adhoc

completed
2026-09-03T03:12:00.968570+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
278.6 s
total steps
103
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n

Grader notes

trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the red block from the table and place it inside the bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I can see the red block on the table (visible in top and left cameras) and the white bowl to the right. The block appears to be within the left arm's reach, to its front-right. I'll start by moving the left arm toward the block area to localize it better.
agent noteThe red block appears in the left wrist camera's lower-right, so it should be forward and slightly right of the left arm. Moving the left arm forward-right and lower to localize the block before grasping.
move_to
left_x0.3500left_y-0.1000left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0196, -0.0334, 0.9992, -0.02, 0.7937, 0.6056, -0.3958, -0.0181, -0.0288, 0.9997] state[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.4171, -1.4427, 10.2222, 1.9512, -0.0513, 0.2027, -0.0952, -0.4991, -1.5658, 9.7846, 1.9072, -0.0317, 0.1392, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I can see the red block on the table (visible in top and left cameras) and the white bowl to the right. The block appears to be within the left arm's reach, to its front-right. I'll start by moving the left arm toward the block area to localize it better.
move_to({"targets": {"left_x": 0.35, "left_y": -0.1, "left_z": 0.1, "left_gripper": 1}, "note": "The red block appears in the left wrist camera's lower-right, so it should be forward and slightly right of the left arm. Moving the left arm forward-right and lower to localize the block before grasping."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
The block is now visible between the left gripper's fingers in the wrist camera, slightly forward and right of center. I'll move forward-right and lower to position for the grasp.
agent noteThe left wrist camera shows the red block just ahead and slightly right of the gripper. Moving forward-right and down to bring the block between the fingers.
move_to
left_x0.3800left_y-0.1150left_z0.0350left_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]: [-0.4664, 1.2938, 0.5213, 0.0608, -0.3611, -0.2798, 0.9992, -0.0208, 0.7986, 0.606, -0.4324, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3365 left_y=-0.0955 left_z=0.0844 left_yaw=-0.0281 left_pitch=-0.0824 left_roll=0.029 left_gripper=0.9992 right_x=0.288 right_y=0.0011 right_z=0.1689 right_yaw=-0.0012 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.2803, -5.053, 7.6103, 1.8242, -0.3297, -0.0855, -0.0952, 0.0479, -1.6342, 6.9675, 2.0342, -0.0317, -0.0562, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
The block is now visible between the left gripper's fingers in the wrist camera, slightly forward and right of center. I'll move forward-right and lower to position for the grasp.
move_to({"targets": {"left_x": 0.38, "left_y": -0.115, "left_z": 0.035, "left_gripper": 1}, "note": "The left wrist camera shows the red block just ahead and slightly right of the gripper. Moving forward-right and down to bring the block between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
The block now appears at the upper-right of the left wrist camera, so it's still forward and to the right of the gripper. I'll adjust position toward it.
agent noteThe block is in the upper-right of the left wrist view, so the gripper is short and left of it. Moving forward and further right at grasp height, leveling the pitch.
move_to
left_x0.3850left_y-0.1350left_z0.0200left_pitch0.0000left_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]: [-0.4625, 1.639, 0.5484, 0.2604, -0.3634, -0.2893, 0.9992, -0.0208, 0.8021, 0.6056, -0.4519, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3546 left_y=-0.1026 left_z=0.0123 left_yaw=-0.0103 left_pitch=-0.1885 left_roll=0.0747 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.164 right_yaw=-0.0008 right_pitch=-0.0644 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.0889, -7.7197, 7.8154, 1.9463, -0.2027, 0.105, -0.0904, -0.1709, -1.5111, 7.1043, 1.9072, -0.0708, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
The block now appears at the upper-right of the left wrist camera, so it's still forward and to the right of the gripper. I'll adjust position toward it.
move_to({"targets": {"left_x": 0.385, "left_y": -0.135, "left_z": 0.02, "left_pitch": 0, "left_gripper": 1}, "note": "The block is in the upper-right of the left wrist view, so the gripper is short and left of it. Moving forward and further right at grasp height, leveling the pitch."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
The block is at the right edge of the wrist view, near the right finger. The gripper needs to shift right (more negative y) a bit more to center the block between the fingers.
agent noteThe block sits just right of the right finger in the wrist view. Shifting the gripper further right (negative y) and slightly forward to center the block between the jaws.
move_to
left_x0.3780left_y-0.1500left_z0.0150left_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]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4557, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=-0.0011 right_pitch=-0.0686 right_roll=0.0047 right_gripper=0.9996 state[joint_eff]: [-0.0205, -7.2684, 6.8444, 1.7851, -0.0904, 0.0806, -0.0952, -0.1299, -1.265, 6.9402, 1.6825, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
The block is at the right edge of the wrist view, near the right finger. The gripper needs to shift right (more negative y) a bit more to center the block between the fingers.
move_to({"targets": {"left_x": 0.378, "left_y": -0.15, "left_z": 0.015, "left_gripper": 1}, "note": "The block sits just right of the right finger in the wrist view. Shifting the gripper further right (negative y) and slightly forward to center the block between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
The arm didn't move at all this step—its state is unchanged, likely IK stalling. I'll retry with a smaller, deliberate step to move right toward the block.
agent noteThe arm didn't move on the last command; the block still sits just right of the right finger in the wrist view. Retrying a smaller step to the right and slightly forward to center the block between the jaws.
move_to
left_x0.3750left_y-0.1400left_z0.0150left_pitch-0.1000left_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]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4778, -0.0196, -0.0261, 0.9996] state[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1588 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.0068, -7.2684, 6.8718, 1.7607, -0.1441, 0.0904, -0.0952, -0.0479, -1.1556, 6.9402, 1.9219, -0.0513, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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
The arm didn't move at all this step—its state is unchanged, likely IK stalling. I'll retry with a smaller, deliberate step to move right toward the block.
move_to({"targets": {"left_x": 0.375, "left_y": -0.14, "left_z": 0.015, "left_pitch": -0.1, "left_gripper": 1}, "note": "The arm didn't move on the last command; the block still sits just right of the right finger in the wrist view. Retrying a smaller step to the right and slightly forward to center the block between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
From the top camera the gripper is just left of the block. I need to shift a bit more right (negative y) and forward to straddle the block.
agent noteTop camera shows the gripper immediately left of the red block. Shifting right and slightly forward at table height so the block sits between the jaws.
move_to
left_x0.3750left_y-0.1550left_z0.0050left_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]: [-0.5426, 1.7466, 0.5865, 0.3412, -0.4065, -0.3328, 0.9991, -0.0208, 0.8036, 0.6056, -0.4992, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3614 left_y=-0.1322 left_z=0.0017 left_yaw=-0.0331 left_pitch=-0.1619 left_roll=0.0655 left_gripper=0.9991 right_x=0.2781 right_y=0.0013 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.1133 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.1026, -7.2821, 7.2821, 1.8193, -0.3394, -0.0073, -0.105, -0.0889, -1.2513, 6.9128, 1.9609, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
From the top camera the gripper is just left of the block. I need to shift a bit more right (negative y) and forward to straddle the block.
move_to({"targets": {"left_x": 0.375, "left_y": -0.155, "left_z": 0.005, "left_gripper": 1}, "note": "Top camera shows the gripper immediately left of the red block. Shifting right and slightly forward at table height so the block sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
The block is now centered between the finger tips in the wrist view, just slightly ahead. I'll nudge forward and close the gripper.
agent noteThe block is centered between the fingers in the wrist view but slightly ahead. Nudging forward and down so the jaws straddle it before closing.
