- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 425.8 s
- total steps
- 159
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the red block from the table and place it inside the bowl.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
give_up
Operator judgements
partial
Grader notes
trial 03
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 10
Raw transcript
step 16
Raw transcript
step 22
Raw transcript
step 25
Raw transcript
step 27
Raw transcript
step 30
Raw transcript
step 38
Raw transcript
step 48
Raw transcript
step 60
Raw transcript
step 66
Raw transcript
step 75
Raw transcript
step 94
Raw transcript
step 105
Raw transcript
step 120
Raw transcript
step 127
Raw transcript
step 132
Raw transcript
step 136
Raw transcript
step 139
Raw transcript
step 145
Raw transcript
step 158
Raw transcript
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 · 34.96 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the red block from the table and place it inside the bowl.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0219, -0.0299, 0.9993, -0.0212, 0.7944, 0.6079, -0.3958, -0.0196, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1784 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4427, 10.1538, 1.9707, -0.0659, 0.1685, -0.0855, -0.5675, -1.6342, 9.6615, 1.9023, -0.0024, -0.022, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c7234f89ebd8fdd93490519c50bc34f2b98b498f2ebf5261b29bd5a6f2db8088"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b66c25ec5e679be2d1d1a025df3f6132f32e809175a5759bd38714012c923994"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ab59f72a3f4be0ea8a1bd0c4108207868150be0a2a67f3d18d60eb8694fba9dd"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 8.751 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I'll start by moving the left arm toward the red block, which appears forward and slightly right in the left wrist camera.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.1, \"left_z\": 0.18, \"left_gripper\": 1}, \"note\": \"The red block appears ahead and to the right in the left camera; I'm moving the left arm forward-right at a safe height to hover near it and refine my estimate.\"}",
"name": "move_to"
},
"id": "toolu_01FP8rC7S7baipVFEfiM2XuW",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01FP8rC7S7baipVFEfiM2XuW"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3611, 1.43, 0.9257, -0.1822, -0.2852, -0.2226, 0.9993, -0.0212, 0.8005, 0.6147, -0.4324, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4041 left_y=-0.0957 left_z=0.1558 left_yaw=-0.0165 left_pitch=-0.0779 left_roll=0.0151 left_gripper=0.9993 right_x=0.2893 right_y=0.0009 right_z=0.1724 right_yaw=0.0001 right_pitch=-0.0358 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.653, 9.347, 1.956, -0.3248, 0.022, -0.0855, -0.0615, -1.7299, 6.5162, 2.0488, -0.0317, -0.0708, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a0a9636189e1389beba683f92697687ab421a28dc17627eeea10333776d90d7c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7d31f778ee0b44be653e6a24593f4081f9ff40bc0ab57c21c0a2592c21bc56cd"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:881f419f68d80fa7722e3f2591ed7db994e2861c09d9bbe3789030e34c81e116"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 10.56 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0219, -0.0299, 0.9993, -0.0212, 0.7944, 0.6079, -0.3958, -0.0196, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1784 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -1.4427, 10.1538, 1.9707, -0.0659, 0.1685, -0.0855, -0.5675, -1.6342, 9.6615, 1.9023, -0.0024, -0.022, -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\": -0.13, \"left_z\": 0.07, \"left_gripper\": 1}, \"note\": \"The red block is visible slightly forward and right of the left gripper in the wrist camera; I'm moving forward-right and descending to hover just above it.\"}",
"name": "move_to"
},
"id": "toolu_01CW1hFskUqYuEvNqQ6ontgS",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01CW1hFskUqYuEvNqQ6ontgS"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4034, 1.7676, 0.9081, 0.0776, -0.3122, -0.2531, 0.9993, -0.0212, 0.8032, 0.614, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.433 left_y=-0.1219 left_z=0.0568 left_yaw=-0.0158 left_pitch=-0.1598 left_roll=0.0429 left_gripper=0.9993 right_x=0.2861 right_y=0.0011 right_z=0.1668 right_yaw=0.0005 right_pitch=-0.0618 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -8.6085, 7.4735, 1.8584, -0.2759, -0.0562, -0.0855, -0.1983, -1.4701, 7.1453, 1.8877, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d175f8ff1171ad57138dc3fa543afcd5d31ca4ced1ba4e24c4ffd429b5b87058"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33039976903a7715e3b87b7b41f4d9619033093a3bc7dac9191e14fba50d5d6d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56a81effb0073400a3359ecabb924dcd24446e1773616a9db4e0549fb67532c9"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 