- 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
- 430.4 s
- total steps
- 99
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
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 10
Raw transcript
step 14
Raw transcript
step 18
Raw transcript
step 21
Raw transcript
step 24
Raw transcript
step 37
Raw transcript
step 40
Raw transcript
step 44
Raw transcript
step 51
Raw transcript
step 57
Raw transcript
step 60
Raw transcript
step 63
Raw transcript
step 66
Raw transcript
step 68
Raw transcript
step 72
Raw transcript
step 76
Raw transcript
step 83
Raw transcript
step 90
Raw transcript
step 95
Raw transcript
step 98
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 · 23.64 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, 0.794, 0.6056, -0.3885, -0.0219, -0.0338, 0.9991, -0.0212, 0.7963, 0.6083, -0.3958, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1789 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9991 right_x=0.2933 right_y=0.0009 right_z=0.178 right_yaw=-0.0002 right_pitch=0.0004 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -1.5111, 10.2496, 1.956, -0.0659, 0.1832, -0.105, -0.294, -1.5248, 9.6752, 2.0, -0.0415, 0.1001, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3f41fd05e691e57a964e26951d0dabd16e6a0ce1e7d3e0c67909a18eb24fc64c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b0f5ae56043f7fe067e2c2ffb2cec530dd3e9bbd76acb4c2a632eaafbb4757b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fc1f51e318b09cf905e8214b430fcd4b3a89ae82b0eaa136182e8c745a4da231"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 17.36 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I can see the red block on the left side of the table (visible in left_cam to the right of center) and the bowl in the middle. I'll use the left arm to pick up the block. Let me first move the left arm toward the block area to refine my position estimate.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.1, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The red block appears in left_cam to the right of center, so it should be at negative y in the left arm's frame. Moving the left arm forward and right to hover near the block for a closer look.\"}",
"name": "move_to"
},
"id": "toolu_01FgEV2ieH9T5yuJE4DwzwSc",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01FgEV2ieH9T5yuJE4DwzwSc"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4141, 1.3678, 0.6342, 0.004, -0.3275, -0.2531, 0.9991, -0.0212, 0.8009, 0.6147, -0.4324, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3593 left_y=-0.0919 left_z=0.0931 left_yaw=-0.0191 left_pitch=-0.1077 left_roll=0.0358 left_gripper=0.9991 right_x=0.2893 right_y=0.0009 right_z=0.1723 right_yaw=-0.002 right_pitch=-0.0343 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.1333, 8.6906, 1.8584, -0.2515, -0.0611, -0.105, -0.1436, -1.4838, 6.4615, 2.0537, -0.0513, -0.0757, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:573aadef69ff6aff9695a5113ec83c18f7439d58b5bd199b6484b46f9ca05705"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94bfdc8c7b95d3b9d08f3aa1946b952add8af5fd0f00e613d4facfd1a93d25cb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6a38d534f9a57f1591e5a3bd72d36d5aacfe173050ba72b55a250ba79201a3dd"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 14.38 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, 0.794, 0.6056, -0.3885, -0.0219, -0.0338, 0.9991, -0.0212, 0.7963, 0.6083, -0.3958, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1789 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9991 right_x=0.2933 right_y=0.0009 right_z=0.178 right_yaw=-0.0002 right_pitch=0.0004 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -1.5111, 10.2496, 1.956, -0.0659, 0.1832, -0.105, -0.294, -1.5248, 9.6752, 2.0, -0.0415, 0.1001, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The left arm has moved near the block; in left_cam the block sits just ahead and slightly right of the gripper. I'll advance and lower a bit to line up the grasp.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.41, \"left_y\": -0.1, \"left_z\": 0.045, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Block is visible just ahead of the left gripper in left_cam. Advancing forward and lowering to position the fingers around the block before checking alignment.\"}",
"name": "move_to"
},