move_to
left_x0.3900left_y-0.1520left_z0.0000left_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]: [-0.5755, 1.7912, 0.6567, 0.3023, -0.4286, -0.3645, 0.9992, -0.0208, 0.8043, 0.6056, -0.5087, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.37 left_y=-0.1482 left_z=0.0024 left_yaw=-0.0301 left_pitch=-0.164 left_roll=0.0628 left_gripper=0.9992 right_x=0.2766 right_y=0.0013 right_z=0.1524 right_yaw=-0.001 right_pitch=-0.1236 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.5128, -6.8991, 6.4479, 1.3846, -0.2418, -0.0122, -0.0952, -0.0068, -1.2376, 7.1316, 1.7363, -0.0415, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
The block is now centered between the finger tips in the wrist view, just slightly ahead. I'll nudge forward and close the gripper.
move_to({"targets": {"left_x": 0.39, "left_y": -0.152, "left_z": 0.0, "left_gripper": 1}, "note": "The block is centered between the fingers in the wrist view but slightly ahead. Nudging forward and down so the jaws straddle it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
The arm barely advanced (x stalled at 0.371). The block still sits just ahead of the fingertips. I'll push further forward.
agent noteThe block is still just ahead of the fingertips in the wrist view and the arm barely advanced last step. Commanding a larger forward step so the jaws straddle the block.
move_to
left_x0.4050left_y-0.1550left_z0.0000left_pitch-0.1000left_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]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2742 right_y=0.0014 right_z=0.1497 right_yaw=-0.001 right_pitch=-0.1384 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.3624, -7.2547, 6.4479, 1.3407, -0.2711, -0.0073, -0.0952, -0.1709, -1.1829, 7.0222, 1.7314, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
The arm barely advanced (x stalled at 0.371). The block still sits just ahead of the fingertips. I'll push further forward.
move_to({"targets": {"left_x": 0.405, "left_y": -0.155, "left_z": 0.0, "left_pitch": -0.1, "left_gripper": 1}, "note": "The block is still just ahead of the fingertips in the wrist view and the arm barely advanced last step. Commanding a larger forward step so the jaws straddle the block."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
The left arm hasn't moved at all for two commands—the fingertips may be dragging on the table, blocking forward motion. I'll lift slightly while advancing.
agent noteThe left arm has stalled for two commands, likely with fingertips dragging on the table. Raising the grasp point slightly while moving forward so the jaws can slide over the block.
move_to
left_x0.4000left_y-0.1550left_z0.0200left_pitch-0.0500left_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]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5457, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2705 right_y=0.0015 right_z=0.1456 right_yaw=-0.0006 right_pitch=-0.1606 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.2667, -7.0359, 6.4615, 1.3748, -0.2906, -0.0122, -0.0952, -0.0479, -1.0325, 6.8718, 1.7656, -0.0562, -0.0708, -0.0073] 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
The left arm hasn't moved at all for two commands—the fingertips may be dragging on the table, blocking forward motion. I'll lift slightly while advancing.
move_to({"targets": {"left_x": 0.4, "left_y": -0.155, "left_z": 0.02, "left_pitch": -0.05, "left_gripper": 1}, "note": "The left arm has stalled for two commands, likely with fingertips dragging on the table. Raising the grasp point slightly while moving forward so the jaws can slide over the block."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
The left arm has been completely frozen for three commands—likely an IK deadlock. I'll try a distinctly different target (lift up) to unstick it.
agent noteThe left arm hasn't moved for three commands, suggesting the IK is stuck at this pose. Lifting straight up to break the deadlock before re-approaching the block.
move_to
left_z0.0800left_x0.3700left_y-0.1500
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5686, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2666 right_y=0.0015 right_z=0.1415 right_yaw=-0.0008 right_pitch=-0.1834 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [-0.4444, -7.2547, 6.2701, 1.3602, -0.2955, 0.0171, -0.0904, -0.0615, -1.1556, 7.1726, 1.7998, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
The left arm has been completely frozen for three commands—likely an IK deadlock. I'll try a distinctly different target (lift up) to unstick it.
move_to({"targets": {"left_z": 0.08, "left_x": 0.37, "left_y": -0.15}, "note": "The left arm hasn't moved for three commands, suggesting the IK is stuck at this pose. Lifting straight up to break the deadlock before re-approaching the block."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
The lift worked. The wrist camera now shows the block just ahead and slightly right of the gripper, between where the fingers project. I'll descend onto it.
agent noteAfter lifting, the wrist camera shows the red block just ahead and slightly right between the finger lines. Descending forward-down so the jaws straddle the block.
move_to
left_x0.4000left_y-0.1580left_z0.0000left_pitch0.0000left_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]: [-0.5823, 1.594, 0.7765, -0.0116, -0.4313, -0.3767, 0.9991, -0.0208, 0.807, 0.6056, -0.5995, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.371 left_y=-0.1516 left_z=0.0684 left_yaw=-0.0284 left_pitch=-0.16 left_roll=0.0537 left_gripper=0.9991 right_x=0.2613 right_y=0.0016 right_z=0.1355 right_yaw=-0.0007 right_pitch=-0.217 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.1026, -8.0889, 8.1573, 1.3846, -0.232, 0.0513, -0.022, -0.0615, -1.347, 6.8034, 1.8144, -0.0464, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
The lift worked. The wrist camera now shows the block just ahead and slightly right of the gripper, between where the fingers project. I'll descend onto it.
move_to({"targets": {"left_x": 0.4, "left_y": -0.158, "left_z": 0.0, "left_pitch": 0, "left_gripper": 1}, "note": "After lifting, the wrist camera shows the red block just ahead and slightly right between the finger lines. Descending forward-down so the jaws straddle the block."})
tool
executing move_to over 6 steps (0.6s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
The block is now sitting right between the jaws in the wrist view. Closing the gripper to grasp it.
agent noteThe red block is centered between the left gripper's jaws in the wrist camera. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5812, 1.9045, 0.6701, 0.5159, -0.477, -0.3393, 0.9992, -0.0208, 0.8108, 0.6056, -0.6201, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3933 left_y=-0.157 left_z=0.0007 left_yaw=-0.0182 left_pitch=-0.0504 left_roll=0.0513 left_gripper=0.9992 right_x=0.2577 right_y=0.0018 right_z=0.1311 right_yaw=-0.0003 right_pitch=-0.2414 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [0.1436, -6.694, 3.4256, 0.8816, -0.2027, 0.2418, -0.0952, -0.1162, -1.4291, 6.9949, 1.6777, -0.0757, -0.0611, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
The block is now sitting right between the jaws in the wrist view. Closing the gripper to grasp it.
move_to({"targets": {"left_gripper": 0.0}, "note": "The red block is centered between the left gripper's jaws in the wrist camera. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
The gripper closed almost fully (0.0085), meaning it missed the block—the block sits just in front of the fingertips in the wrist view. I'll open and advance forward before regrasping.
agent noteThe gripper closed fully to 0.0085, so it missed—the block is just beyond the fingertips. Reopening and advancing about 2.5 cm forward to get the block between the jaws.