7.389 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3611, 1.43, 0.9257, -0.1822, -0.2852, -0.2226, 0.9993, -0.0212, 0.8005, 0.6147, -0.4324, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4041 left_y=-0.0957 left_z=0.1558 left_yaw=-0.0165 left_pitch=-0.0779 left_roll=0.0151 left_gripper=0.9993 right_x=0.2893 right_y=0.0009 right_z=0.1724 right_yaw=0.0001 right_pitch=-0.0358 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -6.653, 9.347, 1.956, -0.3248, 0.022, -0.0855, -0.0615, -1.7299, 6.5162, 2.0488, -0.0317, -0.0708, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.16, \"left_z\": 0.04, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The block shows at the right edge of the left wrist camera, so the gripper is still left of it; shifting right (-y), slightly forward, and lowering while leveling the pitch.\"}",
"name": "move_to"
},
"id": "toolu_01Vg8VXMtmgxuGfMLdmT8vSV",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01Vg8VXMtmgxuGfMLdmT8vSV"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4843, 1.935, 0.9077, 0.3016, -0.3943, -0.2672, 0.9993, -0.0212, 0.8036, 0.614, -0.4782, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.154 left_z=0.0254 left_yaw=-0.0256 left_pitch=-0.0852 left_roll=0.0604 left_gripper=0.9993 right_x=0.2826 right_y=0.0011 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.0854 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.8684, 6.4752, 1.9121, -0.2808, 0.0317, -0.0904, -0.0615, -1.265, 6.9949, 1.8926, -0.0611, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dc576e6828fac5479a78b5e901d7bae0081f8e58254c8db20184c23d08d7733e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d67204f1a6f70a8304717d0fbb513d23f4549add92523954e28c97150570ee84"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b284701bc0aa14865c61cdac5ff34acf081d20e914786eec52adec52d55c1595"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 7.751 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4034, 1.7676, 0.9081, 0.0776, -0.3122, -0.2531, 0.9993, -0.0212, 0.8032, 0.614, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.433 left_y=-0.1219 left_z=0.0568 left_yaw=-0.0158 left_pitch=-0.1598 left_roll=0.0429 left_gripper=0.9993 right_x=0.2861 right_y=0.0011 right_z=0.1668 right_yaw=0.0005 right_pitch=-0.0618 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -8.6085, 7.4735, 1.8584, -0.2759, -0.0562, -0.0855, -0.1983, -1.4701, 7.1453, 1.8877, -0.0708, -0.0757, -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\": 0.47, \"left_y\": -0.185, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is still right of center in the wrist camera; shifting a bit more right and forward while descending nearly to table height for the grasp.\"}",
"name": "move_to"
},
"id": "toolu_01N4VdDzQViQ5VdsS7b9oTxJ",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01N4VdDzQViQ5VdsS7b9oTxJ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5167, 2.0727, 1.0222, 0.3134, -0.4248, -0.2981, 0.9991, -0.0212, 0.8051, 0.614, -0.5003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4655 left_y=-0.1766 left_z=0.0055 left_yaw=-0.0165 left_pitch=-0.0848 left_roll=0.0594 left_gripper=0.9991 right_x=0.2792 right_y=0.0011 right_z=0.1575 right_yaw=0.0002 right_pitch=-0.1091 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -10.8103, 6.7214, 1.5409, -0.1294, 0.1538, -0.105, -0.1709, -1.2513, 7.0906, 2.0049, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ad4e98e602ebb89b8e4e7b31287771d9a855bd5d3b68acef4d84976e899cd9d2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2c520f5b5f251fb2a221bfed5767c08e32c46c482bb99e509907c67d9887e56c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cb81e58b5a697fc907b44d3d30547f26527421fc35936c88cd0ce32ce8af1910"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 9.393 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4843, 1.935, 0.9077, 0.3016, -0.3943, -0.2672, 0.9993, -0.0212, 0.8036, 0.614, -0.4782, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.154 left_z=0.0254 left_yaw=-0.0256 left_pitch=-0.0852 left_roll=0.0604 left_gripper=0.9993 right_x=0.2826 right_y=0.0011 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.0854 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -8.8684, 6.4752, 1.9121, -0.2808, 0.0317, -0.0904, -0.0615, -1.265, 6.9949, 1.8926, -0.0611, -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\": 0.48, \"left_y\": -0.185, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block sits between the fingertips but slightly forward; nudging forward and down a touch before closing.\"}",
"name": "move_to"
},
