017 right_z=0.1271 right_yaw=-0.0004 right_pitch=-0.262 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.665, 3.7812, 1.8046, -0.0269, 0.1832, 1.7363, -0.1573, -1.1829, 6.9128, 1.6728, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.05, \"left_z\": 0.15}, \"note\": \"The block is lifted and held securely in the jaws. The bowl appears in the top camera roughly ahead and toward the arm's left; moving the left arm over toward the bowl at a safe height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AjoP7Vp6rnjLv1MEvkxL6F",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01AjoP7Vp6rnjLv1MEvkxL6F"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2401, 1.454, 0.6327, 0.3714, -0.2836, -0.1268, 0.4353, -0.0212, 0.8223, 0.6037, -0.6762, -0.0193, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4167 left_y=-0.0475 left_z=0.1317 left_yaw=0.0538 left_pitch=0.1443 left_roll=0.0263 left_gripper=0.4353 right_x=0.247 right_y=0.0018 right_z=0.1186 right_yaw=-0.0006 right_pitch=-0.3105 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.747, 7.8154, 1.9609, 0.1734, 0.149, 1.0281, -0.0889, -1.1966, 6.8855, 1.5751, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d9712a45547f4093b4c7a132e81dd9756f8c442e1d21606a1a7349e453bd2ff8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f924bd766a18abba6ec9bd4d51abfc24457e0f1c5b287d77d337938222c1271"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:573726f7afec78efdd4f97b346c0a2a1b1c7a4d9d08fff07eb53fabd20c25f52"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 9.399 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]: [-0.6399, 1.7077, 0.6888, 0.5362, -0.6067, -0.2863, 0.4353, -0.0208, 0.8192, 0.6056, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4043 left_y=-0.1709 left_z=0.0966 left_yaw=0.0074 left_pitch=0.1838 left_roll=0.0238 left_gripper=0.4353 right_x=0.2509 right_y=0.0018 right_z=0.123 right_yaw=-0.0002 right_pitch=-0.2868 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.5795, 8.4308, 2.0342, -0.188, 0.0171, 1.0379, -0.0615, -1.0051, 7.0222, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": 0.0, \"left_z\": 0.15}, \"note\": \"The block is held; the top camera shows the bowl ahead of the left gripper toward the center of the table. Moving further forward and left to position over the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_011JgE3Adpx4KBCEB1oMm2oi",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_011JgE3Adpx4KBCEB1oMm2oi"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0643, 1.5459, 0.7574, 0.2977, -0.1585, -0.0769, 0.4353, -0.0212, 0.8238, 0.6037, -0.6834, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4456 left_y=0.0028 left_z=0.1294 left_yaw=0.0961 left_pitch=0.091 left_roll=0.025 left_gripper=0.4353 right_x=0.2456 right_y=0.0019 right_z=0.1171 right_yaw=-0.0004 right_pitch=-0.3192 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2017, 9.2103, 1.956, 0.1294, 0.232, 1.0281, -0.1026, -1.0188, 6.8991, 1.4481, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e477d6da54b4d1af7c17ae937f85108f779844476d4440068d892aed1bce363"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a079ba382f991b7f66171d0e2bccb2fe4a617d7c3df1f7a30f9855d9de35b12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6e9989ea2769a3ecf1a46a5d16e75fc470111677cf19a75fa9dfca438f51fff"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 11.21 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]: [-0.2401, 1.454, 0.6327, 0.3714, -0.2836, -0.1268, 0.4353, -0.0212, 0.8223, 0.6037, -0.6762, -0.0193, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4167 left_y=-0.0475 left_z=0.1317 left_yaw=0.0538 left_pitch=0.1443 left_roll=0.0263 left_gripper=0.4353 right_x=0.247 right_y=0.0018 right_z=0.1186 right_yaw=-0.0006 right_pitch=-0.3105 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.747, 7.8154, 1.9609, 0.1734, 0.149, 1.0281, -0.0889, -1.1966, 6.8855, 1.5751, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": 0.0, \"left_z\": 0.15, \"left_pitch\": 0.3}, \"note\": \"The bowl isn't yet under the gripper; in the top camera it sits further forward from the left arm. Moving forward another ~7 cm and pitching down slightly to see the bowl in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HCzNCNhFRre5W9xNGbyBWm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01HCzNCNhFRre5W9xNGbyBWm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0517, 1.5543, 0.7795, 0.2897, -0.1257, -0.0601, 0.4353, -0.0212, 0.8238, 0.6029, -0.7013, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4506 left_y=0.0025 left_z=0.1332 left_yaw=0.072 left_pitch=0.0942 left_roll=0.0239 left_gripper=0.4353 right_x=0.242 right_y=0.0019 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.3379 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.653, 8.5949, 2.0147, 0.0464, 0.1197, 1.033, -0.1709, -1.1419, 6.8581, 1.5653, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da9e7848727b780f62ab783b30a5ac6e8d54257554f6eb1ddb276c79ce3b65c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8750ab3ecbeb7f422bf6a11db72c84b16ea82b904862e9408cc50109e182f66c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e29efc593b45af423dd31155f810a3c1b6f1c257d61889c9453b1c401f8033ee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 19.92 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]: [-0.0643, 1.5459, 0.7574, 0.2977, -0.1585, -0.0769, 0.4353, -0.0212, 0.8238, 0.6037, -0.6834, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4456 left_y=0.0028 left_z=0.1294 