move_to
left_gripper1.0000left_x0.4200left_y-0.1580left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5816, 1.9221, 0.6617, 0.5526, -0.477, -0.3477, 0.0085, -0.0208, 0.812, 0.6056, -0.6361, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3936 left_y=-0.1574 left_z=-0.0025 left_yaw=-0.0143 left_pitch=-0.0411 left_roll=0.0388 left_gripper=0.0085 right_x=0.2548 right_y=0.0018 right_z=0.1281 right_yaw=-0.0005 right_pitch=-0.2586 right_roll=0.0086 right_gripper=0.9996 state[joint_eff]: [-0.0752, -9.4701, 4.9983, 1.1697, -0.1783, 0.0708, 0.6471, -0.0889, -1.0051, 6.7761, 1.5995, -0.0073, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
The gripper closed almost fully (0.0085), meaning it missed the block—the block sits just in front of the fingertips in the wrist view. I'll open and advance forward before regrasping.
move_to({"targets": {"left_gripper": 1, "left_x": 0.42, "left_y": -0.158, "left_z": 0.0}, "note": "The gripper closed fully to 0.0085, so it missed\u2014the block is just beyond the fingertips. Reopening and advancing about 2.5 cm forward to get the block between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
The block is now right at the fingertips but still a touch ahead. One more small advance, then close.
agent noteThe block now sits just ahead of the open fingertips in the wrist view. Advancing about 2 cm more so the block is deep between the jaws.
move_to
left_x0.4350left_y-0.1550left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5415, 1.9491, 0.7322, 0.5201, -0.4603, -0.3344, 0.9952, -0.0208, 0.812, 0.6056, -0.6575, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.4141 left_y=-0.1534 left_z=0.0019 left_yaw=0.0051 left_pitch=-0.0378 left_roll=0.0346 left_gripper=0.9952 right_x=0.2508 right_y=0.0018 right_z=0.1247 right_yaw=-0.0007 right_pitch=-0.2799 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [0.3487, -7.0085, 6.8991, 1.6484, -0.0611, 0.1343, -0.0952, -0.0342, -1.0188, 6.9128, 1.6093, -0.0122, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
The block is now right at the fingertips but still a touch ahead. One more small advance, then close.
move_to({"targets": {"left_x": 0.435, "left_y": -0.155, "left_z": 0.0}, "note": "The block now sits just ahead of the open fingertips in the wrist view. Advancing about 2 cm more so the block is deep between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
The block now appears centered between the finger tips in the wrist view. Closing the gripper.
agent noteThe block is now between the jaws in the wrist camera. Closing the gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5301, 1.9778, 0.7723, 0.5148, -0.4599, -0.3347, 0.9963, -0.0208, 0.8116, 0.6056, -0.6655, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.4247 left_y=-0.1539 left_z=0.0017 left_yaw=0.0163 left_pitch=-0.0327 left_roll=0.0309 left_gripper=0.9963 right_x=0.2493 right_y=0.0019 right_z=0.1235 right_yaw=-0.0003 right_pitch=-0.2876 right_roll=0.0092 right_gripper=0.9996 state[joint_eff]: [0.7179, -7.665, 6.0923, 1.4481, 0.0415, 0.1832, 0.1001, -0.0615, -1.0325, 7.0222, 1.6142, -0.0171, -0.0513, -0.0073] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
The block now appears centered between the finger tips in the wrist view. Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The block is now between the jaws in the wrist camera. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
The gripper closed fully again (0.0104) — the block got knocked forward. Top camera shows it further away now, near the top edge. I'll open, lift and re-approach from above.
agent noteThe gripper closed empty and the block was knocked forward, now visible near the top of the top camera. Opening the gripper and lifting to re-approach the block from above.
move_to
left_gripper1.0000left_z0.0800left_x0.4400left_y-0.1400
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.5297, 1.9903, 0.7769, 0.5186, -0.4656, -0.342, 0.0104, -0.0208, 0.8154, 0.6056, -0.6895, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.4256 left_y=-0.1531 left_z=-0.0012 left_yaw=0.0252 left_pitch=-0.0342 left_roll=0.0303 left_gripper=0.0104 right_x=0.2447 right_y=0.002 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.3154 right_roll=0.0098 right_gripper=0.9996 state[joint_eff]: [-0.1436, -10.0581, 4.1778, 1.5263, -0.1245, 0.0562, 0.5397, -0.1573, -1.306, 6.7214, 1.6386, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
The gripper closed fully again (0.0104) — the block got knocked forward. Top camera shows it further away now, near the top edge. I'll open, lift and re-approach from above.
move_to({"targets": {"left_gripper": 1, "left_z": 0.08, "left_x": 0.44, "left_y": -0.14}, "note": "The gripper closed empty and the block was knocked forward, now visible near the top of the top camera. Opening the gripper and lifting to re-approach the block from above."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
The block is now ahead and to the left of the gripper in the wrist view. Moving forward-left and back down to grasp height.
agent noteThe wrist camera shows the block ahead and left of the gripper after being knocked forward. Moving forward-left and down to straddle it again.
move_to
left_x0.4800left_y-0.1150left_z0.0050left_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]: [-0.4786, 1.7985, 0.8669, 0.202, -0.4343, -0.3225, 0.9949, -0.0208, 0.8158, 0.6018, -0.7021, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.4315 left_y=-0.1361 left_z=0.055 left_yaw=0.0421 left_pitch=-0.075 left_roll=0.0463 left_gripper=0.9949 right_x=0.2416 right_y=0.002 right_z=0.1153 right_yaw=-0.0 right_pitch=-0.3322 right_roll=0.0102 right_gripper=0.9996 state[joint_eff]: [0.4308, -10.6325, 8.294, 1.7851, -0.1099, 0.1441, 0.0122, -0.0068, -0.9778, 7.2821, 1.5018, -0.0269, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
The block is now ahead and to the left of the gripper in the wrist view. Moving forward-left and back down to grasp height.
move_to({"targets": {"left_x": 0.48, "left_y": -0.115, "left_z": 0.005, "left_gripper": 1}, "note": "The wrist camera shows the block ahead and left of the gripper after being knocked forward. Moving forward-left and down to straddle it again."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
The block is at the far upper-left of the wrist view now. I need to go further forward and left.
agent noteThe block is at the upper-left edge of the wrist view, so it's still forward and left of the gripper. Continuing forward-left at grasp height.
move_to
left_x0.5100left_y-0.0800left_z0.0050left_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]: [-0.374, 2.0178, 0.9337, 0.3435, -0.379, -0.2852, 0.9984, -0.0208, 0.82, 0.6018, -0.7204, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.467 left_y=-0.1093 left_z=0.0037 left_yaw=0.0827 left_pitch=-0.1032 left_roll=0.0482 left_gripper=0.9984 right_x=0.238 right_y=0.0021 right_z=0.1117 right_yaw=0.0001 right_pitch=-0.3547 right_roll=0.0107 right_gripper=0.9996 state[joint_eff]: [0.1299, -8.3487, 6.3385, 1.3993, 0.0073, 0.2662, -0.1832, -0.1026, -1.2103, 6.694, 1.6093, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
The block is at the far upper-left of the wrist view now. I need to go further forward and left.
move_to({"targets": {"left_x": 0.51, "left_y": -0.08, "left_z": 0.005, "left_gripper": 1}, "note": "The block is at the upper-left edge of the wrist view, so it's still forward and left of the gripper. Continuing forward-left at grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteRan out of call budget. Two grasp attempts closed on empty air (the fingertips pushed the block forward each time), and the block was knocked far forward-left of the gripper. Grasping, lifting, transporting to the bowl, and releasing would require several more calls than remain.
give_up
hindsightKey facts for a future agent on this rig: (1) The red block starts roughly at left arm frame (x≈0.42, y≈-0.15) and the white bowl is right of it near (x≈0.42, y≈0.0 to -0.05 in left frame); verify with top_cam which gives a clear overhead view. (2) The left wrist camera looks forward-down; the block appearing between the finger silhouettes at the BOTTOM of the frame means it is graspable — if it appears mid-frame it is still several cm ahead of the fingertips. My two failed closes happened because the block looked 'between the jaws' but was actually ~2-3 cm beyond the fingertips; the closing jaws then flicked it forward. Approach from ABOVE (z≈0.08) and descend vertically onto the block rather than sliding in horizontally at table height, which both drags the fingertips on the table and pushes the block away. (3) The IK layer frequently stalls/freezes at low z near the table (eef_state identical across multiple commands, approver 'delta_clamped'); break the deadlock by commanding a lift to z≈0.07-0.08 first. (4) The approver clamps step deltas heavily, so plan ~1-2 cm effective progress per call near the table; budget calls accordingly — don't spend 10+ calls on the approach. (5) Table surface is at left_z ≈ 0.00; gripper fully closed reads ≈0.01 when empty, so a closed value near 0 means the grasp missed.