"id": "toolu_01VDBbzEyoAGLS8YgngK3S4h",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01VDBbzEyoAGLS8YgngK3S4h"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.524, 2.104, 1.0653, 0.3077, -0.429, -0.3111, 0.9993, -0.0212, 0.8062, 0.614, -0.5045, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4732 left_y=-0.1845 left_z=0.0047 left_yaw=-0.0136 left_pitch=-0.0776 left_roll=0.0486 left_gripper=0.9993 right_x=0.2786 right_y=0.0012 right_z=0.1564 right_yaw=0.0 right_pitch=-0.1144 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -8.9641, 6.8581, 1.4432, -0.1197, 0.1001, -0.0855, -0.0205, -1.2786, 6.9128, 1.7021, -0.0269, -0.0122, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b3b712d43957129b0d71a0b8199fdc74148a3d429d913355c9cc9c2b5e5d3e1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:59960e728514c2b69c61b12a8d8183e9111ff9da1bd191645b785f0df9ed03d0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ff97fc36445e6eda9a99e82c85575e63494ed025a6fd4706e1489a965aef6df"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 8.223 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5167, 2.0727, 1.0222, 0.3134, -0.4248, -0.2981, 0.9991, -0.0212, 0.8051, 0.614, -0.5003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4655 left_y=-0.1766 left_z=0.0055 left_yaw=-0.0165 left_pitch=-0.0848 left_roll=0.0594 left_gripper=0.9991 right_x=0.2792 right_y=0.0011 right_z=0.1575 right_yaw=0.0002 right_pitch=-0.1091 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -10.8103, 6.7214, 1.5409, -0.1294, 0.1538, -0.105, -0.1709, -1.2513, 7.0906, 2.0049, -0.0122, -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\": -0.185, \"left_z\": 0.0, \"left_gripper\": 1}, \"note\": \"The block is still a bit forward of the fingertips in the wrist view; moving forward ~2cm at table height before closing the gripper.\"}",
"name": "move_to"
},
"id": "toolu_01KbwZzMwe9fhvi4Wy2B6hPF",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01KbwZzMwe9fhvi4Wy2B6hPF"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5026, 2.154, 1.1412, 0.2977, -0.4232, -0.3103, 0.9993, -0.0212, 0.8089, 0.614, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4929 left_y=-0.1841 left_z=0.0049 left_yaw=0.0023 left_pitch=-0.0655 left_roll=0.0381 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1522 right_yaw=0.0006 right_pitch=-0.1361 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -9.5795, 7.1863, 1.4383, -0.1099, 0.1929, -0.0904, -0.0479, -0.9778, 6.8991, 1.7656, -0.0562, -0.0659, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:efdfa8e06bc8d9e47136c392cb3e2c94451abe76c65628a8c0b1b1a91fa19646"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c87ac9dff054db033dda07aad5c0a4d40532e99fd34d20e79541946d90a0ae8a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b0952e2d1c68badc5187027e17f922d0f1fd52fcf739d5ac6a1d354cf9710569"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 8.104 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.524, 2.104, 1.0653, 0.3077, -0.429, -0.3111, 0.9993, -0.0212, 0.8062, 0.614, -0.5045, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4732 left_y=-0.1845 left_z=0.0047 left_yaw=-0.0136 left_pitch=-0.0776 left_roll=0.0486 left_gripper=0.9993 right_x=0.2786 right_y=0.0012 right_z=0.1564 right_yaw=0.0 right_pitch=-0.1144 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -8.9641, 6.8581, 1.4432, -0.1197, 0.1001, -0.0855, -0.0205, -1.2786, 6.9128, 1.7021, -0.0269, -0.0122, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_gripper\": 0.25}, \"note\": \"The red block now sits between the fingertips in the wrist camera; closing the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01JAsxEafDQEM4Jat3C8epzj",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01JAsxEafDQEM4Jat3C8epzj"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5034, 2.1674, 1.15, 0.313, -0.424, -0.3199, 0.4559, -0.0212, 0.8101, 0.614, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.1861 left_z=0.004 left_yaw=0.007 left_pitch=-0.0557 left_roll=0.0256 left_gripper=0.4559 right_x=0.2707 right_y=0.0014 right_z=0.1464 right_yaw=0.0007 right_pitch=-0.1674 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -12.4239, 4.6974, 1.4481, -0.2125, 0.0317, 1.0281, -0.0889, -1.2786, 7.0222, 1.8388, -0.0855, -0.0757, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3a67d6fbecdcc37b60c4643019d0f84d4c420fb31766cb4e1f128665d0bf5498"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fbc6e98e644de13ec7d3ac5611b93ef978d620f56fb52d07c1d1784cc544f9be"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:388e0987fdd8eff9452592fc4d4b7e76cfe651e8c0ea9b20f6c37548902df218"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 11.11 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5026, 2.154, 1.1412, 0.2977, -0.4232, -0.3103, 0.9993, -0.0212, 0.8089, 0.614, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4929 left_y=-0.1841 