adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3843, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.02, -0.0292, 0.9997]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 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]: [-0.4034, -1.4427, 10.2222, 1.8486, -0.0562, 0.1734, -0.0855, -0.3214, -1.5932, 9.812, 1.917, -0.0171, 0.1294, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:363ca8043ff3ad24055e57e0f1a639ce06258ed7a8e1a2407b1a078cf4c3ca81"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:74fae9625aa87aa05c164ac2ed3d22b44efca880e4defdb582c3f000564a4c5f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5498217ae45c676b4da360b2b144df2c719a8c11a133a80f52caf6e310b52cd5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.08, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block ahead and to the right of the left gripper; the bowl is farther forward near the right arm. Moving the left arm forward and to its right, lowering slightly, to line up above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016kD7tfKYypLjWcWMqE5f7S",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_016kD7tfKYypLjWcWMqE5f7S"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.366, 1.2427, 0.5587, -0.0189, -0.2806, -0.2195, 0.9993, -0.0212, 0.7986, 0.6071, -0.4217, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3417 left_y=-0.0747 left_z=0.0987 left_yaw=-0.0259 left_pitch=-0.0982 left_roll=0.0247 left_gripper=0.9993 right_x=0.2897 right_y=0.001 right_z=0.1716 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.506, 8.8684, 1.8339, -0.3101, -0.0073, -0.0855, -0.0615, -1.5795, 6.8581, 2.0293, -0.0366, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb472b25f9456c6108dc60ceebd593fb29be6a271c11acb067db7fc564899140"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d018eef7a3e97de29db7cb70410da386911e62a43ce17608ab132fe16f38c5b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e434330c81be7d463b1b6bd5111e3d000736ef2fbad39b1517511814e9a91765"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "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, -0.3843, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6056, -0.3958, -0.02, -0.0292, 0.9997]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 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]: [-0.4034, -1.4427, 10.2222, 1.8486, -0.0562, 0.1734, -0.0855, -0.3214, -1.5932, 9.812, 1.917, -0.0171, 0.1294, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.125, \"left_z\": 0.07, \"left_gripper\": 1.0}, \"note\": \"Left wrist camera shows the block ahead and still right of the gripper center. Moving farther forward and right while lowering toward grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GT5exRttzAkHjjucf7CStE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01GT5exRttzAkHjjucf7CStE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4335, 1.6363, 0.7403, 0.0975, -0.3256, -0.271, 0.9993, -0.0212, 0.8024, 0.6056, -0.4419, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.1147 left_z=0.0516 left_yaw=-0.0236 left_pitch=-0.1749 left_roll=0.0495 left_gripper=0.9993 right_x=0.2868 right_y=0.0011 right_z=0.1658 right_yaw=-0.0012 right_pitch=-0.0549 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -7.4325, 7.788, 1.6923, -0.232, -0.0073, -0.0904, -0.0752, -1.5658, 7.0906, 1.8339, -0.0415, -0.0366, -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,$blob:42bdc51b42f71f0cc7269e07699f05789e4a965ce8787229bd4fc40246cd1b46"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c87639569036d2cd577bfc6fe0970c96d1fb3c0a7de9e9a05628a0d9efcda9f3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c39a20881e6bbc1168aee0a256cf60d6ffc9def99ef5bb2a8e1e910e68a23ce0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.366, 1.2427, 0.5587, -0.0189, -0.2806, -0.2195, 0.9993, -0.0212, 0.7986, 0.6071, -0.4217, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3417 left_y=-0.0747 left_z=0.0987 left_yaw=-0.0259 left_pitch=-0.0982 left_roll=0.0247 left_gripper=0.9993 right_x=0.2897 right_y=0.001 right_z=0.1716 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -4.506, 8.8684, 1.8339, -0.3101, -0.0073, -0.0855, -0.0615, -1.5795, 6.8581, 