adhoc - adhoc_fe9d6f8f.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 356.1 s
total steps: 108

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

Let me start by moving the left arm forward toward the red block to calibrate where it sits relative to the arm.

agent noteTop camera shows the red block ahead of the grippers and the bowl further along; left wrist cam sees the block near and slightly to the right. Moving the left arm forward and down toward the block to calibrate its position.

move_to

left_x0.4000left_y-0.0300left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3862, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6067, -0.3958, -0.0196, -0.0288, 0.9997] state[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [-0.6906, -1.4427, 10.2085, 1.9072, -0.0904, 0.1734, -0.0904, -0.4308, -1.6479, 9.7709, 1.9023, -0.0415, 0.1685, -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

Let me start by moving the left arm forward toward the red block to calibrate where it sits relative to the arm.

move_to({"targets": {"left_x": 0.4, "left_y": -0.03, "left_z": 0.12}, "note": "Top camera shows the red block ahead of the grippers and the bowl further along; left wrist cam sees the block near and slightly to the right. Moving the left arm forward and down toward the block to calibrate its position."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe left wrist cam shows the red block at the lower right of its view, and the top cam shows the block a bit further forward and slightly to the arm's right. Moving further forward and to the right to get above the block.

move_to

left_x0.4500left_y-0.0600left_z0.1000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1287, 1.3705, 0.6197, 0.046, -0.107, -0.0975, 0.9992, -0.0212, 0.8001, 0.609, -0.4328, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.3746 left_y=-0.0259 left_z=0.0884 left_yaw=-0.0003 left_pitch=-0.1258 left_roll=0.0106 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=-0.0009 right_pitch=-0.0397 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.4855, -6.0786, 9.1829, 2.0049, -0.1734, 0.0415, -0.0171, -0.1709, -1.6615, 6.8034, 2.0195, -0.0513, -0.0513, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.06, "left_z": 0.1, "left_pitch": 0.0}, "note": "The left wrist cam shows the red block at the lower right of its view, and the top cam shows the block a bit further forward and slightly to the arm's right. Moving further forward and to the right to get above the block."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteThe block is no longer in the left wrist view (likely just below/ahead of the fingertips), and the top cam shows the fingertips a few cm short of the block. Moving a bit further forward and lower to hover just above the block.

move_to

left_x0.4800left_y-0.0400left_z0.0500left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.205, 1.6302, 0.7708, 0.1696, -0.1707, -0.1364, 0.9992, -0.0212, 0.8024, 0.6067, -0.4549, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4274 left_y=-0.0546 left_z=0.0739 left_yaw=-0.0021 left_pitch=-0.104 left_roll=0.0186 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.1638 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.5812, -7.0359, 8.3897, 2.0195, -0.2271, 0.0122, -0.0122, -0.0615, -1.4154, 7.1726, 1.8877, -0.0562, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.48, "left_y": -0.04, "left_z": 0.05, "left_pitch": 0.0}, "note": "The block is no longer in the left wrist view (likely just below/ahead of the fingertips), and the top cam shows the fingertips a few cm short of the block. Moving a bit further forward and lower to hover just above the block."})

tool

executing move_to over 5 steps (0.5s)

step 20

assistant

agent noteTop cam shows the open fingertips still a few cm short of the red block, which is aligned with the gripper's center line; the block is hidden just below the wrist cam's view. Advancing ~4 cm forward at block height so the block sits between the jaws.

move_to

left_x0.5000left_y-0.0400left_z0.0300left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1425, 1.8572, 0.8005, 0.3557, -0.1467, -0.1055, 0.9992, -0.0208, 0.8055, 0.6067, -0.4797, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4541 left_y=-0.0354 left_z=0.0237 left_yaw=0.0237 left_pitch=-0.1182 left_roll=0.0294 left_gripper=0.9992 right_x=0.2814 right_y=0.0013 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0942 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [0.3761, -8.5538, 8.3214, 2.1465, 0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 7.0769, 1.8877, -0.0757, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.04, "left_z": 0.03, "left_pitch": 0.0}, "note": "Top cam shows the open fingertips still a few cm short of the red block, which is aligned with the gripper's center line; the block is hidden just below the wrist cam's view. Advancing ~4 cm forward at block height so the block sits between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 24

assistant

agent noteThe arm only advanced about 1 cm; the top cam still shows the fingertips just short of the red block, which lies on the gripper centerline. Commanding a further forward target so the jaws straddle the block.

move_to

left_x0.5200left_y-0.0350left_z0.0300left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1368, 1.8778, 0.807, 0.4122, -0.1463, -0.1051, 0.9992, -0.0208, 0.8055, 0.6064, -0.5003, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4633 left_y=-0.0341 left_z=0.0277 left_yaw=0.0282 left_pitch=-0.0764 left_roll=0.0225 left_gripper=0.9992 right_x=0.2781 right_y=0.0013 right_z=0.1541 right_yaw=-0.0006 right_pitch=-0.1152 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-0.1573, -9.0462, 7.8427, 2.0733, 0.0708, 0.1734, -0.0122, -0.0342, -1.2239, 6.9538, 1.8388, -0.0708, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.52, "left_y": -0.035, "left_z": 0.03, "left_pitch": 0.0}, "note": "The arm only advanced about 1 cm; the top cam still shows the fingertips just short of the red block, which lies on the gripper centerline. Commanding a further forward target so the jaws straddle the block."})

tool

executing move_to over 5 steps (0.5s)

step 29

assistant

agent noteThe arm stalled at x≈0.465 with no rising effort, so the IK seems to be at a reach limit in this posture; the top cam still shows the fingertips a few cm short of the block. Tipping the tool forward (positive pitch) to extend the grasp point toward the block.