left_z=0.0049 left_yaw=0.0023 left_pitch=-0.0655 left_roll=0.0381 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1522 right_yaw=0.0006 right_pitch=-0.1361 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -9.5795, 7.1863, 1.4383, -0.1099, 0.1929, -0.0904, -0.0479, -0.9778, 6.8991, 1.7656, -0.0562, -0.0659, -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\": 0.4}, \"note\": \"The gripper stopped at ~0.46 with rising effort, suggesting the block is grasped; lifting to 15 cm to confirm the grasp before moving to the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01PFjRr9iBKPSZJynTNivo7u",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01PFjRr9iBKPSZJynTNivo7u"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5034, 1.9434, 1.3533, -0.1749, -0.4236, -0.3279, 0.4547, -0.0212, 0.8116, 0.614, -0.588, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4921 left_y=-0.184 left_z=0.1115 left_yaw=0.0135 left_pitch=-0.1084 left_roll=0.0489 left_gripper=0.4547 right_x=0.2648 right_y=0.0015 right_z=0.1399 right_yaw=0.0009 right_pitch=-0.2033 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.9692, 9.6205, 1.5409, -0.188, 0.0366, 1.0281, -0.2256, -1.1145, 6.8308, 1.8437, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3ed7e5022624eca1c6bd052747e101ffcc0289fcc7b76ce024d47a79f40ec19c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d3f7eaac5a701db7c032fa8638c37294fee563fc3db32dad3c5a2ce4d3c1abb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:24c8b27731163668b9f31b25684e84735914a7d6e6b181a3c194c14c2e87fda3"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 22.65 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5034, 2.1674, 1.15, 0.313, -0.424, -0.3199, 0.4559, -0.0212, 0.8101, 0.614, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.1861 left_z=0.004 left_yaw=0.007 left_pitch=-0.0557 left_roll=0.0256 left_gripper=0.4559 right_x=0.2707 right_y=0.0014 right_z=0.1464 right_yaw=0.0007 right_pitch=-0.1674 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -12.4239, 4.6974, 1.4481, -0.2125, 0.0317, 1.0281, -0.0889, -1.2786, 7.0222, 1.8388, -0.0855, -0.0757, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.06, \"left_z\": 0.18, \"left_gripper\": 0.4}, \"note\": \"The block is securely held (gripper stalled at ~0.45 and the block fills the wrist camera). The bowl appears forward and toward the center in the top camera, so I'm moving the arm forward-left at height to hover over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01HnBXWKz8ydsQn2xEWzajco",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01HnBXWKz8ydsQn2xEWzajco"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2066, 1.7893, 1.3277, -0.3176, -0.223, -0.1467, 0.4547, -0.0212, 0.812, 0.614, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.494 left_y=-0.06 left_z=0.1442 left_yaw=0.0485 left_pitch=-0.1808 left_roll=0.0609 left_gripper=0.4547 right_x=0.2605 right_y=0.0016 right_z=0.1355 right_yaw=0.001 right_pitch=-0.2284 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -12.7658, 10.2496, 1.7265, 0.022, 0.1636, 1.0281, -0.0615, -1.1692, 6.9812, 1.7411, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bf86e1e6e8e0cd06f0c3c61b212939c9fdd0e571821fdf2c01e2e2ceda08fea8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cdcbb275b1c3313497dc714dd5af4f477e8fd1db68876e363e1b9774577fb2f8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9196c1e40e3fe368e56c1d1bc4fdd0da8820c26892e1ea4611a599a080e5098e"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 18.81 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5034, 1.9434, 1.3533, -0.1749, -0.4236, -0.3279, 0.4547, -0.0212, 0.8116, 0.614, -0.588, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4921 left_y=-0.184 left_z=0.1115 left_yaw=0.0135 left_pitch=-0.1084 left_roll=0.0489 left_gripper=0.4547 right_x=0.2648 right_y=0.0015 right_z=0.1399 right_yaw=0.0009 right_pitch=-0.2033 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.9692, 9.6205, 1.5409, -0.188, 0.0366, 1.0281, -0.2256, -1.1145, 6.8308, 1.8437, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.55, \"left_y\": -0.12, \"left_z\": 0.22, \"left_gripper\": 0.4}, \"note\": \"Block is held firmly; the bowl shows at the top-center of the overhead camera, so I'm moving the left arm further forward and higher to locate the bowl in the wrist view.\"}",
"name": "move_to"
},