2.0293, -0.0366, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.415, \"left_y\": -0.135, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The block is now between the finger tips in the wrist view, slightly right of center. Lowering to table height and nudging right so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_012K6K8txE3PcXsZxWznM7rc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_012K6K8txE3PcXsZxWznM7rc"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4793, 1.8297, 0.6914, 0.5415, -0.4072, -0.2787, 0.9993, -0.0212, 0.8032, 0.6056, -0.4557, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1363 left_z=0.0395 left_yaw=-0.0051 left_pitch=0.03 left_roll=0.0046 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1629 right_yaw=-0.0012 right_pitch=-0.0694 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -5.6957, 3.5077, 0.7595, -0.0513, 0.1978, -0.0904, -0.1162, -1.3333, 6.9538, 1.7753, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e63a5de7daa011adaa623bbe5ec549c81a8d0abb42d7c561515793c4391238f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90eb52b233c0ef4212c02707d665ca18a2ecb71b52d8fd57fe7841a472138f19"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2cbcaad2494ca9d1814a6f9e074f187a93b24de4bac81dd4c1fc2d8af3b32abc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4335, 1.6363, 0.7403, 0.0975, -0.3256, -0.271, 0.9993, -0.0212, 0.8024, 0.6056, -0.4419, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3909 left_y=-0.1147 left_z=0.0516 left_yaw=-0.0236 left_pitch=-0.1749 left_roll=0.0495 left_gripper=0.9993 right_x=0.2868 right_y=0.0011 right_z=0.1658 right_yaw=-0.0012 right_pitch=-0.0549 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -7.4325, 7.788, 1.6923, -0.232, -0.0073, -0.0904, -0.0752, -1.5658, 7.0906, 1.8339, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block is sitting between the open jaws in the wrist view, at table height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RSLEBjHMra1PUpH7bS5ZxQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01RSLEBjHMra1PUpH7bS5ZxQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4828, 1.8439, 0.6872, 0.58, -0.4164, -0.2909, 0.0122, -0.0212, 0.8036, 0.6056, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1374 left_z=0.04 left_yaw=0.0059 left_pitch=0.0503 left_roll=-0.0108 left_gripper=0.0122 right_x=0.2809 right_y=0.0012 right_z=0.1579 right_yaw=-0.0012 right_pitch=-0.0954 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.2513, 5.2718, 1.3016, -0.0952, 0.1197, 1.0476, -0.0615, -1.2513, 7.0496, 1.9267, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:77412543c808d7c8b213c72b6d2d0af6aafa86cf74bebd8cdec0d8defdb9d70b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bd4779db1c715ebf75b2630b3da3178cb2039c453996b43c15de4ab8d976e5a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b41a30517c145572f464b1ff3bb7ec02620cd79ba064f5c39587bbb0f5406b79"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4793, 1.8297, 0.6914, 0.5415, -0.4072, -0.2787, 0.9993, -0.0212, 0.8032, 0.6056, -0.4557, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4217 left_y=-0.1363 left_z=0.0395 left_yaw=-0.0051 left_pitch=0.03 left_roll=0.0046 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1629 right_yaw=-0.0012 right_pitch=-0.0694 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -5.6957, 3.5077, 0.7595, -0.0513, 0.1978, -0.0904, -0.1162, -1.3333, 6.9538, 1.7753, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0, \"left_z\": 0.07}, \"note\": \"The gripper closed almost fully (0.012) and the block was pushed aside, so the grasp missed. Reopening and lifting a bit to re-align over the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_017BxcqNt23Mb4n9TxxkS7WB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_017BxcqNt23Mb4n9TxxkS7WB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4831, 1.7779, 0.6998, 0.44, -0.4236, -0.2996, 0.9949, -0.0212, 0.8055, 0.6056, -0.5014, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4151 left_y=-0.1317 left_z=0.0454 left_yaw=0.0154 left_pitch=-0.0018 left_roll=0.0144 left_gripper=0.9949 right_x=0.2778 right_y=0.0012 right_z=0.1535 right_yaw=-0.0013 