move_to

left_x0.5000left_y-0.0350left_z0.0400left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1368, 1.8778, 0.8085, 0.4194, -0.1463, -0.1051, 0.9992, -0.0208, 0.8082, 0.606, -0.5228, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.4649 left_y=-0.0344 left_z=0.0297 left_yaw=0.0281 left_pitch=-0.0678 left_roll=0.0211 left_gripper=0.9992 right_x=0.2745 right_y=0.0014 right_z=0.149 right_yaw=-0.0009 right_pitch=-0.1407 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.2256, -8.9368, 8.0479, 2.0391, 0.1001, 0.1587, -0.0122, -0.0068, -1.2513, 7.0769, 1.8437, -0.0269, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.035, "left_z": 0.04, "left_pitch": 0.3}, "note": "The arm stalled at x\u22480.465 with no rising effort, so the IK seems to be at a reach limit in this posture; the top cam still shows the fingertips a few cm short of the block. Tipping the tool forward (positive pitch) to extend the grasp point toward the block."})

tool

executing move_to over 13 steps (1.3s)

step 42

assistant

agent notePitching forward gained ~3 cm; top cam shows the fingertips now roughly 2-3 cm short of the red block, still on the centerline. Pitching further and pushing forward so the jaws straddle the block.

move_to

left_x0.5300left_y-0.0330left_z0.0250left_pitch0.5000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1368, 2.1128, 0.7448, 1.0088, -0.1738, -0.0715, 0.9992, -0.0208, 0.8108, 0.6056, -0.5537, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.4931 left_y=-0.0334 left_z=0.0247 left_yaw=0.0367 left_pitch=0.2206 left_roll=0.0149 left_gripper=0.9992 right_x=0.2694 right_y=0.0015 right_z=0.1426 right_yaw=-0.0008 right_pitch=-0.1747 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.2256, -8.759, 4.588, 2.2393, -0.1197, 0.0904, -0.0122, 0.0068, -1.4291, 6.8991, 1.8974, -0.0366, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.53, "left_y": -0.033, "left_z": 0.025, "left_pitch": 0.5}, "note": "Pitching forward gained ~3 cm; top cam shows the fingertips now roughly 2-3 cm short of the red block, still on the centerline. Pitching further and pushing forward so the jaws straddle the block."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteTop cam shows the fingertips now touching the near edge of the red block, centered between the jaws; the block is under the wrist cam's blind spot. Pushing forward ~3 cm more so the block sits fully between the fingers before closing.

move_to

left_x0.5550left_y-0.0350left_z0.0150left_pitch0.5000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1345, 2.3974, 0.8608, 1.4025, -0.181, -0.0463, 0.9992, -0.0208, 0.8116, 0.6056, -0.5903, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.5245 left_y=-0.0352 left_z=0.0157 left_yaw=0.0445 left_pitch=0.4423 left_roll=0.0009 left_gripper=0.9992 right_x=0.2631 right_y=0.0016 right_z=0.1359 right_yaw=-0.0006 right_pitch=-0.2121 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.5128, -9.4838, 4.5197, 1.9756, 0.022, 0.1685, -0.0122, -0.0205, -1.2513, 6.8171, 1.8486, -0.0415, -0.0708, -0.0073] 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

move_to({"targets": {"left_x": 0.555, "left_y": -0.035, "left_z": 0.015, "left_pitch": 0.5}, "note": "Top cam shows the fingertips now touching the near edge of the red block, centered between the jaws; the block is under the wrist cam's blind spot. Pushing forward ~3 cm more so the block sits fully between the fingers before closing."})

tool

executing move_to over 3 steps (0.3s)

step 55

assistant

agent noteTop cam shows the fingertips at the near edge of the red block but the block's center still ~2 cm ahead of the jaw gap. Advancing another ~3 cm at block height so the block is centered between the fingers.

move_to

left_x0.5800left_y-0.0350left_z0.0180left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1291, 2.4653, 0.9756, 1.4155, -0.1806, -0.0399, 0.9992, -0.0212, 0.8158, 0.6056, -0.6147, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.549 left_y=-0.0357 left_z=0.0201 left_yaw=0.051 left_pitch=0.5012 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2588 right_y=0.0016 right_z=0.1308 right_yaw=-0.0009 right_pitch=-0.2407 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [0.4308, -9.894, 4.2325, 1.8535, 0.0708, 0.0073, -0.0122, -0.0068, -1.4564, 6.8308, 1.8291, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.035, "left_z": 0.018, "left_pitch": 0.55}, "note": "Top cam shows the fingertips at the near edge of the red block but the block's center still ~2 cm ahead of the jaw gap. Advancing another ~3 cm at block height so the block is centered between the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 58

assistant

agent noteTop cam still shows the red block a couple of cm ahead of the fingertips on the gripper centerline, and the wrist cam doesn't see it yet. Advancing to the x limit at block height so the jaws surround the block.

move_to

left_x0.6000left_y-0.0380left_z0.0200left_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1276, 2.5252, 1.0992, 1.4059, -0.1806, -0.0376, 0.9992, -0.0208, 0.8181, 0.6056, -0.6258, -0.0196, -0.0261, 0.9996] state[eef_state]: left_x=0.5741 left_y=-0.038 left_z=0.0263 left_yaw=0.0568 left_pitch=0.5545 left_roll=-0.0126 left_gripper=0.9992 right_x=0.2568 right_y=0.0017 right_z=0.1284 right_yaw=-0.0002 right_pitch=-0.254 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [0.8274, -9.4838, 4.8068, 1.8877, 0.0757, 0.0024, -0.0122, -0.1026, -1.3197, 6.8034, 1.6777, 0.0073, -0.0611, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.6, "left_y": -0.038, "left_z": 0.02, "left_pitch": 0.55}, "note": "Top cam still shows the red block a couple of cm ahead of the fingertips on the gripper centerline, and the wrist cam doesn't see it yet. Advancing to the x limit at block height so the jaws surround the block."})

tool

executing move_to over 2 steps (0.2s)

step 60

assistant

agent noteThe left arm is at its x limit (0.59) and the block is still ~3 cm beyond the fingertips, so it is unreachable for the left arm. Retracting the left arm slightly and bringing the right arm forward-left toward where the block should be relative to its base, to see it in the right wrist camera.