Raw transcript
user
Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.3508, 2.0422, 0.9512, 0.374, -0.3706, -0.2741, 0.9984, -0.0208, 0.8223, 0.6018, -0.7303, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.477 left_y=-0.1026 left_z=0.0035 left_yaw=0.0922 left_pitch=-0.0847 left_roll=0.0415 left_gripper=0.9984 right_x=0.236 right_y=0.0022 right_z=0.1097 right_yaw=0.0002 right_pitch=-0.3669 right_roll=0.0109 right_gripper=0.9996 state[joint_eff]: [0.1573, -10.4, 6.5436, 1.199, -0.0366, 0.022, -0.1783, -0.0068, -1.0735, 6.653, 1.4237, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Ran out of call budget. Two grasp attempts closed on empty air (the fingertips pushed the block forward each time), and the block was knocked far forward-left of the gripper. Grasping, lifting, transporting to the bowl, and releasing would require several more calls than remain.", "hindsight": "Key facts for a future agent on this rig: (1) The red block starts roughly at left arm frame (x\u22480.42, y\u2248-0.15) and the white bowl is right of it near (x\u22480.42, y\u22480.0 to -0.05 in left frame); verify with top_cam which gives a clear overhead view. (2) The left wrist camera looks forward-down; the block appearing between the finger silhouettes at the BOTTOM of the frame means it is graspable \u2014 if it appears mid-frame it is still several cm ahead of the fingertips. My two failed closes happened because the block looked 'between the jaws' but was actually ~2-3 cm beyond the fingertips; the closing jaws then flicked it forward. Approach from ABOVE (z\u22480.08) and descend vertically onto the block rather than sliding in horizontally at table height, which both drags the fingertips on the table and pushes the block away. (3) The IK layer frequently stalls/freezes at low z near the table (eef_state identical across multiple commands, approver 'delta_clamped'); break the deadlock by commanding a lift to z\u22480.07-0.08 first. (4) The approver clamps step deltas heavily, so plan ~1-2 cm effective progress per call near the table; budget calls accordingly \u2014 don't spend 10+ calls on the approach. (5) Table surface is at left_z \u2248 0.00; gripper fully closed reads \u22480.01 when empty, so a closed value near 0 means the grasp missed."})
tool
give_up: Ran out of call budget. Two grasp attempts closed on empty air (the fingertips pushed the block forward each time), and the block was knocked far forward-left of the gripper. Grasping, lifting, transporting to the bowl, and releasing would require several more calls than remain.
Trial 0 Wire
Tools (trial initial)
[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]
call 0 attempt 0 · /chat/completions · status 200 · 20.22 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the red block from the table and place it inside the bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0196, -0.0334, 0.9992, -0.02, 0.7937, 0.6056, -0.3958, -0.0181, -0.0288, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4427, 10.2222, 1.9512, -0.0513, 0.2027, -0.0952, -0.4991, -1.5658, 9.7846, 1.9072, -0.0317, 0.1392, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb438176ae9ef939977c38fb4b7c41bda0246d03554acc9056da3bc0f6c6504b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0ce918579150e70d5a460f88f20485f82ae11abaace7958928e32c1cec3445c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6efffe9207254e51612763113bf2707c4c7e3abe43fcdacccba8e57c9cae3f46"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob cb438176ae9e
wire blob 0ce918579150
wire blob 6efffe920725
call 1 attempt 0 · /chat/completions · status 200 · 8.396 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I can see the red block on the table (visible in top and left cameras) and the white bowl to the right. The block appears to be within the left arm's reach, to its front-right. I'll start by moving the left arm toward the block area to localize it better.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.1, \"left_z\": 0.1, \"left_gripper\": 1}, \"note\": \"The red block appears in the left wrist camera's lower-right, so it should be forward and slightly right of the left arm. Moving the left arm forward-right and lower to localize the block before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_019RRoWphYVB7QxpsBXpXCeA",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_019RRoWphYVB7QxpsBXpXCeA"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4664, 1.2938, 0.5213, 0.0608, -0.3611, -0.2798, 0.9992, -0.0208, 0.7986, 0.606, -0.4324, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3365 left_y=-0.0955 left_z=0.0844 left_yaw=-0.0281 left_pitch=-0.0824 left_roll=0.029 left_gripper=0.9992 right_x=0.288 right_y=0.0011 right_z=0.1689 right_yaw=-0.0012 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -5.053, 7.6103, 1.8242, -0.3297, -0.0855, -0.0952, 0.0479, -1.6342, 6.9675, 2.0342, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7ce85049b6677f29531d52546e2603af4d429d0fd6cc081955765488d4a9be1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73dcd46a8bae576638d0b777ed8f256885c4fe2e25075c3406a3e4ca08b41806"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:319a6bd086ba8e110e8386f3ed9395554b187587f9dde6154a301eb44c1c6df1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b7ce85049b66
wire blob 73dcd46a8bae
wire blob 319a6bd086ba
call 2 attempt 0 · /chat/completions · status 200 · 11.36 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0196, -0.0334, 0.9992, -0.02, 0.7937, 0.6056, -0.3958, -0.0181, -0.0288, 0.9997]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.179 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4427, 10.2222, 1.9512, -0.0513, 0.2027, -0.0952, -0.4991, -1.5658, 9.7846, 1.9072, -0.0317, 0.1392, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now visible between the left gripper's fingers in the wrist camera, slightly forward and right of center. I'll move forward-right and lower to position for the grasp.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.115, \"left_z\": 0.035, \"left_gripper\": 1}, \"note\": \"The left wrist camera shows the red block just ahead and slightly right of the gripper. Moving forward-right and down to bring the block between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_019uz38wYE1jtdNc9wN25aGR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019uz38wYE1jtdNc9wN25aGR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4625, 1.639, 0.5484, 0.2604, -0.3634, -0.2893, 0.9992, -0.0208, 0.8021, 0.6056, -0.4519, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3546 left_y=-0.1026 left_z=0.0123 left_yaw=-0.0103 left_pitch=-0.1885 left_roll=0.0747 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.164 right_yaw=-0.0008 right_pitch=-0.0644 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7197, 7.8154, 1.9463, -0.2027, 0.105, -0.0904, -0.1709, -1.5111, 7.1043, 1.9072, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:479766bf0ee064ef232482a419be8a7a4940db3362e07be3f3b4f33660cedd6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6e56eaa4843aa7cf64876c673c063d9b6c041a8909ef85ba2898b5f86eacad61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:836879dfc67515ab80bd939d5db267dc07cc86249f5db964dfb5ae0674b665a7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 479766bf0ee0
wire blob 6e56eaa4843a
wire blob 836879dfc675