"id": "toolu_01F2Hk3TaC4p3bW3Ley7GNhB",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01F2Hk3TaC4p3bW3Ley7GNhB"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3855, 1.6958, 0.6109, 0.3279, -0.3344, -0.2253, 0.9991, -0.0212, 0.8036, 0.6121, -0.4511, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.0906 left_z=0.0227 left_yaw=0.0011 left_pitch=-0.1323 left_roll=0.0722 left_gripper=0.9991 right_x=0.2864 right_y=0.0011 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0584 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.2256, 5.6957, 2.1074, -0.0806, 0.1099, -0.105, -0.0889, -1.265, 7.2, 1.8877, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:58786984913de820aa85d1bad2579f57e076d6d1c72156ef3e008f1e08b76373"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f399274d72a0d16c67728354c27a310042cf8d42a64c06861aabdab13ed31504"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d063bd90b7cd47c54b1b3c682e6b13e44ba43ad2e5389a753903541b4a941f64"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 10.82 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]: [-0.4141, 1.3678, 0.6342, 0.004, -0.3275, -0.2531, 0.9991, -0.0212, 0.8009, 0.6147, -0.4324, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3593 left_y=-0.0919 left_z=0.0931 left_yaw=-0.0191 left_pitch=-0.1077 left_roll=0.0358 left_gripper=0.9991 right_x=0.2893 right_y=0.0009 right_z=0.1723 right_yaw=-0.002 right_pitch=-0.0343 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.1333, 8.6906, 1.8584, -0.2515, -0.0611, -0.105, -0.1436, -1.4838, 6.4615, 2.0537, -0.0513, -0.0757, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block appears at the right edge of left_cam, so the gripper needs to shift right (more negative y) a few cm to center it between the fingers.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.125, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block is at the right edge of the wrist camera view, so I'm shifting the left gripper about 3.5 cm to the right and keeping low to center the block between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01RMd9DhHxjoByYq1F3eJNcw",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01RMd9DhHxjoByYq1F3eJNcw"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4232, 1.7336, 0.5774, 0.4496, -0.3645, -0.2253, 0.9991, -0.0212, 0.8036, 0.6121, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.1017 left_z=0.0199 left_yaw=-0.0143 left_pitch=-0.078 left_roll=0.0713 left_gripper=0.9991 right_x=0.2857 right_y=0.0011 right_z=0.1657 right_yaw=-0.0019 right_pitch=-0.0633 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.653, 4.7111, 1.8339, -0.3394, -0.0611, -0.105, -0.0342, -1.2376, 6.9675, 1.6972, -0.0806, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6784190d1033b2b6646a7471840bfa80e3ec110e1ad90e7119348bc5c3edc5a7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b5809e009066e181945d0aa13eea8b6d2a7dc1aae9fc9c76327ef6c5f0710cb2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8c9c45eb6ecc76af0a9827952c8e76c967fcec0606e0564b6805d0accc8bb29e"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 24.18 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]: [-0.3855, 1.6958, 0.6109, 0.3279, -0.3344, -0.2253, 0.9991, -0.0212, 0.8036, 0.6121, -0.4511, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.0906 left_z=0.0227 left_yaw=0.0011 left_pitch=-0.1323 left_roll=0.0722 left_gripper=0.9991 right_x=0.2864 right_y=0.0011 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0584 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.2256, 5.6957, 2.1074, -0.0806, 0.1099, -0.105, -0.0889, -1.265, 7.2, 1.8877, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block is still at the bottom-right of the wrist camera view, so I need to shift further right and slightly back. My last command was clamped; I'll make a smaller, precise adjustment.