move_to

right_x0.4500right_y0.2000right_z0.1200left_x0.5000left_z0.0800left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1238, 2.5534, 1.1828, 1.3808, -0.1814, -0.038, 0.9992, -0.0212, 0.8173, 0.6056, -0.638, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.5911 left_y=-0.0378 left_z=0.0331 left_yaw=0.0652 left_pitch=0.5841 left_roll=-0.0197 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1266 right_yaw=-0.0004 right_pitch=-0.2655 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [0.1573, -10.5915, 4.6154, 1.707, 0.0611, -0.0171, -0.0122, -0.0342, -1.0598, 6.7761, 1.6093, -0.0708, -0.0073, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.12, "left_x": 0.5, "left_z": 0.08, "left_pitch": 0.2}, "note": "The left arm is at its x limit (0.59) and the block is still ~3 cm beyond the fingertips, so it is unreachable for the left arm. Retracting the left arm slightly and bringing the right arm forward-left toward where the block should be relative to its base, to see it in the right wrist camera."})

tool

executing move_to over 17 steps (1.7s)

step 77

assistant

agent noteRight wrist cam shows the bowl directly beneath the right gripper, and the top cam shows the red block roughly 18 cm to the right arm's left (+y) at about the same forward distance. Shifting the right arm left over the block's expected position.

move_to

right_x0.4400right_y0.3700right_z0.1000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1493, 1.9434, 0.8276, 0.791, -0.1989, -0.1173, 0.9992, 0.5247, 1.8553, 1.367, -0.4664, 0.308, 0.3725, 0.9996] state[eef_state]: left_x=0.5085 left_y=-0.0376 left_z=0.0868 left_yaw=0.073 left_pitch=0.2559 left_roll=-0.0281 left_gripper=0.9992 right_x=0.4373 right_y=0.1954 right_z=0.109 right_yaw=0.0286 right_pitch=-0.3069 right_roll=-0.0117 right_gripper=0.9996 state[joint_eff]: [-0.294, -11.494, 4.7521, 2.0049, -0.022, -0.0415, -0.0122, 0.4581, -9.9897, 8.0615, 1.3895, 0.2759, 0.2466, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.37, "right_z": 0.1, "right_pitch": 0.0}, "note": "Right wrist cam shows the bowl directly beneath the right gripper, and the top cam shows the red block roughly 18 cm to the right arm's left (+y) at about the same forward distance. Shifting the right arm left over the block's expected position."})

tool

executing move_to over 15 steps (1.5s)

step 92

assistant

agent noteRight wrist cam shows a sliver of red at the bottom-left corner, and the top cam shows the block just left of the right fingertips. Shifting a bit further left (to the y limit) and lowering to block height so the jaws straddle the block.

move_to

right_x0.4300right_y0.4000right_z0.0300right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1493, 1.9419, 0.8158, 0.7479, -0.2001, -0.1211, 0.9992, 0.8822, 2.1967, 1.6337, -0.3, 0.6395, 0.5243, 0.9996] state[eef_state]: left_x=0.5017 left_y=-0.0364 left_z=0.0731 left_yaw=0.0734 left_pitch=0.2038 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4292 right_y=0.3612 right_z=0.0851 right_yaw=0.0655 right_pitch=-0.0725 right_roll=-0.0553 right_gripper=0.9996 state[joint_eff]: [-0.1026, -9.1692, 6.3658, 2.2686, -0.0757, -0.0317, -0.0122, 0.1709, -11.6581, 9.0325, 1.6484, 0.5446, 0.105, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.4, "right_z": 0.03, "right_pitch": 0.0}, "note": "Right wrist cam shows a sliver of red at the bottom-left corner, and the top cam shows the block just left of the right fingertips. Shifting a bit further left (to the y limit) and lowering to block height so the jaws straddle the block."})

tool

executing move_to over 4 steps (0.4s)

step 96

assistant

agent noteTop cam shows the red block just left of the right gripper's fingers, beyond the right arm's +y limit and beyond the left arm's x reach. Plan: move the right gripper above and past the block, then drag it back toward the left arm's reachable zone.

move_to

right_x0.4900right_y0.4000right_z0.0700right_gripper0.7000left_x0.5000left_z0.0600left_pitch0.5000

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1493, 1.9419, 0.8158, 0.7326, -0.1997, -0.1211, 0.9992, 0.9306, 2.344, 1.6669, -0.1577, 0.7097, 0.5385, 0.9995] state[eef_state]: left_x=0.5003 left_y=-0.0362 left_z=0.0696 left_yaw=0.0724 left_pitch=0.1889 left_roll=-0.016 left_gripper=0.9992 right_x=0.4299 right_y=0.3905 right_z=0.0431 right_yaw=0.0592 right_pitch=-0.0139 right_roll=-0.0578 right_gripper=0.9995 state[joint_eff]: [-0.3214, -9.2786, 5.2581, 1.9902, -0.105, -0.0269, -0.0122, 0.7453, -10.2632, 6.9812, 1.1551, 0.2662, -0.0317, -0.0269] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.49, "right_y": 0.4, "right_z": 0.07, "right_gripper": 0.7, "left_x": 0.5, "left_z": 0.06, "left_pitch": 0.5}, "note": "Top cam shows the red block just left of the right gripper's fingers, beyond the right arm's +y limit and beyond the left arm's x reach. Plan: move the right gripper above and past the block, then drag it back toward the left arm's reachable zone."})

tool

executing move_to over 11 steps (1.1s)

step 107

assistant

agent noteThe red block sits in a gap unreachable by both arms: it lies ~3 cm beyond the left arm's x bound (0.6 m, and the IK stalls near x≈0.59 even with forward pitch) and just beyond the right arm's y bound (0.4 m). The right wrist camera confirms no block between the jaws at right_y=0.4, and the right arm cannot advance further. With the remaining budget I cannot reposition the block into a reachable zone.

give_up

hindsightRig facts: the two bases are ~0.4 m apart along y (left arm at right_y≈+0.4 side; the bowl is at roughly right_x≈0.44, right_y≈0.20, and the red block at right_x≈0.43, right_y≈0.42 / left_x≈0.62, left_y≈-0.04). The left arm's Cartesian x saturates around 0.46 at pitch 0 and z≈0.03; adding forward pitch (+0.5) extends reach to ~0.59 but the x bound is 0.6 so anything beyond ~0.6 m forward is unreachable. The right arm's +y bound (0.4) is the hard limit toward the block. The wrist cams look forward-down and have a blind spot directly below/ahead of the fingertips within ~5 cm, so use the top cam for final alignment. Approver clamps steps of >~3 cm per move (delta_clamped), so large moves creep. Advice: first check via the top cam whether the block is inside either arm's reachable box before spending calls; if it's in the gap, immediately use one arm to nudge/drag it toward the other arm's zone rather than trying to stretch.