call 3 attempt 0 · /chat/completions · status 200 · 9.173 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]: [-0.4664, 1.2938, 0.5213, 0.0608, -0.3611, -0.2798, 0.9992, -0.0208, 0.7986, 0.606, -0.4324, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3365 left_y=-0.0955 left_z=0.0844 left_yaw=-0.0281 left_pitch=-0.0824 left_roll=0.029 left_gripper=0.9992 right_x=0.288 right_y=0.0011 right_z=0.1689 right_yaw=-0.0012 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -5.053, 7.6103, 1.8242, -0.3297, -0.0855, -0.0952, 0.0479, -1.6342, 6.9675, 2.0342, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block now appears at the upper-right of the left wrist camera, so it's still forward and to the right of the gripper. I'll adjust position toward it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.135, \"left_z\": 0.02, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The block is in the upper-right of the left wrist view, so the gripper is short and left of it. Moving forward and further right at grasp height, leveling the pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_012et8t3334Saw2oTboiuCq6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_012et8t3334Saw2oTboiuCq6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4557, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=-0.0011 right_pitch=-0.0686 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.2684, 6.8444, 1.7851, -0.0904, 0.0806, -0.0952, -0.1299, -1.265, 6.9402, 1.6825, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75c4d3d94e70a10ad9caa660d44f2b6e8d1182ad754bb717cda52823d6f08f80"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c260fd9f4f07904c8bc73198cc4fd54a9b8e9e4b39d3316fafcc72e5322d18fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe0d4d7ef7b11028d06fe8200e30d3edb06b61953ee86d02d22705a6cf614d36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 75c4d3d94e70
wire blob c260fd9f4f07
wire blob fe0d4d7ef7b1
call 4 attempt 0 · /chat/completions · status 200 · 9.91 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]: [-0.4625, 1.639, 0.5484, 0.2604, -0.3634, -0.2893, 0.9992, -0.0208, 0.8021, 0.6056, -0.4519, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3546 left_y=-0.1026 left_z=0.0123 left_yaw=-0.0103 left_pitch=-0.1885 left_roll=0.0747 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.164 right_yaw=-0.0008 right_pitch=-0.0644 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7197, 7.8154, 1.9463, -0.2027, 0.105, -0.0904, -0.1709, -1.5111, 7.1043, 1.9072, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is at the right edge of the wrist view, near the right finger. The gripper needs to shift right (more negative y) a bit more to center the block between the fingers.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.378, \"left_y\": -0.15, \"left_z\": 0.015, \"left_gripper\": 1}, \"note\": \"The block sits just right of the right finger in the wrist view. Shifting the gripper further right (negative y) and slightly forward to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011TeLB1uTj6RBQPSaX7JYpK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_011TeLB1uTj6RBQPSaX7JYpK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4778, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1588 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2684, 6.8718, 1.7607, -0.1441, 0.0904, -0.0952, -0.0479, -1.1556, 6.9402, 1.9219, -0.0513, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0174fcb6a9c082a951459222b8b666bcc117ad640404385a8dc62e14b0ffc643"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d10f41031ec28f01e717e880597fe24c926f15cadee3cc8605d84182e3a5b96"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f353238767b67d00cc01bd2f57719bba4c0fad8c3083cedbd1e4aa802c9b7c57"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0174fcb6a9c0
wire blob 5d10f41031ec
wire blob f353238767b6
call 5 attempt 0 · /chat/completions · status 200 · 7.336 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]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4557, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=-0.0011 right_pitch=-0.0686 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.2684, 6.8444, 1.7851, -0.0904, 0.0806, -0.0952, -0.1299, -1.265, 6.9402, 1.6825, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm didn't move at all this step—its state is unchanged, likely IK stalling. I'll retry with a smaller, deliberate step to move right toward the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.375, \"left_y\": -0.14, \"left_z\": 0.015, \"left_pitch\": -0.1, \"left_gripper\": 1}, \"note\": \"The arm didn't move on the last command; the block still sits just right of the right finger in the wrist view. Retrying a smaller step to the right and slightly forward to center the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_0182GSKBBmAcDnX5deLJz2zJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0182GSKBBmAcDnX5deLJz2zJ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5426, 1.7466, 0.5865, 0.3412, -0.4065, -0.3328, 0.9991, -0.0208, 0.8036, 0.6056, -0.4992, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3614 left_y=-0.1322 left_z=0.0017 left_yaw=-0.0331 left_pitch=-0.1619 left_roll=0.0655 left_gripper=0.9991 right_x=0.2781 right_y=0.0013 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.1133 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -7.2821, 7.2821, 1.8193, -0.3394, -0.0073, -0.105, -0.0889, -1.2513, 6.9128, 1.9609, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a221039fd8a10abd12d3f868a02a3a1d51ef8ae2b302eadd291dbc6fe22eb2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:84cc61799ddbe06430615ad2f1935de153a7614672928b17192e6ea47ef49e14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8dafc9a2a40aea1eb44ecc34095bc1c4f405b21bab206169bba0cf9efb399070"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4a221039fd8a
wire blob 84cc61799ddb
wire blob 8dafc9a2a40a
call 6 attempt 0 · /chat/completions · status 200 · 7.278 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]: [-0.4622, 1.6661, 0.5621, 0.3363, -0.3607, -0.2901, 0.9992, -0.0208, 0.8024, 0.6056, -0.4778, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3681 left_y=-0.1097 left_z=0.0197 left_yaw=-0.016 left_pitch=-0.1329 left_roll=0.0449 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1588 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2684, 6.8718, 1.7607, -0.1441, 0.0904, -0.0952, -0.0479, -1.1556, 6.9402, 1.9219, -0.0513, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "From the top camera the gripper is just left of the block. I need to shift a bit more right (negative y) and forward to straddle the block.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.375, \"left_y\": -0.155, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"Top camera shows the gripper immediately left of the red block. Shifting right and slightly forward at table height so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VqeYem5Zx4ECbSQJCWbeN9",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01VqeYem5Zx4ECbSQJCWbeN9"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5755, 1.7912, 0.6567, 0.3023, -0.4286, -0.3645, 0.9992, -0.0208, 0.8043, 0.6056, -0.5087, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.37 left_y=-0.1482 left_z=0.0024 left_yaw=-0.0301 left_pitch=-0.164 left_roll=0.0628 left_gripper=0.9992 right_x=0.2766 right_y=0.0013 right_z=0.1524 right_yaw=-0.001 right_pitch=-0.1236 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8991, 6.4479, 1.3846, -0.2418, -0.0122, -0.0952, -0.0068, -1.2376, 7.1316, 1.7363, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9067e0baa25cadc36d0581d686067c7b3195b7b88a9b27a5fe7708778d9ea4f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:16c64f1cea82536d8cf3afac5bbf8809f89faa54577ee7981e3d88e401247df2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b35fbd6d3e3bebad1e5766909bbb344a900dfad36d6334380ee1cd8e7806bdfc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9067e0baa25c
wire blob 16c64f1cea82
wire blob b35fbd6d3e3b