right_pitch=-0.1175 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -10.6735, 7.6923, 1.8926, -0.1197, 0.0904, 0.0708, -0.0205, -0.8137, 7.1179, 1.8339, -0.0513, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00321ba68eee54ab954b7970d90e4161b981951d8709fbace63c73e132c276e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:439b6ae1989926c3fd4683e4b16a038366ab01bdd2267c7e5f8714c35500f652"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb70208efe9ef6a60e702c240a46c1f8155dbd671b6e8fd219a6cfe77d9b701d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4828, 1.8439, 0.6872, 0.58, -0.4164, -0.2909, 0.0122, -0.0212, 0.8036, 0.6056, -0.4812, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.1374 left_z=0.04 left_yaw=0.0059 left_pitch=0.0503 left_roll=-0.0108 left_gripper=0.0122 right_x=0.2809 right_y=0.0012 right_z=0.1579 right_yaw=-0.0012 right_pitch=-0.0954 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -9.2513, 5.2718, 1.3016, -0.0952, 0.1197, 1.0476, -0.0615, -1.2513, 7.0496, 1.9267, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.155, \"left_z\": 0.035, \"left_gripper\": 1.0}, \"note\": \"The wrist view shows the block right of center and near the fingertips, so the previous close pushed it away. Shifting the gripper right (~2 cm) and slightly back, lowering to centre the block between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011FkoK8Q1oAHEqiNvWxwpxs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011FkoK8Q1oAHEqiNvWxwpxs"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5453, 1.821, 0.7059, 0.4301, -0.4549, -0.3317, 0.9985, -0.0212, 0.8062, 0.6056, -0.511, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4049 left_y=-0.1507 left_z=0.0296 left_yaw=-0.004 left_pitch=-0.0325 left_roll=0.0278 left_gripper=0.9985 right_x=0.2763 right_y=0.0013 right_z=0.1515 right_yaw=-0.0013 right_pitch=-0.1278 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.8154, 6.2974, 1.8877, -0.4322, -0.1148, -0.1734, -0.212, -1.2376, 6.9128, 1.7949, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3cbfa5347d97e68225ef3c070b884dd219eafed92c417d0bfc39f12da98c63c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3bcb34c7722213e5e87b1dbd3cb3390b94c50d90ad380b0864c5836a1e39f078"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae52d125432037c392599d8fcd03438a981c7a70e1bc099ad3c783656e0e2eaa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4831, 1.7779, 0.6998, 0.44, -0.4236, -0.2996, 0.9949, -0.0212, 0.8055, 0.6056, -0.5014, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4151 left_y=-0.1317 left_z=0.0454 left_yaw=0.0154 left_pitch=-0.0018 left_roll=0.0144 left_gripper=0.9949 right_x=0.2778 right_y=0.0012 right_z=0.1535 right_yaw=-0.0013 right_pitch=-0.1175 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -10.6735, 7.6923, 1.8926, -0.1197, 0.0904, 0.0708, -0.0205, -0.8137, 7.1179, 1.8339, -0.0513, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.152, \"left_z\": 0.02, \"left_gripper\": 1.0}, \"note\": \"The block is now centred between the jaws horizontally but sits just ahead of the fingertips in the wrist view. Moving forward ~3 cm and down to table height so the jaws surround it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UKhBWQBFzg6UA5wNLstsoe",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UKhBWQBFzg6UA5wNLstsoe"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5007, 1.9293, 0.7914, 0.4248, -0.4389, -0.3248, 0.9985, -0.0212, 0.8101, 0.6056, -0.5285, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4272 left_y=-0.1441 left_z=0.0117 left_yaw=0.0249 left_pitch=-0.0622 left_roll=0.0388 left_gripper=0.9985 right_x=0.2736 right_y=0.0013 right_z=0.1473 right_yaw=-0.001 right_pitch=-0.1491 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0462, 6.6256, 1.7802, -0.1099, 0.2173, -0.1685, -0.1709, -1.0462, 6.8991, 1.8339, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bee98f374e7604f18ca321a76b2d13f46686ac82bace91ed48911036d51f0de9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2b8d43af924258d991de3ad2ab1e3ee065c91764b68ea99f2d16a0da63aae0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65a8e8c404f25516ee1722ccef694f382912e77dcf69c7abfd6415a43daababc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5453, 