Raw transcript

user

Current observation. Instruction: Pick up the red block from the table and place it inside the bowl. state[joint_pos]: [-0.1566, 2.2196, 0.7273, 1.3285, -0.215, -0.0677, 0.9992, 0.9413, 2.3756, 1.6737, -0.1246, 0.7143, 0.5316, 0.7021] state[eef_state]: left_x=0.4986 left_y=-0.0369 left_z=0.0435 left_yaw=0.0638 left_pitch=0.4142 left_roll=-0.0104 left_gripper=0.9992 right_x=0.4286 right_y=0.398 right_z=0.0331 right_yaw=0.0706 right_pitch=-0.0062 right_roll=-0.0592 right_gripper=0.7021 state[joint_eff]: [-0.294, -8.841, 3.5487, 2.3175, -0.1587, 0.0415, -0.0171, -0.0479, -12.3966, 7.0085, 1.5214, 0.2906, 0.0171, 0.0366] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

give_up({"reason": "The red block sits in a gap unreachable by both arms: it lies ~3 cm beyond the left arm's x bound (0.6 m, and the IK stalls near x\u22480.59 even with forward pitch) and just beyond the right arm's y bound (0.4 m). The right wrist camera confirms no block between the jaws at right_y=0.4, and the right arm cannot advance further. With the remaining budget I cannot reposition the block into a reachable zone.", "hindsight": "Rig facts: the two bases are ~0.4 m apart along y (left arm at right_y\u2248+0.4 side; the bowl is at roughly right_x\u22480.44, right_y\u22480.20, and the red block at right_x\u22480.43, right_y\u22480.42 / left_x\u22480.62, left_y\u2248-0.04). The left arm's Cartesian x saturates around 0.46 at pitch 0 and z\u22480.03; adding forward pitch (+0.5) extends reach to ~0.59 but the x bound is 0.6 so anything beyond ~0.6 m forward is unreachable. The right arm's +y bound (0.4) is the hard limit toward the block. The wrist cams look forward-down and have a blind spot directly below/ahead of the fingertips within ~5 cm, so use the top cam for final alignment. Approver clamps steps of >~3 cm per move (delta_clamped), so large moves creep. Advice: first check via the top cam whether the block is inside either arm's reachable box before spending calls; if it's in the gap, immediately use one arm to nudge/drag it toward the other arm's zone rather than trying to stretch."})

tool

give_up: The red block sits in a gap unreachable by both arms: it lies ~3 cm beyond the left arm's x bound (0.6 m, and the IK stalls near x≈0.59 even with forward pitch) and just beyond the right arm's y bound (0.4 m). The right wrist camera confirms no block between the jaws at right_y=0.4, and the right arm cannot advance further. With the remaining budget I cannot reposition the block into a reachable zone.

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 · 37.71 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3862, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6067, -0.3958, -0.0196, -0.0288, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -1.4427, 10.2085, 1.9072, -0.0904, 0.1734, -0.0904, -0.4308, -1.6479, 9.7709, 1.9023, -0.0415, 0.1685, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:44b3ccd71dc3b33812a35af75b04e573ea1d1f60bec57c478322b38afb464944"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4455f2cf8efe84e669cb341a90be650648d8715a20826a250ea8c4d07222095"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ecc45313614f2cd9031e69000f3242e3af1765e942c0a969a6d3c1f1d872400"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 18.2 s

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

{
  "content": "Let me start by moving the left arm forward toward the red block to calibrate where it sits relative to the arm.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.03, \"left_z\": 0.12}, \"note\": \"Top camera shows the red block ahead of the grippers and the bowl further along; left wrist cam sees the block near and slightly to the right. Moving the left arm forward and down toward the block to calibrate its position.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AqyJNQKY8oXpXUgRjMHddA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01AqyJNQKY8oXpXUgRjMHddA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1287, 1.3705, 0.6197, 0.046, -0.107, -0.0975, 0.9992, -0.0212, 0.8001, 0.609, -0.4328, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.0259 left_z=0.0884 left_yaw=-0.0003 left_pitch=-0.1258 left_roll=0.0106 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=-0.0009 right_pitch=-0.0397 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.0786, 9.1829, 2.0049, -0.1734, 0.0415, -0.0171, -0.1709, -1.6615, 6.8034, 2.0195, -0.0513, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bc3ba8a87d83bcd7222be0ae0a2b13db3c9b96bd03d8fa411d69e1011a6c892"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70cf8eec9d4bc2d9cfd9acec58c2b49198a783570a35cc3eec2503896dd1c4e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:08a8a2f22f9309472aa7d9bf89412d7f372c5f2958e5e713cac47c5f94f037b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 21.64 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3862, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6067, -0.3958, -0.0196, -0.0288, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=0.0013 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -1.4427, 10.2085, 1.9072, -0.0904, 0.1734, -0.0904, -0.4308, -1.6479, 9.7709, 1.9023, -0.0415, 0.1685, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.06, \"left_z\": 0.1, \"left_pitch\": 0.0}, \"note\": \"The left wrist cam shows the red block at the lower right of its view, and the top cam shows the block a bit further forward and slightly to the arm's right. Moving further forward and to the right to get above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_016bpmRQ5m4dnSp8Ny5zamtq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_016bpmRQ5m4dnSp8Ny5zamtq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.205, 1.6302, 0.7708, 0.1696, -0.1707, -0.1364, 0.9992, -0.0212, 0.8024, 0.6067, -0.4549, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4274 left_y=-0.0546 left_z=0.0739 left_yaw=-0.0021 left_pitch=-0.104 left_roll=0.0186 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.1638 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -7.0359, 8.3897, 2.0195, -0.2271, 0.0122, -0.0122, -0.0615, -1.4154, 7.1726, 1.8877, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b2d553bdbcb622639904e7b2b0f0d7d936190f49934b6b8f3dbe5ee0b637e6e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:485a820b690aaa873bb39754e20f4d369c2c1c1defe670b6aef2578eca2aa85e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ebc365ec8d07a5500cb1b87c05cf7e288113b72cec156ad6d31211936689252e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 25.84 s