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.385, \"left_y\": -0.13, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The red block is at the bottom-right of the left wrist camera, so I'm shifting the gripper ~3 cm further right at the same height to bring the block between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01A9CJPg3xLzh6vjWac69z7U",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01A9CJPg3xLzh6vjWac69z7U"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4232, 1.7336, 0.5766, 0.4492, -0.3653, -0.2256, 0.9991, -0.0212, 0.8036, 0.6121, -0.4778, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3875 left_y=-0.1014 left_z=0.0196 left_yaw=-0.0135 left_pitch=-0.0789 left_roll=0.0719 left_gripper=0.9991 right_x=0.2824 right_y=0.0011 right_z=0.1614 right_yaw=-0.0019 right_pitch=-0.0851 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.6803, 4.9299, 1.7656, -0.3492, -0.0708, -0.1099, -0.1299, -1.0872, 6.9402, 1.8681, -0.0269, -0.0366, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ddb20b0535d85871f43c6dcc10b49ea638bb2eb6759f7c7c685256cb509de7e9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4e252c7e11253b8943af8306fd9be428892c715d135becae95d3632235086549"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7cd0f0dac2de3272524708cda16ad6bf1a0163f82e84f155ed89bc417cbd7e31"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 15.28 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]: [-0.4232, 1.7336, 0.5774, 0.4496, -0.3645, -0.2253, 0.9991, -0.0212, 0.8036, 0.6121, -0.4561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3878 left_y=-0.1017 left_z=0.0199 left_yaw=-0.0143 left_pitch=-0.078 left_roll=0.0713 left_gripper=0.9991 right_x=0.2857 right_y=0.0011 right_z=0.1657 right_yaw=-0.0019 right_pitch=-0.0633 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -6.653, 4.7111, 1.8339, -0.3394, -0.0611, -0.105, -0.0342, -1.2376, 6.9675, 1.6972, -0.0806, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.405, \"left_y\": -0.075, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block slightly forward and to the arm's left of the gripper jaws, so I'm moving the gripper forward and left about 3 cm to bring the block between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_017U9TG7jsJaWe2DyMbTFpW1",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_017U9TG7jsJaWe2DyMbTFpW1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4232, 1.7336, 0.5762, 0.4492, -0.3653, -0.226, 0.9991, -0.0212, 0.8055, 0.6121, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3874 left_y=-0.1014 left_z=0.0195 left_yaw=-0.0132 left_pitch=-0.0792 left_roll=0.0717 left_gripper=0.9991 right_x=0.2789 right_y=0.0012 right_z=0.1566 right_yaw=-0.0021 right_pitch=-0.1095 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.5573, 4.9436, 1.8242, -0.3297, -0.1001, -0.1099, -0.0205, -1.2923, 7.0632, 1.8291, -0.0269, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:724dc9cbb3612355dfb2db3cd22e2ec1d2195ad475c1255f9b74c0fea77fd3c5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1bf40fe160f0d10ff397b04d7b8aa054e4a46241c6c46ec8cfdb51a84f021072"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:446d07f0c62602dec21dd3df2a64cf76726f023a46acf2a59874430eafe5af44"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 12.34 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]: [-0.4232, 1.7336, 0.5766, 0.4492, -0.3653, -0.2256, 0.9991, -0.0212, 0.8036, 0.6121, -0.4778, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3875 left_y=-0.1014 left_z=0.0196 left_yaw=-0.0135 left_pitch=-0.0789 left_roll=0.0719 left_gripper=0.9991 right_x=0.2824 right_y=0.0011 right_z=0.1614 right_yaw=-0.0019 right_pitch=-0.0851 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -6.6803, 4.9299, 1.7656, -0.3492, -0.0708, -0.1099, -0.1299, -1.0872, 6.9402, 1.8681, -0.0269, -0.0366, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The arm hasn't moved despite my last two commands—it seems stuck, possibly with fingers dragging on the table. I'll lift up first, then reposition over the block.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.39, \"left_y\": -0.1, \"left_z\": 0.07, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"The left arm hasn't moved in the last two commands, likely stuck against the table. Lifting to 7 cm and pitching the tool down slightly to get a better top-down grasp posture and free the arm.\"}",
"name": "move_to"
},