"id": "toolu_01BLPHVak2JMFHiGqAJNiXYT",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01BLPHVak2JMFHiGqAJNiXYT"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3073, 2.046, 1.9465, -0.6811, -0.2745, -0.2203, 0.4546, -0.0212, 0.8154, 0.614, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5505 left_y=-0.1207 left_z=0.2132 left_yaw=0.0312 left_pitch=-0.1692 left_roll=0.0419 left_gripper=0.4546 right_x=0.2564 right_y=0.0016 right_z=0.1309 right_yaw=0.0006 right_pitch=-0.2548 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.6444, 7.8564, 1.0672, -0.2027, -0.0513, 1.033, -0.212, -1.4154, 6.9538, 1.6679, -0.0317, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:82f06f23d366c14aada6b1e555bdd6fc40d4cb1a0ce79a528ccf80a7f3310f33"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:24230a0e04cd7e8f883534a3a01b870715b8c0ef6c3682e5cae182f69f271b80"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f51359a307b04cba8ea2be1a0911de0bb74dbe4b1adb218d03fb483aeadfbd06"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 15.19 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2066, 1.7893, 1.3277, -0.3176, -0.223, -0.1467, 0.4547, -0.0212, 0.812, 0.614, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.494 left_y=-0.06 left_z=0.1442 left_yaw=0.0485 left_pitch=-0.1808 left_roll=0.0609 left_gripper=0.4547 right_x=0.2605 right_y=0.0016 right_z=0.1355 right_yaw=0.001 right_pitch=-0.2284 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -12.7658, 10.2496, 1.7265, 0.022, 0.1636, 1.0281, -0.0615, -1.1692, 6.9812, 1.7411, -0.0659, -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\": 0.55, \"left_y\": -0.02, \"left_z\": 0.22, \"left_gripper\": 0.4}, \"note\": \"The bowl isn't in the left wrist view yet; the top camera suggests it's toward the center of the table, so I'm shifting the left arm leftward (+y) at height to bring the bowl into view.\"}",
"name": "move_to"
},
"id": "toolu_01MyT9nmKidVTEL4ZhPijbta",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01MyT9nmKidVTEL4ZhPijbta"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0929, 2.0125, 1.8442, -0.6666, -0.1341, -0.094, 0.4546, -0.0212, 0.8165, 0.614, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5492 left_y=-0.0238 left_z=0.1872 left_yaw=0.06 left_pitch=-0.2501 left_roll=0.046 left_gripper=0.4546 right_x=0.2524 right_y=0.0018 right_z=0.1271 right_yaw=0.0011 right_pitch=-0.2776 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -15.747, 6.612, 1.8584, -0.0171, 0.1441, 1.033, -0.0342, -1.2103, 6.7624, 1.6679, -0.0366, -0.0073, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33bbdce0e046e86ec86d5bd892c4683661d6792846f6038248440d1780703318"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ce3b1450c8f68df89b3425a65ef4bc0b479734646f2bba7fdf65a76fb10710c1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0b62656fb4c020acbb5deb83791ef38d790be36b36fa870f0164ff0096b01795"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 21.26 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3073, 2.046, 1.9465, -0.6811, -0.2745, -0.2203, 0.4546, -0.0212, 0.8154, 0.614, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5505 left_y=-0.1207 left_z=0.2132 left_yaw=0.0312 left_pitch=-0.1692 left_roll=0.0419 left_gripper=0.4546 right_x=0.2564 right_y=0.0016 right_z=0.1309 right_yaw=0.0006 right_pitch=-0.2548 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.6444, 7.8564, 1.0672, -0.2027, -0.0513, 1.033, -0.212, -1.4154, 6.9538, 1.6679, -0.0317, -0.0122, -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\": 0.6, \"left_y\": 0.02, \"left_z\": 0.25, \"left_pitch\": 0.3, \"left_gripper\": 0.4}, \"note\": \"The bowl still isn't in the left wrist view; the top camera shows it farther ahead of the arm. Moving forward to max reach, slightly left, and pitching the tool down to scan for the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01A4Po1d4JEBi83WwoAuA2My",
"type": "function"
}
]
}{
"content": "executing move_to over 19 steps (1.9s)",
"role": "tool",
"tool_call_id": "toolu_01A4Po1d4JEBi83WwoAuA2My"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0055, 1.9678, 1.533, 0.0315, -0.1051, -0.0204, 0.4547, -0.0212, 0.8173, 0.614, -0.6762, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5959 left_y=0.0188 left_z=0.2104 left_yaw=0.0795 left_pitch=0.1743 left_roll=0.0386 left_gripper=0.4547 right_x=0.2489 right_y=0.0019 right_z=0.1239 right_yaw=0.0014 right_pitch=-0.2971 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -13.7641, 7.1453, 2.3712, 0.1245, 0.1685, 1.0281, -0.1983, -1.1966, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed783efbcac43421ce9511f88929ed88db11b25baf01b5a95a1fb9805f90694d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:474981621d1d054342c6e3de17303ecb89a09960948c5b892357493cb1496fc9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a866cc42b428164ebc53af0282046ffa14b37d473266f683b0a2bed52df902de"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 41.98 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0929, 2.0125, 1.8442, -0.6666, -0.1341, -0.094, 0.4546, -0.0212, 0.8165, 0.614, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5492 left_y=-0.0238 left_z=0.1872 left_yaw=0.06 left_pitch=-0.2501 left_roll=0.046 left_gripper=0.4546 right_x=0.2524 right_y=0.0018 right_z=0.1271 right_yaw=0.0011 right_pitch=-0.2776 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -15.747, 6.612, 1.8584, -0.0171, 0.1441, 1.033, -0.0342, -1.2103, 6.7624, 1.6679, -0.0366, -0.0073, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.08, \"left_z\": 0.3, \"left_pitch\": 0.5, \"left_gripper\": 0.4}, \"note\": \"The bowl isn't in the left wrist view, but the right wrist camera glimpses it forward-left of the right arm, suggesting it sits between the arms. Raising the left arm and pitching down strongly to scan the table below for the bowl.\"}",