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

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1287, 1.3705, 0.6197, 0.046, -0.107, -0.0975, 0.9992, -0.0212, 0.8001, 0.609, -0.4328, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.0259 left_z=0.0884 left_yaw=-0.0003 left_pitch=-0.1258 left_roll=0.0106 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=-0.0009 right_pitch=-0.0397 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.0786, 9.1829, 2.0049, -0.1734, 0.0415, -0.0171, -0.1709, -1.6615, 6.8034, 2.0195, -0.0513, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.48, \"left_y\": -0.04, \"left_z\": 0.05, \"left_pitch\": 0.0}, \"note\": \"The block is no longer in the left wrist view (likely just below/ahead of the fingertips), and the top cam shows the fingertips a few cm short of the block. Moving a bit further forward and lower to hover just above the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KvaoB6Xt89GNrdqei7wqDQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KvaoB6Xt89GNrdqei7wqDQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1425, 1.8572, 0.8005, 0.3557, -0.1467, -0.1055, 0.9992, -0.0208, 0.8055, 0.6067, -0.4797, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4541 left_y=-0.0354 left_z=0.0237 left_yaw=0.0237 left_pitch=-0.1182 left_roll=0.0294 left_gripper=0.9992 right_x=0.2814 right_y=0.0013 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0942 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -8.5538, 8.3214, 2.1465, 0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 7.0769, 1.8877, -0.0757, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25971492e92bbb280801c03201926b9698284b4be260993a10c897fab2d1472b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:296b20d4c8fcbdd3e3f71a2767fbf3478af97435adb11c53c27a9dc266b7e41f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e75afd2397f9a4adff791c4a850bc13d5a9e0145933b7f6a14c7ae2f2e99907"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.9 s

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

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.205, 1.6302, 0.7708, 0.1696, -0.1707, -0.1364, 0.9992, -0.0212, 0.8024, 0.6067, -0.4549, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4274 left_y=-0.0546 left_z=0.0739 left_yaw=-0.0021 left_pitch=-0.104 left_roll=0.0186 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.1638 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -7.0359, 8.3897, 2.0195, -0.2271, 0.0122, -0.0122, -0.0615, -1.4154, 7.1726, 1.8877, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.04, \"left_z\": 0.03, \"left_pitch\": 0.0}, \"note\": \"Top cam shows the open fingertips still a few cm short of the red block, which is aligned with the gripper's center line; the block is hidden just below the wrist cam's view. Advancing ~4 cm forward at block height so the block sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019K4BSr316ciC5fL774fdnc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019K4BSr316ciC5fL774fdnc"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 1.8778, 0.807, 0.4122, -0.1463, -0.1051, 0.9992, -0.0208, 0.8055, 0.6064, -0.5003, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4633 left_y=-0.0341 left_z=0.0277 left_yaw=0.0282 left_pitch=-0.0764 left_roll=0.0225 left_gripper=0.9992 right_x=0.2781 right_y=0.0013 right_z=0.1541 right_yaw=-0.0006 right_pitch=-0.1152 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0462, 7.8427, 2.0733, 0.0708, 0.1734, -0.0122, -0.0342, -1.2239, 6.9538, 1.8388, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae9f265bca6d64902c1771b9b7027478d3e6c8035df91ab250ff05da755a7f24"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df7b8da827b38bcfc210ef1657ff4f03235b0816f6465458a1105387eaa86a1f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:231fb1aa15ce9609a223bd82d62135dfa062f9bc59290edb83ff12bae6b52244"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 12.81 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1425, 1.8572, 0.8005, 0.3557, -0.1467, -0.1055, 0.9992, -0.0208, 0.8055, 0.6067, -0.4797, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4541 left_y=-0.0354 left_z=0.0237 left_yaw=0.0237 left_pitch=-0.1182 left_roll=0.0294 left_gripper=0.9992 right_x=0.2814 right_y=0.0013 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0942 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -8.5538, 8.3214, 2.1465, 0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 7.0769, 1.8877, -0.0757, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.035, \"left_z\": 0.03, \"left_pitch\": 0.0}, \"note\": \"The arm only advanced about 1 cm; the top cam still shows the fingertips just short of the red block, which lies on the gripper centerline. Commanding a further forward target so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VZYukByzpKzRdH6BJBzkWK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01VZYukByzpKzRdH6BJBzkWK"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 1.8778, 0.8085, 0.4194, -0.1463, -0.1051, 0.9992, -0.0208, 0.8082, 0.606, -0.5228, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4649 left_y=-0.0344 left_z=0.0297 left_yaw=0.0281 left_pitch=-0.0678 left_roll=0.0211 left_gripper=0.9992 right_x=0.2745 right_y=0.0014 right_z=0.149 right_yaw=-0.0009 right_pitch=-0.1407 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.9368, 8.0479, 2.0391, 0.1001, 0.1587, -0.0122, -0.0068, -1.2513, 7.0769, 1.8437, -0.0269, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f9b7e23e7d0b1365b076527875b53f1770908173e1058596d1b3ad95a7e4e05"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2182bd6ed97ef9035ba921cda1a0c3ce19b71132c665724e20a687f3727797e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c0b25bf41ab9870a32c403c0685969bd3144bce27b4acb61c27661becb5a721"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 16.63 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 1.8778, 0.807, 0.4122, -0.1463, -0.1051, 0.9992, -0.0208, 0.8055, 0.6064, -0.5003, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4633 left_y=-0.0341 left_z=0.0277 left_yaw=0.0282 left_pitch=-0.0764 left_roll=0.0225 left_gripper=0.9992 right_x=0.2781 right_y=0.0013 right_z=0.1541 right_yaw=-0.0006 right_pitch=-0.1152 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0462, 7.8427, 2.0733, 0.0708, 0.1734, -0.0122, -0.0342, -1.2239, 6.9538, 1.8388, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.035, \"left_z\": 0.04, \"left_pitch\": 0.3}, \"note\": \"The arm stalled at x\\u22480.465 with no rising effort, so the IK seems to be at a reach limit in this posture; the top cam still shows the fingertips a few cm short of the block. Tipping the tool forward (positive pitch) to extend the grasp point toward the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MNBvatwGbkL6iznhSxj4es",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01MNBvatwGbkL6iznhSxj4es"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 2.1128, 0.7448, 1.0088, -0.1738, -0.0715, 0.9992, -0.0208, 0.8108, 0.6056, -0.5537, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4931 left_y=-0.0334 left_z=0.0247 left_yaw=0.0367 left_pitch=0.2206 left_roll=0.0149 left_gripper=0.9992 right_x=0.2694 right_y=0.0015 right_z=0.1426 right_yaw=-0.0008 right_pitch=-0.1747 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.759, 4.588, 2.2393, -0.1197, 0.0904, -0.0122, 0.0068, -1.4291, 6.8991, 1.8974, -0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8842a8a5f8798eb7fdf7fc71c635931a85bb3710a86e35b08c363d22aab7ed91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a728b4934af9a64fd5b4c4a5cbaf555798332ad760008b5ea9b9d92a773138ac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7c25fd8bae777c45ec168ecf0d93cf15bb14f0e26b2c8fff8a850fff6052527a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 7.968 s