left_yaw=0.0961 left_pitch=0.091 left_roll=0.025 left_gripper=0.4353 right_x=0.2456 right_y=0.0019 right_z=0.1171 right_yaw=-0.0004 right_pitch=-0.3192 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2017, 9.2103, 1.956, 0.1294, 0.232, 1.0281, -0.1026, -1.0188, 6.8991, 1.4481, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": 0.03, \"left_z\": 0.13, \"left_pitch\": 0.4}, \"note\": \"The arm barely advanced and the bowl still isn't visible in the wrist camera\\u2014it appears further forward in the top view. Commanding a larger forward step with more downward pitch to bring the bowl into view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FpsTXXQ2wGeLN3Th4nyjp7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01FpsTXXQ2wGeLN3Th4nyjp7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0227, 1.9827, 0.9352, 0.7601, -0.0799, -0.0315, 0.4353, -0.0212, 0.8284, 0.6029, -0.7242, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5359 left_y=0.0299 left_z=0.1021 left_yaw=0.095 left_pitch=0.2887 left_roll=0.0137 left_gripper=0.4353 right_x=0.2374 right_y=0.002 right_z=0.1098 right_yaw=-0.0001 right_pitch=-0.3654 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -9.4838, 7.6103, 2.4054, 0.1587, 0.1734, 1.033, -0.1026, -1.4838, 6.6667, 1.5751, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0119d841772d4047c110adc72e1f7bc2afab91d44b987a31174521bed54ebde"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9787144260dfe846704f6e2f7560f081eb34884c84b9ccf4d954244c2a12669f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7cfcf99b68972949074b4c448d845e3df98e7c859452d328537eaf0afd25619f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 11.79 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, 1.5543, 0.7795, 0.2897, -0.1257, -0.0601, 0.4353, -0.0212, 0.8238, 0.6029, -0.7013, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4506 left_y=0.0025 left_z=0.1332 left_yaw=0.072 left_pitch=0.0942 left_roll=0.0239 left_gripper=0.4353 right_x=0.242 right_y=0.0019 right_z=0.1141 right_yaw=-0.0003 right_pitch=-0.3379 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.653, 8.5949, 2.0147, 0.0464, 0.1197, 1.033, -0.1709, -1.1419, 6.8581, 1.5653, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_z\": 0.16, \"left_pitch\": 0.6}, \"note\": \"The bowl still isn't in the wrist view, though the top camera shows it near table center. Pitching the tool fully down and raising slightly so the wrist camera can look down and locate the bowl relative to the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_016CS4je3aUHY4RC8MPdn7Rw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_016CS4je3aUHY4RC8MPdn7Rw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0257, 1.9991, 0.8536, 1.0866, -0.0757, -0.0257, 0.4353, -0.0212, 0.8295, 0.6018, -0.7349, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5309 left_y=0.0306 left_z=0.1395 left_yaw=0.0978 left_pitch=0.5166 left_roll=0.0012 left_gripper=0.4353 right_x=0.235 right_y=0.0021 right_z=0.1075 right_yaw=0.0 right_pitch=-0.3784 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.9897, 4.9846, 2.4005, -0.1587, 0.1001, 1.033, -0.0889, -1.1966, 6.7624, 1.4237, -0.0269, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4dffcf132ba2113f5b231e15cc701b7ce328660b952e47528099445374611c34"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0fc0903a68cc5d108f3386f0141798d321dbee3c70721e16990a492feee73815"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b04177a2c3936cab20ebc45b04b83e71a5822f593eb274d5c23d37dadb03968a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 31.17 s

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

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0227, 1.9827, 0.9352, 0.7601, -0.0799, -0.0315, 0.4353, -0.0212, 0.8284, 0.6029, -0.7242, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5359 left_y=0.0299 left_z=0.1021 left_yaw=0.095 left_pitch=0.2887 left_roll=0.0137 left_gripper=0.4353 right_x=0.2374 right_y=0.002 right_z=0.1098 right_yaw=-0.0001 right_pitch=-0.3654 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -9.4838, 7.6103, 2.4054, 0.1587, 0.1734, 1.033, -0.1026, -1.4838, 6.6667, 1.5751, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": 0.03, \"left_z\": 0.14}, \"note\": \"The wrist camera looks down now but the bowl still isn't in view; the top camera suggests the bowl is further forward of the gripper. Advancing to x=0.58 to bring the bowl into the wrist camera's view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Hpgtqh7W41d7G4xJ9zMzwX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Hpgtqh7W41d7G4xJ9zMzwX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0257, 2.1174, 1.0355, 0.9997, -0.083, -0.0299, 0.4353, -0.0212, 0.8314, 0.6018, -0.7464, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5702 left_y=0.0329 left_z=0.1295 left_yaw=0.1064 left_pitch=0.4934 left_roll=-0.001 left_gripper=0.4353 right_x=0.2327 right_y=0.0022 right_z=0.1055 right_yaw=0.0005 right_pitch=-0.3917 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -10.947, 7.3368, 2.1612, 0.0024, 0.0513, 1.033, -0.1026, -1.1966, 6.9812, 1.4286, -0.0757, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5661152d8e3a41820daff418429dd24ef25ffd9685dce22700333e51417728fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4b39ad40b0c793ba7f7594370ef56317952fa477f9da1de42f3e083170d1adaa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7c740769e05b87398873d29ca1377832c3e3a9c6d416d62aa65d389c8bdceaa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}