call 7 attempt 0 · /chat/completions · status 200 · 7.755 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]: [-0.5426, 1.7466, 0.5865, 0.3412, -0.4065, -0.3328, 0.9991, -0.0208, 0.8036, 0.6056, -0.4992, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3614 left_y=-0.1322 left_z=0.0017 left_yaw=-0.0331 left_pitch=-0.1619 left_roll=0.0655 left_gripper=0.9991 right_x=0.2781 right_y=0.0013 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.1133 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -7.2821, 7.2821, 1.8193, -0.3394, -0.0073, -0.105, -0.0889, -1.2513, 6.9128, 1.9609, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now centered between the finger tips in the wrist view, just slightly ahead. I'll nudge forward and close the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.152, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block is centered between the fingers in the wrist view but slightly ahead. Nudging forward and down so the jaws straddle it before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KNqciaYq2LSaNSeXVmi4WC",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01KNqciaYq2LSaNSeXVmi4WC"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2742 right_y=0.0014 right_z=0.1497 right_yaw=-0.001 right_pitch=-0.1384 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.2547, 6.4479, 1.3407, -0.2711, -0.0073, -0.0952, -0.1709, -1.1829, 7.0222, 1.7314, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c273177dec5e47d49dc835ae365047b28790b3de12871b4f4ec2cff1708bd208"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00763a99f06ca94e9f2febe64fc3766f0a4fb832922d578dd64e9b53fa8b11b8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bab6cd12a6c367216aee6f1a24489999d6be4aecd8ca31576854630895cc0e47"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c273177dec5e
wire blob 00763a99f06c
wire blob bab6cd12a6c3
call 8 attempt 0 · /chat/completions · status 200 · 9.682 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]: [-0.5755, 1.7912, 0.6567, 0.3023, -0.4286, -0.3645, 0.9992, -0.0208, 0.8043, 0.6056, -0.5087, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.37 left_y=-0.1482 left_z=0.0024 left_yaw=-0.0301 left_pitch=-0.164 left_roll=0.0628 left_gripper=0.9992 right_x=0.2766 right_y=0.0013 right_z=0.1524 right_yaw=-0.001 right_pitch=-0.1236 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8991, 6.4479, 1.3846, -0.2418, -0.0122, -0.0952, -0.0068, -1.2376, 7.1316, 1.7363, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The arm barely advanced (x stalled at 0.371). The block still sits just ahead of the fingertips. I'll push further forward.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.155, \"left_z\": 0.0, \"left_pitch\": -0.1, \"left_gripper\": 1}, \"note\": \"The block is still just ahead of the fingertips in the wrist view and the arm barely advanced last step. Commanding a larger forward step so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_019c5MtynwLtK77LK6c1LJgz",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_019c5MtynwLtK77LK6c1LJgz"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5457, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2705 right_y=0.0015 right_z=0.1456 right_yaw=-0.0006 right_pitch=-0.1606 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.0359, 6.4615, 1.3748, -0.2906, -0.0122, -0.0952, -0.0479, -1.0325, 6.8718, 1.7656, -0.0562, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:463df52402b78411f178b45a48586e1914079339cb9457da126167cee29fe124"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a7d71d0ba0cef89d891dd2c8e5c02850f3e39605ded43f752d20d59f43f1929f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d5a76c8468ee477c75615b45296e12427654fbdcdb700e84477fb90ccbd8a93e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 463df52402b7
wire blob a7d71d0ba0ce
wire blob d5a76c8468ee
call 9 attempt 0 · /chat/completions · status 200 · 11.75 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]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2742 right_y=0.0014 right_z=0.1497 right_yaw=-0.001 right_pitch=-0.1384 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -7.2547, 6.4479, 1.3407, -0.2711, -0.0073, -0.0952, -0.1709, -1.1829, 7.0222, 1.7314, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The left arm hasn't moved at all for two commands—the fingertips may be dragging on the table, blocking forward motion. I'll lift slightly while advancing.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.155, \"left_z\": 0.02, \"left_pitch\": -0.05, \"left_gripper\": 1}, \"note\": \"The left arm has stalled for two commands, likely with fingertips dragging on the table. Raising the grasp point slightly while moving forward so the jaws can slide over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CZmW6BGWhVtyw73Q1dECFc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01CZmW6BGWhVtyw73Q1dECFc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5686, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2666 right_y=0.0015 right_z=0.1415 right_yaw=-0.0008 right_pitch=-0.1834 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.2547, 6.2701, 1.3602, -0.2955, 0.0171, -0.0904, -0.0615, -1.1556, 7.1726, 1.7998, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5e5bf93c88c91027bfeed73f495a41d38d0928220a0c2f51649da3116c7e6c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ff18b5e5b9db1127c3e94b70942c55e74e51f11c953691aa38ccf61e4f62c48"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a27c04b76a735486eb4405d49ce05b1f5add4bc0368bae105fcb36165aae820d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f5e5bf93c88c
wire blob 9ff18b5e5b9d
wire blob a27c04b76a73
call 10 attempt 0 · /chat/completions · status 200 · 10.74 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]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5457, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2705 right_y=0.0015 right_z=0.1456 right_yaw=-0.0006 right_pitch=-0.1606 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -7.0359, 6.4615, 1.3748, -0.2906, -0.0122, -0.0952, -0.0479, -1.0325, 6.8718, 1.7656, -0.0562, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The left arm has been completely frozen for three commands—likely an IK deadlock. I'll try a distinctly different target (lift up) to unstick it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.08, \"left_x\": 0.37, \"left_y\": -0.15}, \"note\": \"The left arm hasn't moved for three commands, suggesting the IK is stuck at this pose. Lifting straight up to break the deadlock before re-approaching the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_017UFMPJxq6pqjtcK88EJvAq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_017UFMPJxq6pqjtcK88EJvAq"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5823, 1.594, 0.7765, -0.0116, -0.4313, -0.3767, 0.9991, -0.0208, 0.807, 0.6056, -0.5995, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.371 left_y=-0.1516 left_z=0.0684 left_yaw=-0.0284 left_pitch=-0.16 left_roll=0.0537 left_gripper=0.9991 right_x=0.2613 right_y=0.0016 right_z=0.1355 right_yaw=-0.0007 right_pitch=-0.217 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.0889, 8.1573, 1.3846, -0.232, 0.0513, -0.022, -0.0615, -1.347, 6.8034, 1.8144, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea682e3d5ea1adb274c89c0aeb06f0898605d90eb402344eb2ba79d77782b0a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eeaca90db8581cedce92d89abbef86e371935c1220d1217cf20c25c05d1db6c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ad9a4a22148a9029d64ecb9082b81319569e30f3d0aa72c4d010bc7773a1374"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ea682e3d5ea1
wire blob eeaca90db858
wire blob 5ad9a4a22148