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

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 1.8778, 0.8085, 0.4194, -0.1463, -0.1051, 0.9992, -0.0208, 0.8082, 0.606, -0.5228, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4649 left_y=-0.0344 left_z=0.0297 left_yaw=0.0281 left_pitch=-0.0678 left_roll=0.0211 left_gripper=0.9992 right_x=0.2745 right_y=0.0014 right_z=0.149 right_yaw=-0.0009 right_pitch=-0.1407 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.9368, 8.0479, 2.0391, 0.1001, 0.1587, -0.0122, -0.0068, -1.2513, 7.0769, 1.8437, -0.0269, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.033, \"left_z\": 0.025, \"left_pitch\": 0.5}, \"note\": \"Pitching forward gained ~3 cm; top cam shows the fingertips now roughly 2-3 cm short of the red block, still on the centerline. Pitching further and pushing forward so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_0139ohKsZmkCRAcfyKz2eHd6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0139ohKsZmkCRAcfyKz2eHd6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1345, 2.3974, 0.8608, 1.4025, -0.181, -0.0463, 0.9992, -0.0208, 0.8116, 0.6056, -0.5903, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5245 left_y=-0.0352 left_z=0.0157 left_yaw=0.0445 left_pitch=0.4423 left_roll=0.0009 left_gripper=0.9992 right_x=0.2631 right_y=0.0016 right_z=0.1359 right_yaw=-0.0006 right_pitch=-0.2121 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -9.4838, 4.5197, 1.9756, 0.022, 0.1685, -0.0122, -0.0205, -1.2513, 6.8171, 1.8486, -0.0415, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e754b121287cfa82556ae1956f14f2fa9f2ee0e3bb4c4fb1e01b17d9f335cb7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2be15b0e61427dc45592a69ce3858bb0a9517d2fe6e6682be394b969570febb3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82dc66e81acf61bca9c7587dfb1e1d490350eca06184196691b02bf4adab884b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 7.685 s