"name": "move_to"
},
"id": "toolu_019g3emSJj4KPd35tmoECLdT",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_019g3emSJj4KPd35tmoECLdT"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2771, 1.7046, 1.1973, 0.3096, -0.3542, -0.0303, 0.4546, -0.0208, 0.8211, 0.614, -0.691, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5275 left_y=-0.0826 left_z=0.261 left_yaw=0.0438 left_pitch=0.3894 left_roll=0.061 left_gripper=0.4546 right_x=0.246 right_y=0.002 right_z=0.1207 right_yaw=0.0019 right_pitch=-0.3158 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -12.3009, 7.159, 2.2295, -0.1245, 0.0269, 1.033, -0.0889, -1.1966, 6.8991, 1.5507, -0.0855, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 105):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:18098ead53ca761899b87a6c5a6b6433a7a2278c4a83abffcae7604f30e610bd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 105):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ccdd5951551716082218547bb8047c614505119464557dd78553e7c713fa875"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 105):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1f628021cb5b8b6a21c8768e56132abb6e8480dfbb1d64710d5e98e3851d7c8a"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 11.67 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0055, 1.9678, 1.533, 0.0315, -0.1051, -0.0204, 0.4547, -0.0212, 0.8173, 0.614, -0.6762, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5959 left_y=0.0188 left_z=0.2104 left_yaw=0.0795 left_pitch=0.1743 left_roll=0.0386 left_gripper=0.4547 right_x=0.2489 right_y=0.0019 right_z=0.1239 right_yaw=0.0014 right_pitch=-0.2971 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -13.7641, 7.1453, 2.3712, 0.1245, 0.1685, 1.0281, -0.1983, -1.1966, 6.9538, 1.5751, -0.0366, -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\": 0.55, \"left_y\": -0.25, \"left_z\": 0.28, \"left_pitch\": 0.4, \"left_gripper\": 0.4}, \"note\": \"The top camera shows the bowl near the top-center and what looks like the left gripper at the left edge; I'm moving the left arm rightward (-y) and forward at height to test whether that carries the gripper toward the bowl in the overhead view.\"}",
"name": "move_to"
},
"id": "toolu_01TqgChKoCB181Hv5eFGer2b",
"type": "function"
}
]
}{
"content": "executing move_to over 15 steps (1.5s)",
"role": "tool",
"tool_call_id": "toolu_01TqgChKoCB181Hv5eFGer2b"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6094, 2.03, 1.6672, 0.0925, -0.6643, -0.1139, 0.4546, -0.0212, 0.823, 0.614, -0.7086, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5475 left_y=-0.245 left_z=0.2622 left_yaw=0.0243 left_pitch=0.3623 left_roll=0.0769 left_gripper=0.4546 right_x=0.2426 right_y=0.002 right_z=0.1176 right_yaw=0.0017 right_pitch=-0.3352 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -11.4393, 9.7573, 1.873, -0.2808, 0.0269, 1.0281, -0.3077, -1.2513, 6.8171, 1.5458, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8a9f024e6f4cfc141702474522aacafa14c6cfa941e352c0ac996fcbedca7c3d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7bd1f49dfb62c7056760abea87d685d15649e61a579b2d30c3c6193d2265d36b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed3d5ec1cde0b40a5cb20289a2e6c18205cbbb31faa990a4c0820510fe14b2cb"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 12.38 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2771, 1.7046, 1.1973, 0.3096, -0.3542, -0.0303, 0.4546, -0.0208, 0.8211, 0.614, -0.691, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5275 left_y=-0.0826 left_z=0.261 left_yaw=0.0438 left_pitch=0.3894 left_roll=0.061 left_gripper=0.4546 right_x=0.246 right_y=0.002 right_z=0.1207 right_yaw=0.0019 right_pitch=-0.3158 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -12.3009, 7.159, 2.2295, -0.1245, 0.0269, 1.033, -0.0889, -1.1966, 6.8991, 1.5507, -0.0855, -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\": 0.55, \"left_y\": -0.32, \"left_z\": 0.25, \"left_gripper\": 0.4}, \"note\": \"The top camera now shows the left arm reaching in from the left with the bowl just beyond the gripper; moving further in -y should bring the grasped block directly