call 11 attempt 0 · /chat/completions · status 200 · 5.914 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]: [-0.5831, 1.8008, 0.6731, 0.2871, -0.4316, -0.3725, 0.9992, -0.0208, 0.8043, 0.6056, -0.5686, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3709 left_y=-0.1518 left_z=0.0018 left_yaw=-0.0302 left_pitch=-0.1697 left_roll=0.0632 left_gripper=0.9992 right_x=0.2666 right_y=0.0015 right_z=0.1415 right_yaw=-0.0008 right_pitch=-0.1834 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.2547, 6.2701, 1.3602, -0.2955, 0.0171, -0.0904, -0.0615, -1.1556, 7.1726, 1.7998, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The lift worked. The wrist camera now shows the block just ahead and slightly right of the gripper, between where the fingers project. I'll descend onto it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.158, \"left_z\": 0.0, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"After lifting, the wrist camera shows the red block just ahead and slightly right between the finger lines. Descending forward-down so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AsAsqzvpkHAic52917VWd2",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01AsAsqzvpkHAic52917VWd2"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5812, 1.9045, 0.6701, 0.5159, -0.477, -0.3393, 0.9992, -0.0208, 0.8108, 0.6056, -0.6201, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.157 left_z=0.0007 left_yaw=-0.0182 left_pitch=-0.0504 left_roll=0.0513 left_gripper=0.9992 right_x=0.2577 right_y=0.0018 right_z=0.1311 right_yaw=-0.0003 right_pitch=-0.2414 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -6.694, 3.4256, 0.8816, -0.2027, 0.2418, -0.0952, -0.1162, -1.4291, 6.9949, 1.6777, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a277383672d81ee9f4b67fd1aa33fff6912f91e482ed802fd78c93c65a692ead"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d8c0dc80f8ad8aa8b725f083ad29bfd05313bbef5d5d22d999d95ac82e0930f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:41eaf003d5e9e06aa4d255785aa461c77e5967254e9335c9cb1d569c05179c9a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a277383672d8
wire blob 7d8c0dc80f8a
wire blob 41eaf003d5e9
call 12 attempt 0 · /chat/completions · status 200 · 10.54 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]: [-0.5823, 1.594, 0.7765, -0.0116, -0.4313, -0.3767, 0.9991, -0.0208, 0.807, 0.6056, -0.5995, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.371 left_y=-0.1516 left_z=0.0684 left_yaw=-0.0284 left_pitch=-0.16 left_roll=0.0537 left_gripper=0.9991 right_x=0.2613 right_y=0.0016 right_z=0.1355 right_yaw=-0.0007 right_pitch=-0.217 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.0889, 8.1573, 1.3846, -0.232, 0.0513, -0.022, -0.0615, -1.347, 6.8034, 1.8144, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now sitting right between the jaws in the wrist view. Closing the gripper to grasp it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The red block is centered between the left gripper's jaws in the wrist camera. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01T2PkfZ6BUSxEmafMZX3FqP",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01T2PkfZ6BUSxEmafMZX3FqP"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5816, 1.9221, 0.6617, 0.5526, -0.477, -0.3477, 0.0085, -0.0208, 0.812, 0.6056, -0.6361, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3936 left_y=-0.1574 left_z=-0.0025 left_yaw=-0.0143 left_pitch=-0.0411 left_roll=0.0388 left_gripper=0.0085 right_x=0.2548 right_y=0.0018 right_z=0.1281 right_yaw=-0.0005 right_pitch=-0.2586 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -9.4701, 4.9983, 1.1697, -0.1783, 0.0708, 0.6471, -0.0889, -1.0051, 6.7761, 1.5995, -0.0073, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:531686fe876d35bdd722700a26e86932fd6407ec25faad479faa28a7a50c81a0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f7e6a9b433f437e0ad7e1c966ac1b44b1c5cc3dd8bab4882dd3291c09e0e21d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:091f49ed0f087dbfceb03e64bb94dfac63d3d1e09546a86e203edb2faac4f51a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 531686fe876d
wire blob 1f7e6a9b433f
wire blob 091f49ed0f08
call 13 attempt 0 · /chat/completions · status 200 · 7.985 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]: [-0.5812, 1.9045, 0.6701, 0.5159, -0.477, -0.3393, 0.9992, -0.0208, 0.8108, 0.6056, -0.6201, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.157 left_z=0.0007 left_yaw=-0.0182 left_pitch=-0.0504 left_roll=0.0513 left_gripper=0.9992 right_x=0.2577 right_y=0.0018 right_z=0.1311 right_yaw=-0.0003 right_pitch=-0.2414 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -6.694, 3.4256, 0.8816, -0.2027, 0.2418, -0.0952, -0.1162, -1.4291, 6.9949, 1.6777, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper closed almost fully (0.0085), meaning it missed the block—the block sits just in front of the fingertips in the wrist view. I'll open and advance forward before regrasping.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1, \"left_x\": 0.42, \"left_y\": -0.158, \"left_z\": 0.0}, \"note\": \"The gripper closed fully to 0.0085, so it missed\\u2014the block is just beyond the fingertips. Reopening and advancing about 2.5 cm forward to get the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_014gpq6FHTyVqUPNiZXbx6jC",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014gpq6FHTyVqUPNiZXbx6jC"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5415, 1.9491, 0.7322, 0.5201, -0.4603, -0.3344, 0.9952, -0.0208, 0.812, 0.6056, -0.6575, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4141 left_y=-0.1534 left_z=0.0019 left_yaw=0.0051 left_pitch=-0.0378 left_roll=0.0346 left_gripper=0.9952 right_x=0.2508 right_y=0.0018 right_z=0.1247 right_yaw=-0.0007 right_pitch=-0.2799 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.0085, 6.8991, 1.6484, -0.0611, 0.1343, -0.0952, -0.0342, -1.0188, 6.9128, 1.6093, -0.0122, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:05dbac3c379ac43d7c78be58ce1efcacd94544dcb730d2b72d4c69435badaa4b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:979fcdace1648d5af888e398d62ccfe6cae5cf974ce57eb559cb8de106067166"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f66530787411385ccb751c16fbb6d5f25f74969e9b3c3bfb63780ffc404fe1d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 05dbac3c379a
wire blob 979fcdace164
wire blob 7f6653078741
call 14 attempt 0 · /chat/completions · status 200 · 6.288 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]: [-0.5816, 1.9221, 0.6617, 0.5526, -0.477, -0.3477, 0.0085, -0.0208, 0.812, 0.6056, -0.6361, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3936 left_y=-0.1574 left_z=-0.0025 left_yaw=-0.0143 left_pitch=-0.0411 left_roll=0.0388 left_gripper=0.0085 right_x=0.2548 right_y=0.0018 right_z=0.1281 right_yaw=-0.0005 right_pitch=-0.2586 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -9.4701, 4.9983, 1.1697, -0.1783, 0.0708, 0.6471, -0.0889, -1.0051, 6.7761, 1.5995, -0.0073, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now right at the fingertips but still a touch ahead. One more small advance, then close.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.435, \"left_y\": -0.155, \"left_z\": 0.0}, \"note\": \"The block now sits just ahead of the open fingertips in the wrist view. Advancing about 2 cm more so the block is deep between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011ePDgBgbkzv5pQ5Rxd7NdZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_011ePDgBgbkzv5pQ5Rxd7NdZ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5301, 1.9778, 0.7723, 0.5148, -0.4599, -0.3347, 0.9963, -0.0208, 0.8116, 0.6056, -0.6655, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.1539 left_z=0.0017 left_yaw=0.0163 left_pitch=-0.0327 left_roll=0.0309 left_gripper=0.9963 right_x=0.2493 right_y=0.0019 right_z=0.1235 right_yaw=-0.0003 right_pitch=-0.2876 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.7179, -7.665, 6.0923, 1.4481, 0.0415, 0.1832, 0.1001, -0.0615, -1.0325, 7.0222, 1.6142, -0.0171, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a2667b309da7a58db61bc9a09c7e10025be4631d4672d52ff5d83df469ec481f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:10300c8610f4c36db19f0fad1781a2817258b1ca53b5953f1ff6a441cc778119"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ac91dbbf3f032dd63bf1fe701d0da6314a4b969cfc6c86459a3616a00a2c358"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a2667b309da7
wire blob 10300c8610f4
wire blob 1ac91dbbf3f0