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

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1368, 2.1128, 0.7448, 1.0088, -0.1738, -0.0715, 0.9992, -0.0208, 0.8108, 0.6056, -0.5537, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4931 left_y=-0.0334 left_z=0.0247 left_yaw=0.0367 left_pitch=0.2206 left_roll=0.0149 left_gripper=0.9992 right_x=0.2694 right_y=0.0015 right_z=0.1426 right_yaw=-0.0008 right_pitch=-0.1747 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.759, 4.588, 2.2393, -0.1197, 0.0904, -0.0122, 0.0068, -1.4291, 6.8991, 1.8974, -0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.555, \"left_y\": -0.035, \"left_z\": 0.015, \"left_pitch\": 0.5}, \"note\": \"Top cam shows the fingertips now touching the near edge of the red block, centered between the jaws; the block is under the wrist cam's blind spot. Pushing forward ~3 cm more so the block sits fully between the fingers before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Qg8zQLhAjN6egCh4cMXYcJ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Qg8zQLhAjN6egCh4cMXYcJ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1291, 2.4653, 0.9756, 1.4155, -0.1806, -0.0399, 0.9992, -0.0212, 0.8158, 0.6056, -0.6147, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.549 left_y=-0.0357 left_z=0.0201 left_yaw=0.051 left_pitch=0.5012 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2588 right_y=0.0016 right_z=0.1308 right_yaw=-0.0009 right_pitch=-0.2407 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.894, 4.2325, 1.8535, 0.0708, 0.0073, -0.0122, -0.0068, -1.4564, 6.8308, 1.8291, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d547c262898262810001474a94033d8168e9345704040b5a5c2648d17529b883"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:651929dda2eb262dd6c28d46aa0d141ea946b3d06ff7b6293a48c918eb8f5b0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6afc0c35d8b975a9123c92f1253015095a7369a03e30c5a93c1cff09a3191981"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 19.94 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1345, 2.3974, 0.8608, 1.4025, -0.181, -0.0463, 0.9992, -0.0208, 0.8116, 0.6056, -0.5903, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5245 left_y=-0.0352 left_z=0.0157 left_yaw=0.0445 left_pitch=0.4423 left_roll=0.0009 left_gripper=0.9992 right_x=0.2631 right_y=0.0016 right_z=0.1359 right_yaw=-0.0006 right_pitch=-0.2121 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -9.4838, 4.5197, 1.9756, 0.022, 0.1685, -0.0122, -0.0205, -1.2513, 6.8171, 1.8486, -0.0415, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.035, \"left_z\": 0.018, \"left_pitch\": 0.55}, \"note\": \"Top cam shows the fingertips at the near edge of the red block but the block's center still ~2 cm ahead of the jaw gap. Advancing another ~3 cm at block height so the block is centered between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Mhjn1LgXhx7cSJFeTt3H5B",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Mhjn1LgXhx7cSJFeTt3H5B"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1276, 2.5252, 1.0992, 1.4059, -0.1806, -0.0376, 0.9992, -0.0208, 0.8181, 0.6056, -0.6258, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5741 left_y=-0.038 left_z=0.0263 left_yaw=0.0568 left_pitch=0.5545 left_roll=-0.0126 left_gripper=0.9992 right_x=0.2568 right_y=0.0017 right_z=0.1284 right_yaw=-0.0002 right_pitch=-0.254 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.8274, -9.4838, 4.8068, 1.8877, 0.0757, 0.0024, -0.0122, -0.1026, -1.3197, 6.8034, 1.6777, 0.0073, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32f089caca8aea1c1a81c500d6759c349b54aa8870834407e3c9d8e7bd356c14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de7db34eaf5b287f3e0d923f656247995a78d0da16468a82bf3cd7a6915f8cb6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f86fdd4929aeb5a0d00a99b5476f391f4f04bf59c09d078775a850ae158a2e40"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 45.74 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1291, 2.4653, 0.9756, 1.4155, -0.1806, -0.0399, 0.9992, -0.0212, 0.8158, 0.6056, -0.6147, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.549 left_y=-0.0357 left_z=0.0201 left_yaw=0.051 left_pitch=0.5012 left_roll=-0.0039 left_gripper=0.9992 right_x=0.2588 right_y=0.0016 right_z=0.1308 right_yaw=-0.0009 right_pitch=-0.2407 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.894, 4.2325, 1.8535, 0.0708, 0.0073, -0.0122, -0.0068, -1.4564, 6.8308, 1.8291, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.038, \"left_z\": 0.02, \"left_pitch\": 0.55}, \"note\": \"Top cam still shows the red block a couple of cm ahead of the fingertips on the gripper centerline, and the wrist cam doesn't see it yet. Advancing to the x limit at block height so the jaws surround the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UvDJHtPqTPc9W8nzYJe1DM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01UvDJHtPqTPc9W8nzYJe1DM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1238, 2.5534, 1.1828, 1.3808, -0.1814, -0.038, 0.9992, -0.0212, 0.8173, 0.6056, -0.638, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5911 left_y=-0.0378 left_z=0.0331 left_yaw=0.0652 left_pitch=0.5841 left_roll=-0.0197 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1266 right_yaw=-0.0004 right_pitch=-0.2655 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.5915, 4.6154, 1.707, 0.0611, -0.0171, -0.0122, -0.0342, -1.0598, 6.7761, 1.6093, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8fb86f6a692f4f4f1f8067ccec3c0e9f9c5a2d6bb69a80d7b3d996ff7d34ba6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c9f106c51573063d5495a353996690dddce2308d9d750af493e0e4d8af23fd39"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47359a951fa6fa3706bfb4107fb5c7c5851d5ad82bf98a723fced441b80aa4cf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 16.39 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1276, 2.5252, 1.0992, 1.4059, -0.1806, -0.0376, 0.9992, -0.0208, 0.8181, 0.6056, -0.6258, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5741 left_y=-0.038 left_z=0.0263 left_yaw=0.0568 left_pitch=0.5545 left_roll=-0.0126 left_gripper=0.9992 right_x=0.2568 right_y=0.0017 right_z=0.1284 right_yaw=-0.0002 right_pitch=-0.254 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.8274, -9.4838, 4.8068, 1.8877, 0.0757, 0.0024, -0.0122, -0.1026, -1.3197, 6.8034, 1.6777, 0.0073, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.2, \"right_z\": 0.12, \"left_x\": 0.5, \"left_z\": 0.08, \"left_pitch\": 0.2}, \"note\": \"The left arm is at its x limit (0.59) and the block is still ~3 cm beyond the fingertips, so it is unreachable for the left arm. Retracting the left arm slightly and bringing the right arm forward-left toward where the block should be relative to its base, to see it in the right wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_018VY216xDUS7VNzBXkTWJBS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 17 steps (1.7s)",
  "role": "tool",
  "tool_call_id": "toolu_018VY216xDUS7VNzBXkTWJBS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1493, 1.9434, 0.8276, 0.791, -0.1989, -0.1173, 0.9992, 0.5247, 1.8553, 1.367, -0.4664, 0.308, 0.3725, 0.9996]\nstate[eef_state]: left_x=0.5085 left_y=-0.0376 left_z=0.0868 left_yaw=0.073 left_pitch=0.2559 left_roll=-0.0281 left_gripper=0.9992 right_x=0.4373 right_y=0.1954 right_z=0.109 right_yaw=0.0286 right_pitch=-0.3069 right_roll=-0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.494, 4.7521, 2.0049, -0.022, -0.0415, -0.0122, 0.4581, -9.9897, 8.0615, 1.3895, 0.2759, 0.2466, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8addabd24a32e6944287ba12e0da85a17cf00c477fe419349aaa356687bd3ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0efdb52d5fd2326e161bd85778926987e1d55c745ea7266246b6af53cc8912b4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e823d4df75b67c9d5087090ebcb594d72d496d8d8c0359b669a37cea0fd2fec"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 10.66 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1238, 2.5534, 1.1828, 1.3808, -0.1814, -0.038, 0.9992, -0.0212, 0.8173, 0.6056, -0.638, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5911 left_y=-0.0378 left_z=0.0331 left_yaw=0.0652 left_pitch=0.5841 left_roll=-0.0197 left_gripper=0.9992 right_x=0.2545 right_y=0.0017 right_z=0.1266 right_yaw=-0.0004 right_pitch=-0.2655 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -10.5915, 4.6154, 1.707, 0.0611, -0.0171, -0.0122, -0.0342, -1.0598, 6.7761, 1.6093, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.37, \"right_z\": 0.1, \"right_pitch\": 0.0}, \"note\": \"Right wrist cam shows the bowl directly beneath the right gripper, and the top cam shows the red block roughly 18 cm to the right arm's left (+y) at about the same forward distance. Shifting the right arm left over the block's expected position.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PM5mWTECrRed2fWRpvNiwe",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01PM5mWTECrRed2fWRpvNiwe"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1493, 1.9419, 0.8158, 0.7479, -0.2001, -0.1211, 0.9992, 0.8822, 2.1967, 1.6337, -0.3, 0.6395, 0.5243, 0.9996]\nstate[eef_state]: left_x=0.5017 left_y=-0.0364 left_z=0.0731 left_yaw=0.0734 left_pitch=0.2038 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4292 right_y=0.3612 right_z=0.0851 right_yaw=0.0655 right_pitch=-0.0725 right_roll=-0.0553 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.1692, 6.3658, 2.2686, -0.0757, -0.0317, -0.0122, 0.1709, -11.6581, 9.0325, 1.6484, 0.5446, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7c7327ce18082f7a78f46043455f2bc48276dc5350c8ec10a224f007e8a806fd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e14f66cf238dfc5f1c664f40eb087a87a2d0e9158d64e6438aff4ef39b9cead"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5d135dd3b4124a90cfe4064fe9c88367db63e79b0ea62c094b7e8d88aaabc3a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 42.41 s