over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01JzbZUnaGf3oBvty5Ja3hiU",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01JzbZUnaGf3oBvty5Ja3hiU"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.72, 2.2261, 1.9015, -0.0238, -0.7544, -0.1627, 0.4546, -0.0212, 0.8249, 0.614, -0.7254, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5477 left_y=-0.3147 left_z=0.2324 left_yaw=0.0025 left_pitch=0.3213 left_roll=0.1012 left_gripper=0.4546 right_x=0.2393 right_y=0.0021 right_z=0.1147 right_yaw=0.0019 right_pitch=-0.3539 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -12.7521, 9.8256, 1.9707, -0.2515, 0.0611, 1.0281, -0.1709, -1.2376, 6.6667, 1.4823, -0.0757, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 127):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a6334d2077f43e341339d381210f6b29208244595029cebf4dd6c66ccdae4b98"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 127):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13566795548bac9119f1743d478612e400fbf5e4832d25b0f4d55b304caa69c7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 127):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:faa9a2129d4f3857e469765df691021b162886a11b60f148f30db96902d887d3"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 9.158 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6094, 2.03, 1.6672, 0.0925, -0.6643, -0.1139, 0.4546, -0.0212, 0.823, 0.614, -0.7086, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5475 left_y=-0.245 left_z=0.2622 left_yaw=0.0243 left_pitch=0.3623 left_roll=0.0769 left_gripper=0.4546 right_x=0.2426 right_y=0.002 right_z=0.1176 right_yaw=0.0017 right_pitch=-0.3352 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -11.4393, 9.7573, 1.873, -0.2808, 0.0269, 1.0281, -0.3077, -1.2513, 6.8171, 1.5458, -0.0806, -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\": 0.57, \"left_y\": -0.36, \"left_z\": 0.22, \"left_gripper\": 0.4}, \"note\": \"Top camera shows the gripper just short of the bowl, which lies slightly further along the arm's reach; extending a bit more in -y and +x and lowering slightly to get over the bowl's rim.\"}",
"name": "move_to"
},
"id": "toolu_01VH9kzHeDcxEdjGSnYsrJED",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01VH9kzHeDcxEdjGSnYsrJED"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7437, 2.4577, 2.2181, -0.1562, -0.7845, -0.1886, 0.4546, -0.0212, 0.8288, 0.614, -0.7387, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5705 left_y=-0.3504 left_z=0.2039 left_yaw=0.009 left_pitch=0.2953 left_roll=0.1168 left_gripper=0.4546 right_x=0.2367 right_y=0.002 right_z=0.112 right_yaw=0.0017 right_pitch=-0.3711 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [-0.8821, -15.0769, 9.935, 1.8632, -0.1734, 0.105, 1.033, -0.1846, -1.388, 6.8308, 1.4481, -0.0464, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 132):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f91aeaf087c746532514516899ba1e0a88be5f1b025836a4e6335d1a86a5105f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 132):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d55aac9f8984a386ac15f521bb8b4299ea9192d8f887bed1f00057178c208bb2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 132):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:df75c4244f6e101d36785e559e761249415a3b46940650015f1d60b001eef9b5"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 26.38 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.72, 2.2261, 1.9015, -0.0238, -0.7544, -0.1627, 0.4546, -0.0212, 0.8249, 0.614, -0.7254, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5477 left_y=-0.3147 left_z=0.2324 left_yaw=0.0025 left_pitch=0.3213 left_roll=0.1012 left_gripper=0.4546 right_x=0.2393 right_y=0.0021 right_z=0.1147 right_yaw=0.0019 right_pitch=-0.3539 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -12.7521, 9.8256, 1.9707, -0.2515, 0.0611, 1.0281, -0.1709, -1.2376, 6.6667, 1.4823, -0.0757, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.58, \"left_y\": -0.39, \"left_z\": 0.2, \"left_gripper\": 0.4}, \"note\": \"The top camera shows the gripper nearly touching the bowl's near rim; extending a little more so the grasp point (holding the block) is over the bowl's center before releasing.\"}",
"name": "move_to"
},