1.821, 0.7059, 0.4301, -0.4549, -0.3317, 0.9985, -0.0212, 0.8062, 0.6056, -0.511, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4049 left_y=-0.1507 left_z=0.0296 left_yaw=-0.004 left_pitch=-0.0325 left_roll=0.0278 left_gripper=0.9985 right_x=0.2763 right_y=0.0013 right_z=0.1515 right_yaw=-0.0013 right_pitch=-0.1278 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.8154, 6.2974, 1.8877, -0.4322, -0.1148, -0.1734, -0.212, -1.2376, 6.9128, 1.7949, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block now fills the space between the jaws in the wrist view and the gripper is at table height. Closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GUY2cjHD7UftsquN4P6cy5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01GUY2cjHD7UftsquN4P6cy5"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5014, 1.9446, 0.7956, 0.4179, -0.4351, -0.334, 0.4485, -0.0212, 0.8101, 0.6056, -0.5617, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4259 left_y=-0.1445 left_z=0.0052 left_yaw=0.0267 left_pitch=-0.0787 left_roll=0.0383 left_gripper=0.4485 right_x=0.268 right_y=0.0015 right_z=0.1413 right_yaw=-0.0009 right_pitch=-0.1823 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -10.1128, 4.506, 1.6142, -0.2173, 0.0317, 1.033, -0.0479, -1.2103, 6.8581, 1.8535, -0.0464, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a30af4afd9001ff6dce30381db4c045bd59e0ffbe649b13519948add3ef12e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e120d7c23486e9a5685d8e815cbb368f981d32c94877d9b2cfb2147adaf5c59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5d07662fcea105b9239687b0f73f8f48580b6537270de23a928426af2e46d7b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5007, 1.9293, 0.7914, 0.4248, -0.4389, -0.3248, 0.9985, -0.0212, 0.8101, 0.6056, -0.5285, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4272 left_y=-0.1441 left_z=0.0117 left_yaw=0.0249 left_pitch=-0.0622 left_roll=0.0388 left_gripper=0.9985 right_x=0.2736 right_y=0.0013 right_z=0.1473 right_yaw=-0.001 right_pitch=-0.1491 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.0462, 6.6256, 1.7802, -0.1099, 0.2173, -0.1685, -0.1709, -1.0462, 6.8991, 1.8339, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"The gripper stopped at 0.45 with gripper effort rising, and the block is held between the jaws in the wrist view. Lifting the block clear of the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RSdCgN18BrFWt19LSfPMcB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01RSdCgN18BrFWt19LSfPMcB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5018, 1.6474, 1.0317, -0.1562, -0.4339, -0.3458, 0.4484, -0.0212, 0.8108, 0.6056, -0.5903, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1434 left_z=0.1222 left_yaw=0.0339 left_pitch=-0.114 left_roll=0.0491 left_gripper=0.4484 right_x=0.263 right_y=0.0015 right_z=0.1361 right_yaw=-0.0013 right_pitch=-0.2117 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -10.3043, 8.9094, 1.6386, -0.2418, 0.0806, 1.033, -0.1299, -1.2513, 6.9538, 1.8291, -0.0317, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f347ec498130fb28f695eb8d9af6b1bf2692b943e8edf1a09c66e421b3d079df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:982257590c09a68f051a24228ef3073eaf58a324bc1fa0ed0d51eb630903012c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc0f5d16e4eb990ba8a4dd11938220d58ee82b17c8875cc5389bad730557cc16"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5014, 1.9446, 0.7956, 0.4179, -0.4351, -0.334, 0.4485, -0.0212, 0.8101, 0.6056, -0.5617, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4259 left_y=-0.1445 left_z=0.0052 left_yaw=0.0267 left_pitch=-0.0787 left_roll=0.0383 left_gripper=0.4485 right_x=0.268 right_y=0.0015 right_z=0.1413 right_yaw=-0.0009 right_pitch=-0.1823 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -10.1128, 4.506, 1.6142, -0.2173, 0.0317, 1.033, -0.0479, -1.2103, 6.8581, 1.8535, -0.0464, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.14, \"left_z\": 0.18, \"left_gripper\": 0.0}, \"note\": \"The block is lifted and held in the left gripper. In the top camera the bowl lies further along the left arm's forward