call 15 attempt 0 · /chat/completions · status 200 · 13.09 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]: [-0.5415, 1.9491, 0.7322, 0.5201, -0.4603, -0.3344, 0.9952, -0.0208, 0.812, 0.6056, -0.6575, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4141 left_y=-0.1534 left_z=0.0019 left_yaw=0.0051 left_pitch=-0.0378 left_roll=0.0346 left_gripper=0.9952 right_x=0.2508 right_y=0.0018 right_z=0.1247 right_yaw=-0.0007 right_pitch=-0.2799 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.0085, 6.8991, 1.6484, -0.0611, 0.1343, -0.0952, -0.0342, -1.0188, 6.9128, 1.6093, -0.0122, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block now appears centered between the finger tips in the wrist view. Closing the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is now between the jaws in the wrist camera. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_019Y3nhSZh9QMrFQSPh7YCQQ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_019Y3nhSZh9QMrFQSPh7YCQQ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5297, 1.9903, 0.7769, 0.5186, -0.4656, -0.342, 0.0104, -0.0208, 0.8154, 0.6056, -0.6895, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4256 left_y=-0.1531 left_z=-0.0012 left_yaw=0.0252 left_pitch=-0.0342 left_roll=0.0303 left_gripper=0.0104 right_x=0.2447 right_y=0.002 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.3154 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -10.0581, 4.1778, 1.5263, -0.1245, 0.0562, 0.5397, -0.1573, -1.306, 6.7214, 1.6386, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0bfc4a19ede226d8d113469299ca591bac48997bbad48552a1382b673d3af46b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00a878b9e120a09cc32379a57ea9c9e1732ba5c8b37a280dccc27a2622710d20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a96e52cf8d4ab7b2ef0c1f8436ad721ec53a9f03ac429b1c41bc27e95134dac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0bfc4a19ede2
wire blob 00a878b9e120
wire blob 0a96e52cf8d4
call 16 attempt 0 · /chat/completions · status 200 · 10 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]: [-0.5301, 1.9778, 0.7723, 0.5148, -0.4599, -0.3347, 0.9963, -0.0208, 0.8116, 0.6056, -0.6655, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.1539 left_z=0.0017 left_yaw=0.0163 left_pitch=-0.0327 left_roll=0.0309 left_gripper=0.9963 right_x=0.2493 right_y=0.0019 right_z=0.1235 right_yaw=-0.0003 right_pitch=-0.2876 right_roll=0.0092 right_gripper=0.9996\nstate[joint_eff]: [0.7179, -7.665, 6.0923, 1.4481, 0.0415, 0.1832, 0.1001, -0.0615, -1.0325, 7.0222, 1.6142, -0.0171, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The gripper closed fully again (0.0104) — the block got knocked forward. Top camera shows it further away now, near the top edge. I'll open, lift and re-approach from above.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1, \"left_z\": 0.08, \"left_x\": 0.44, \"left_y\": -0.14}, \"note\": \"The gripper closed empty and the block was knocked forward, now visible near the top of the top camera. Opening the gripper and lifting to re-approach the block from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_0187xHLu1e3uLShj1WTnUviy",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0187xHLu1e3uLShj1WTnUviy"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4786, 1.7985, 0.8669, 0.202, -0.4343, -0.3225, 0.9949, -0.0208, 0.8158, 0.6018, -0.7021, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.1361 left_z=0.055 left_yaw=0.0421 left_pitch=-0.075 left_roll=0.0463 left_gripper=0.9949 right_x=0.2416 right_y=0.002 right_z=0.1153 right_yaw=-0.0 right_pitch=-0.3322 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -10.6325, 8.294, 1.7851, -0.1099, 0.1441, 0.0122, -0.0068, -0.9778, 7.2821, 1.5018, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4944cedcdf7089a34534231b72b83e03d084c5ef3e765a7012076d7619612918"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a255752dfd4d94b3bec19678b67da0777b112f32ed2981739296168bcbbb943f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f9b0d63cf2f57c03d26e18d315e2528405ee886ac47d4f926d41b233c4f6a14"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4944cedcdf70
wire blob a255752dfd4d
wire blob 3f9b0d63cf2f
call 17 attempt 0 · /chat/completions · status 200 · 6.747 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]: [-0.5297, 1.9903, 0.7769, 0.5186, -0.4656, -0.342, 0.0104, -0.0208, 0.8154, 0.6056, -0.6895, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4256 left_y=-0.1531 left_z=-0.0012 left_yaw=0.0252 left_pitch=-0.0342 left_roll=0.0303 left_gripper=0.0104 right_x=0.2447 right_y=0.002 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.3154 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -10.0581, 4.1778, 1.5263, -0.1245, 0.0562, 0.5397, -0.1573, -1.306, 6.7214, 1.6386, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is now ahead and to the left of the gripper in the wrist view. Moving forward-left and back down to grasp height.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": -0.115, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The wrist camera shows the block ahead and left of the gripper after being knocked forward. Moving forward-left and down to straddle it again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MniSDLXAtBwxxH22p2Lzfi",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01MniSDLXAtBwxxH22p2Lzfi"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.374, 2.0178, 0.9337, 0.3435, -0.379, -0.2852, 0.9984, -0.0208, 0.82, 0.6018, -0.7204, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.467 left_y=-0.1093 left_z=0.0037 left_yaw=0.0827 left_pitch=-0.1032 left_roll=0.0482 left_gripper=0.9984 right_x=0.238 right_y=0.0021 right_z=0.1117 right_yaw=0.0001 right_pitch=-0.3547 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -8.3487, 6.3385, 1.3993, 0.0073, 0.2662, -0.1832, -0.1026, -1.2103, 6.694, 1.6093, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a21910ce4631ba812f4988b6a8a19f4108cd57fcfa64bd80b419e4bb09fe9a4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4046ec9c80af1f3796cf59b210ff98045898a8f08b711ca3da605fcf2376f5f5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e9ac0b42912bd5ee87cf177006b5679e0108504d307335e7f42f06944c652a13"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0a21910ce463
wire blob 4046ec9c80af
wire blob e9ac0b42912b
call 18 attempt 0 · /chat/completions · status 200 · 24.99 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]: [-0.4786, 1.7985, 0.8669, 0.202, -0.4343, -0.3225, 0.9949, -0.0208, 0.8158, 0.6018, -0.7021, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.1361 left_z=0.055 left_yaw=0.0421 left_pitch=-0.075 left_roll=0.0463 left_gripper=0.9949 right_x=0.2416 right_y=0.002 right_z=0.1153 right_yaw=-0.0 right_pitch=-0.3322 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -10.6325, 8.294, 1.7851, -0.1099, 0.1441, 0.0122, -0.0068, -0.9778, 7.2821, 1.5018, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The block is at the far upper-left of the wrist view now. I need to go further forward and left.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.08, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is at the upper-left edge of the wrist view, so it's still forward and left of the gripper. Continuing forward-left at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Gb9QpzyGGF1cyjv81xLSmZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Gb9QpzyGGF1cyjv81xLSmZ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3508, 2.0422, 0.9512, 0.374, -0.3706, -0.2741, 0.9984, -0.0208, 0.8223, 0.6018, -0.7303, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.477 left_y=-0.1026 left_z=0.0035 left_yaw=0.0922 left_pitch=-0.0847 left_roll=0.0415 left_gripper=0.9984 right_x=0.236 right_y=0.0022 right_z=0.1097 right_yaw=0.0002 right_pitch=-0.3669 right_roll=0.0109 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.4, 6.5436, 1.199, -0.0366, 0.022, -0.1783, -0.0068, -1.0735, 6.653, 1.4237, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:756756410cf97f08256ce3134dc43c91c0d067c6eb1437915fcc84a13fbd357e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3bf3537e8ae3a375bd2e1aaf1a30c11c7bae2af1a3a207f0ad9585880a5b2488"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:def93d7a32c73fc5c73735f80e9d24271b86728d4f83fcf95913f3752d759309"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 756756410cf9
wire blob 3bf3537e8ae3
wire blob def93d7a32c7