"id": "toolu_01E1NSfa8DKhLB4c7Q8kpYkr",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01E1NSfa8DKhLB4c7Q8kpYkr"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7685, 2.7457, 2.7102, -0.3637, -0.8165, -0.2184, 0.4546, -0.0212, 0.8314, 0.614, -0.7475, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5857 left_y=-0.3822 left_z=0.191 left_yaw=0.0271 left_pitch=0.3035 left_roll=0.0987 left_gripper=0.4546 right_x=0.2349 right_y=0.0022 right_z=0.1102 right_yaw=0.0019 right_pitch=-0.3825 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [-1.0325, -14.5436, 6.8581, 0.9988, -0.2564, 0.0806, 1.0281, -0.1983, -1.0188, 6.7897, 1.3944, -0.0415, -0.0317, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 136):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3f1e7106438c21d0b3a56b0e928c67fd39e1a832a9bf6c32c7503d05d212fca1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 136):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8a92dfb8954fdf578c74f6b65138fce5677568c8e2b2241f35e9c54bd0e321e7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 136):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8cb5426a3dc1b4cb78ec3996a5a46ada06261abe3c8da616ab862c1fe6c9a3d6"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 14.43 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7437, 2.4577, 2.2181, -0.1562, -0.7845, -0.1886, 0.4546, -0.0212, 0.8288, 0.614, -0.7387, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5705 left_y=-0.3504 left_z=0.2039 left_yaw=0.009 left_pitch=0.2953 left_roll=0.1168 left_gripper=0.4546 right_x=0.2367 right_y=0.002 right_z=0.112 right_yaw=0.0017 right_pitch=-0.3711 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [-0.8821, -15.0769, 9.935, 1.8632, -0.1734, 0.105, 1.033, -0.1846, -1.388, 6.8308, 1.4481, -0.0464, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.4, \"left_z\": 0.16, \"left_gripper\": 0.4}, \"note\": \"The top camera shows the gripper overlapping the bowl's near rim; extending slightly more and lowering so the held block ends up over the bowl's center before I release.\"}",
"name": "move_to"
},
"id": "toolu_01A6P3J4yUV6rwp12mKcZheq",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01A6P3J4yUV6rwp12mKcZheq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7773, 2.8334, 2.7548, -0.3988, -0.8173, -0.223, 0.4546, -0.0212, 0.8333, 0.614, -0.7498, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5849 left_y=-0.3897 left_z=0.1451 left_yaw=0.0058 left_pitch=0.2489 left_roll=0.1521 left_gripper=0.4546 right_x=0.2344 right_y=0.0022 right_z=0.1094 right_yaw=0.0019 right_pitch=-0.3867 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -16.7726, 6.106, 1.8144, -0.2271, -0.0073, 1.033, -0.1436, -1.0462, 6.6803, 1.3162, -0.0513, -0.0366, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 139):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:066af4f485591a54ec2e24d16111f8fc03c9ad99eadb16bf8c9cb7e0e970f661"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 139):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c1d22feb61be3f5e9fbf6358bd542f9ae8955180fbfd72e90c840df7e439ce96"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 139):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5cb1b836369cdf2c43fd11bd5edc1bf8d5dabe3936c721bf69f9fa35d4f84add"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 7.058 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 53 changed as sent
message 53 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7685, 2.7457, 2.7102, -0.3637, -0.8165, -0.2184, 0.4546, -0.0212, 0.8314, 0.614, -0.7475, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.5857 left_y=-0.3822 left_z=0.191 left_yaw=0.0271 left_pitch=0.3035 left_roll=0.0987 left_gripper=0.4546 right_x=0.2349 right_y=0.0022 right_z=0.1102 right_yaw=0.0019 right_pitch=-0.3825 right_roll=0.0097 right_gripper=0.9996\nstate[joint_eff]: [-1.0325, -14.5436, 6.8581, 0.9988, -0.2564, 0.0806, 1.0281, -0.1983, -1.0188, 6.7897, 1.3944, -0.0415, -0.0317, -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}, \"note\": \"The top camera shows the gripper positioned over the white bowl's opening; opening the gripper to drop the red block into the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01LqzhQiKKCDANxdfXoD2UM7",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01LqzhQiKKCDANxdfXoD2UM7"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7776, 2.8334, 2.7403, -0.4049, -0.8169, -0.2264, 0.995, -0.0212, 0.8333, 0.614, -0.765, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.5839 left_y=-0.3891 left_z=0.138 left_yaw=0.0034 left_pitch=0.2345 left_roll=0.1636 left_gripper=0.995 right_x=0.2313 right_y=0.0022 right_z=0.1073 right_yaw=0.002 right_pitch=-0.402 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -16.0205, 8.0205, 1.6337, -0.2125, -0.0171, -0.1294, -0.2256, -1.1145, 6.612, 1.4579, -0.0464, -0.0562, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 145):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0531231e9fb0c10eccc4310cff35825391d16365d25b8e3fa13a4b7924e0e968"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 145):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f7ef0aa653324ce936c5c1d664fa9c20f7c578af9ac5e660a08375e9617214e1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 145):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3570519c8e2fb6a6248d8977d362d5f6ed7bb31b3d725453ff605f16f7ca51cd"
},
"type": "image_url"
}
],
"role": "user"
}