direction (image-right), roughly 15-18 cm away; moving forward toward it at a safe height to check alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_016FYi1rVtW2b9d2xqutZDFN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_016FYi1rVtW2b9d2xqutZDFN"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3626, 2.0087, 1.6779, -0.4324, -0.3408, -0.2657, 0.4484, -0.0212, 0.8154, 0.6056, -0.6167, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5404 left_y=-0.138 left_z=0.1649 left_yaw=0.0546 left_pitch=-0.1382 left_roll=0.0491 left_gripper=0.4484 right_x=0.2584 right_y=0.0016 right_z=0.1305 right_yaw=-0.0012 right_pitch=-0.2426 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -11.5761, 9.2786, 1.4383, -0.0757, 0.2369, 1.0281, -0.212, -1.5521, 6.8034, 1.746, -0.0415, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53b4774b41269627c3129b50cf6fc6b01549f4793a2c3484b879c4b59a4cd474"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b90bd518425a5e00dc15cf4838a1982c25c9d5eaa7bed91317830cdb661307ab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e91f4943dfa5b6333a03fb74d8dc1c8081dd36fc1fa91ecbc81a089728dc506d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5018, 1.6474, 1.0317, -0.1562, -0.4339, -0.3458, 0.4484, -0.0212, 0.8108, 0.6056, -0.5903, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4232 left_y=-0.1434 left_z=0.1222 left_yaw=0.0339 left_pitch=-0.114 left_roll=0.0491 left_gripper=0.4484 right_x=0.263 right_y=0.0015 right_z=0.1361 right_yaw=-0.0013 right_pitch=-0.2117 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -10.3043, 8.9094, 1.6386, -0.2418, 0.0806, 1.033, -0.1299, -1.2513, 6.9538, 1.8291, -0.0317, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.3, \"left_z\": 0.18, \"left_gripper\": 0.0}, \"note\": \"In the top view the left arm moved up-image when I moved +x, so the bowl (image-center-right) is actually to the left arm's right (-y) and slightly back. Swinging the held block right and back toward the bowl at safe height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WozoN4rtFUsTLJXWGiQPx8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01WozoN4rtFUsTLJXWGiQPx8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.77, 2.075, 1.8454, -0.7158, -0.5873, -0.5995, 0.4484, -0.0212, 0.8165, 0.6056, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4489 left_y=-0.2939 left_z=0.1699 left_yaw=0.034 left_pitch=-0.17 left_roll=0.0563 left_gripper=0.4484 right_x=0.255 right_y=0.0017 right_z=0.1272 right_yaw=-0.0011 right_pitch=-0.2624 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -10.7282, 9.3607, 1.3309, -0.5104, 0.0317, 1.0281, -0.2256, -1.1829, 6.7761, 1.6484, -0.0317, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a331fa59c7b72ab42cfdbf0a7a15a2428446b8d1009d000c40ad0dd18173cc9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f88f3e19edc0ea384bca3ed04c6200a5cde1af5126f9d5d67bd820402fb91700"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2d0daf59a0662b3ca0fd0b6ae2dc553bf02d55dd8296c26aa6208cc50b0870a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3626, 2.0087, 1.6779, -0.4324, -0.3408, -0.2657, 0.4484, -0.0212, 0.8154, 0.6056, -0.6167, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5404 left_y=-0.138 left_z=0.1649 left_yaw=0.0546 left_pitch=-0.1382 left_roll=0.0491 left_gripper=0.4484 right_x=0.2584 right_y=0.0016 right_z=0.1305 right_yaw=-0.0012 right_pitch=-0.2426 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -11.5761, 9.2786, 1.4383, -0.0757, 0.2369, 1.0281, -0.212, -1.5521, 6.8034, 1.746, -0.0415, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.33, \"left_z\": 0.12, \"left_gripper\": 0.0}, \"note\": \"Top view shows the held block just above-left of the bowl, and the bowl rim appears at the lower-right of the left wrist view. Shifting slightly back and right (~3 cm each) and lowering to bring the block over the bowl's centre.