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

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1493, 1.9434, 0.8276, 0.791, -0.1989, -0.1173, 0.9992, 0.5247, 1.8553, 1.367, -0.4664, 0.308, 0.3725, 0.9996]\nstate[eef_state]: left_x=0.5085 left_y=-0.0376 left_z=0.0868 left_yaw=0.073 left_pitch=0.2559 left_roll=-0.0281 left_gripper=0.9992 right_x=0.4373 right_y=0.1954 right_z=0.109 right_yaw=0.0286 right_pitch=-0.3069 right_roll=-0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.494, 4.7521, 2.0049, -0.022, -0.0415, -0.0122, 0.4581, -9.9897, 8.0615, 1.3895, 0.2759, 0.2466, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.4, \"right_z\": 0.03, \"right_pitch\": 0.0}, \"note\": \"Right wrist cam shows a sliver of red at the bottom-left corner, and the top cam shows the block just left of the right fingertips. Shifting a bit further left (to the y limit) and lowering to block height so the jaws straddle the block.\"}",
        "name": "move_to"
      },
      "id": "toolu_01A9cES8bqQr5QFJzeHZXmwm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01A9cES8bqQr5QFJzeHZXmwm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1493, 1.9419, 0.8158, 0.7326, -0.1997, -0.1211, 0.9992, 0.9306, 2.344, 1.6669, -0.1577, 0.7097, 0.5385, 0.9995]\nstate[eef_state]: left_x=0.5003 left_y=-0.0362 left_z=0.0696 left_yaw=0.0724 left_pitch=0.1889 left_roll=-0.016 left_gripper=0.9992 right_x=0.4299 right_y=0.3905 right_z=0.0431 right_yaw=0.0592 right_pitch=-0.0139 right_roll=-0.0578 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -9.2786, 5.2581, 1.9902, -0.105, -0.0269, -0.0122, 0.7453, -10.2632, 6.9812, 1.1551, 0.2662, -0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a8c7b911c2c24036ba0b9aecd27e4d90a03bf053c5f1c7e833bd137e83e5e53"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d04519e53d085d43e0d0f28884640a1ee28f3879bb6697451748e304772f0064"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf201d83e7754dfec7201fab77612ce29e3fa4df7f219c14cf37a915d1c61b54"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 28.22 s

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

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1493, 1.9419, 0.8158, 0.7479, -0.2001, -0.1211, 0.9992, 0.8822, 2.1967, 1.6337, -0.3, 0.6395, 0.5243, 0.9996]\nstate[eef_state]: left_x=0.5017 left_y=-0.0364 left_z=0.0731 left_yaw=0.0734 left_pitch=0.2038 left_roll=-0.0192 left_gripper=0.9992 right_x=0.4292 right_y=0.3612 right_z=0.0851 right_yaw=0.0655 right_pitch=-0.0725 right_roll=-0.0553 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.1692, 6.3658, 2.2686, -0.0757, -0.0317, -0.0122, 0.1709, -11.6581, 9.0325, 1.6484, 0.5446, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.49, \"right_y\": 0.4, \"right_z\": 0.07, \"right_gripper\": 0.7, \"left_x\": 0.5, \"left_z\": 0.06, \"left_pitch\": 0.5}, \"note\": \"Top cam shows the red block just left of the right gripper's fingers, beyond the right arm's +y limit and beyond the left arm's x reach. Plan: move the right gripper above and past the block, then drag it back toward the left arm's reachable zone.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NLZY9CKh9KNEhYJTedEnvS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01NLZY9CKh9KNEhYJTedEnvS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1566, 2.2196, 0.7273, 1.3285, -0.215, -0.0677, 0.9992, 0.9413, 2.3756, 1.6737, -0.1246, 0.7143, 0.5316, 0.7021]\nstate[eef_state]: left_x=0.4986 left_y=-0.0369 left_z=0.0435 left_yaw=0.0638 left_pitch=0.4142 left_roll=-0.0104 left_gripper=0.9992 right_x=0.4286 right_y=0.398 right_z=0.0331 right_yaw=0.0706 right_pitch=-0.0062 right_roll=-0.0592 right_gripper=0.7021\nstate[joint_eff]: [-0.294, -8.841, 3.5487, 2.3175, -0.1587, 0.0415, -0.0171, -0.0479, -12.3966, 7.0085, 1.5214, 0.2906, 0.0171, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70b8315b8f06dbb910948c282059db6e6420af2d41d585acc0a82f1b34080edb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db514e7189fcb643af88105b99c45a7d9def381d3152a60c4b0938041bf4ea03"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:caac1c6e023e4dfc4e14f9bb336e509a1b30c34ed7770f16ff1ee1805200a3d9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}