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WBKfjPCuXJpvi7tXGgU5s9",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01WBKfjPCuXJpvi7tXGgU5s9"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8642, 2.1258, 1.7485, -0.6556, -0.6163, -0.6758, 0.4484, -0.0212, 0.8173, 0.6056, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4172 left_y=-0.3259 left_z=0.1181 left_yaw=0.0132 left_pitch=-0.2071 left_roll=0.0828 left_gripper=0.4484 right_x=0.2509 right_y=0.0018 right_z=0.1234 right_yaw=-0.0006 right_pitch=-0.2853 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.5761, 6.5709, 1.3651, -0.6129, -0.1587, 1.0232, 0.0889, -0.9778, 6.7761, 1.6874, -0.0171, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0483379a3f7c4edbc56eb0609f55c22b07f2b72de80d38e66729b39c7da6eb9a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df1010b6660a0672b3249f628120e796bb46a13099550bc3a7eabfdc0dc094f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df1354118061f3580862bfd670ef36cd724b25a83b1c4b91b7c81e75799149d5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.77, 2.075, 1.8454, -0.7158, -0.5873, -0.5995, 0.4484, -0.0212, 0.8165, 0.6056, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4489 left_y=-0.2939 left_z=0.1699 left_yaw=0.034 left_pitch=-0.17 left_roll=0.0563 left_gripper=0.4484 right_x=0.255 right_y=0.0017 right_z=0.1272 right_yaw=-0.0011 right_pitch=-0.2624 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -10.7282, 9.3607, 1.3309, -0.5104, 0.0317, 1.0281, -0.2256, -1.1829, 6.7761, 1.6484, -0.0317, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.37, \"left_z\": 0.09, \"left_gripper\": 0.0}, \"note\": \"The top view shows the block over the bowl's near-left rim and the wrist view shows the bowl to the lower-right, so I still need to go a bit more right and back. Shifting ~4 cm right, ~3 cm back and lowering slightly so the block is over the bowl interior.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XPBeVcJfKVi4w8zAFNjizq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01XPBeVcJfKVi4w8zAFNjizq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8738, 2.1284, 1.7382, -0.6353, -0.6254, -0.701, 0.4484, -0.0212, 0.8173, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.3298 left_z=0.1161 left_yaw=0.0221 left_pitch=-0.1954 left_roll=0.0637 left_gripper=0.4484 right_x=0.2473 right_y=0.0018 right_z=0.1205 right_yaw=-0.0009 right_pitch=-0.304 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -11.7265, 6.9812, 1.3016, -0.5641, -0.0757, 1.0232, -0.0752, -0.9368, 6.8991, 1.5946, -0.0269, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5dce48e51bde4fa51f73fc24f8921076b8c5a8dca4ef36b762d40e5fb61b4b5d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3dbc8d3121c61b9fbf6f0fe1052da8fbf3745e00d7c0792625d5c9def7572b3c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9ef78b0b90a6a9560d980f0ca01f66db014f1f29415a87efa185e5a63b31091"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8642, 2.1258, 1.7485, -0.6556, -0.6163, -0.6758, 0.4484, -0.0212, 0.8173, 0.6056, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4172 left_y=-0.3259 left_z=0.1181 left_yaw=0.0132 left_pitch=-0.2071 left_roll=0.0828 left_gripper=0.4484 right_x=0.2509 right_y=0.0018 right_z=0.1234 right_yaw=-0.0006 right_pitch=-0.2853 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.5761, 6.5709, 1.3651, -0.6129, -0.1587, 1.0232, 0.0889, -0.9778, 6.7761, 1.6874, -0.0171, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.36, \"left_z\": 0.1, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 0.0}, \"note\": \"The arm barely moved on the last command (IK may be struggling at this reach); the block is still over the bowl's left rim in the top view. Retrying with a smaller rightward/backward step and neutral tilt to bring the block over the bowl interior.\"}",
        "name": "move_to"
      },
      "id": "toolu_017j7Wrdf8Qi3G6miBa6p7AD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_017j7Wrdf8Qi3G6miBa6p7AD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9138, 2.101, 1.6268, -0.524, -0.7033, -0.7246, 0.4484, -0.0212, 0.8188, 0.6056, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4047 left_y=-0.3318 left_z=0.1093 left_yaw=0.0392 left_pitch=-0.1253 left_roll=0.0639 left_gripper=0.4484 right_x=0.2466 right_y=0.0018 right_z=0.1195 right_yaw=-0.0008 right_pitch=-0.3093 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-5.4359, -11.1795, 5.4632, 1.6532, -0.5641, -0.0855, 1.0281, -0.1299, -0.7726, 6.735, 1.4432, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4b11f1e9029716da08f35035d290f44fff99e5d356f70856a3fc647d711119cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4183a941388bcbb4a2e41abdafc7c26a5e1d55bd6abd6c5bc75753b4e124b326"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e3e144310695b970494f70c66ed07ca75bb3bc3e29a463b877ad6820c73a02b5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8738, 2.1284, 1.7382, -0.6353, -0.6254, -0.701, 0.4484, -0.0212, 0.8173, 0.6056, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.3298 left_z=0.1161 left_yaw=0.0221 left_pitch=-0.1954 left_roll=0.0637 left_gripper=0.4484 right_x=0.2473 right_y=0.0018 right_z=0.1205 right_yaw=-0.0009 right_pitch=-0.304 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -11.7265, 6.9812, 1.3016, -0.5641, -0.0757, 1.0232, -0.0752, -0.9368, 6.8991, 1.5946, -0.0269, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.37, \"left_y\": -0.4, \"left_z\": 0.09, \"left_gripper\": 0.0}, \"note\": \"The arm is tracking y slowly (only reached -0.33 despite -0.36 target) and the block still hangs over the bowl's left rim. Commanding a larger rightward target so the block ends up over the bowl interior.\"}",
        "name": "move_to"
      },
      "id": "toolu_01G78K9P4PZfYHi9dcMMRtYD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01G78K9P4PZfYHi9dcMMRtYD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.055, 2.2829, 1.8359, -0.6777, -0.7506, -0.8795, 0.4483, -0.0212, 0.8227, 0.6056, -0.6975, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.367 left_y=-0.3957 left_z=0.0804 left_yaw=0.0237 left_pitch=-0.1506 left_roll=0.076 left_gripper=0.4483 right_x=0.2432 right_y=0.002 right_z=0.116 right_yaw=-0.0001 right_pitch=-0.3307 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.8068, 9.1966, 0.9304, -0.6716, -0.0366, 1.033, -0.1026, -1.4154, 6.694, 1.5556, -0.0562, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ff22fa576eac1e07f6520300e3232fe03dd30e0a4d4dc527ece4a73a8005829"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4b644ec5695a4295368946ce67180f88753ac9f28f272ccc65df0873369405b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f94e605867cebb18e437b205b1a30209592dfd070498e06b5bd1c6860afafbf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9138, 2.101, 1.6268, -0.524, -0.7033, -0.7246, 0.4484, -0.0212, 0.8188, 0.6056, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4047 left_y=-0.3318 left_z=0.1093 left_yaw=0.0392 left_pitch=-0.1253 left_roll=0.0639 left_gripper=0.4484 right_x=0.2466 right_y=0.0018 right_z=0.1195 right_yaw=-0.0008 right_pitch=-0.3093 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-5.4359, -11.1795, 5.4632, 1.6532, -0.5641, -0.0855, 1.0281, -0.1299, -0.7726, 6.735, 1.4432, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The wrist camera now shows the block directly over the bowl's interior. Releasing it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the bowl interior directly beneath the held block, about 8 cm above the table. Opening the gripper to drop the block into the bowl.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WX1MKFCricEdLfMW4RcLS7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01WX1MKFCricEdLfMW4RcLS7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0599, 2.2898, 1.8389, -0.6945, -0.7452, -0.8909, 0.5952, -0.0212, 0.823, 0.6056, -0.7029, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3633 left_y=-0.3959 left_z=0.0759 left_yaw=0.0253 left_pitch=-0.164 left_roll=0.0835 left_gripper=0.5952 right_x=0.2422 right_y=0.002 right_z=0.1151 right_yaw=-0.0003 right_pitch=-0.3364 right_roll=0.0091 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -13.5726, 6.0103, 1.1502, -0.486, 0.0855, -0.1343, -0.0479, -0.9094, 6.8171, 1.3944, -0.0317, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3c7940106f6fc676e30db6d0c8c032200025a1de73fcc0bbf54386c089e9c65"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40748a9e464d57b5ef570d4fd5455fa9cf6ebc897f030ace39d203ec6528ad23"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d8576e47eb4234c841581927d8e47da39992933a6f8a034ff72dcc9db1c0ea0a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}