"id": "toolu_01VQzukHaLegjynaCACaqhur",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_01VQzukHaLegjynaCACaqhur"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 1.771, 0.392, 0.9939, -0.4618, -0.115, 0.9991, -0.0212, 0.8082, 0.6121, -0.5232, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3861 left_y=-0.0982 left_z=0.0561 left_yaw=-0.0182 left_pitch=0.2307 left_roll=0.0824 left_gripper=0.9991 right_x=0.2754 right_y=0.0013 right_z=0.1516 right_yaw=-0.0015 right_pitch=-0.135 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -5.4222, 3.8496, 2.2491, -0.1978, 0.0757, -0.105, -0.0479, -1.4427, 6.8855, 1.8291, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5dab2f44a617dacacebfb45a41b08cb3bb4d45eee01496cfaab0474dcbcfe591"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b9469ab052435c6afa35bf48e28992e77f7fd8555ded8aa8fadb35c25b69303"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2acfc224389524316f77c6f10501aa85fceaf0e9f54fdf32b6320c9b219c153c"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 9.086 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]: [-0.4232, 1.7336, 0.5762, 0.4492, -0.3653, -0.226, 0.9991, -0.0212, 0.8055, 0.6121, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3874 left_y=-0.1014 left_z=0.0195 left_yaw=-0.0132 left_pitch=-0.0792 left_roll=0.0717 left_gripper=0.9991 right_x=0.2789 right_y=0.0012 right_z=0.1566 right_yaw=-0.0021 right_pitch=-0.1095 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -6.5573, 4.9436, 1.8242, -0.3297, -0.1001, -0.1099, -0.0205, -1.2923, 7.0632, 1.8291, -0.0269, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.415, \"left_y\": -0.085, \"left_z\": 0.02, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"Top camera shows the block just beyond the gripper tip. Moving 3 cm forward, 1 cm left, and down to 2 cm to straddle the block with the fingers.\"}",
"name": "move_to"
},
"id": "toolu_0129Knj37DWo91gr6faap7nq",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_0129Knj37DWo91gr6faap7nq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3813, 2.0838, 0.4427, 1.2354, -0.4183, -0.091, 0.9985, -0.0212, 0.8135, 0.6121, -0.5461, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4041 left_y=-0.0808 left_z=0.0022 left_yaw=0.0058 left_pitch=0.2038 left_roll=0.0982 left_gripper=0.9985 right_x=0.2718 right_y=0.0014 right_z=0.1461 right_yaw=-0.0016 right_pitch=-0.1633 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.5231, 3.9179, 2.0488, -0.2759, 1.16, -0.2027, -0.1299, -1.4838, 6.8718, 2.0049, -0.0317, -0.0366, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1e1676bfec09fdc7e4279fe50cba6d7f4c2c7d04ed23a0b1cc3a6c074a6abdea"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e82945f4ea90d3df5cd52c449483cc59c9c8c2af20d9e64ac23d134e28c9f719"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c6c818df8961cd2b1bc6d82f6b0d270b5a20da5ee3528fb9a6d90fc66ee1e663"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 13.76 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]: [-0.4572, 1.771, 0.392, 0.9939, -0.4618, -0.115, 0.9991, -0.0212, 0.8082, 0.6121, -0.5232, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3861 left_y=-0.0982 left_z=0.0561 left_yaw=-0.0182 left_pitch=0.2307 left_roll=0.0824 left_gripper=0.9991 right_x=0.2754 right_y=0.0013 right_z=0.1516 right_yaw=-0.0015 right_pitch=-0.135 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -5.4222, 3.8496, 2.2491, -0.1978, 0.0757, -0.105, -0.0479, -1.4427, 6.8855, 1.8291, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block is just beyond the fingertips in top_cam and not yet between the fingers in the wrist view. I'll nudge forward a bit more.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.435, \"left_y\": -0.075, \"left_z\": 0.005, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block just past the fingertips; advancing about 3 cm forward at table height so the block sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Nux5aLgFcjqbVuRRYsPZNQ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Nux5aLgFcjqbVuRRYsPZNQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3668, 2.1258, 0.4461, 1.3155, -0.4088, -0.0753, 0.9991, -0.0212, 0.812, 0.6121, -0.5686, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4085 left_y=-0.0779 left_z=0.0038 left_yaw=0.007 left_pitch=0.2401 left_roll=0.094 left_gripper=0.9991 right_x=0.2679 right_y=0.0014 right_z=0.1424 right_yaw=-0.0017 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.2684, 3.5624, 1.707, -0.1832, -0.0366, -0.1148, -0.0342, -1.0051, 6.9402, 1.746, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7b277e87d445f3dac960795f95a722519fb6a46da0b8b501bff95e6f05f2df0d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2ce01043fa36d888f38bb53bf7ee3729115dd6af455bfc5a6ca48f9ba70d67ea"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8e55f88d5ae6719d0480129e33a1a8a0db705dee07f8044d5b7407b65575e320"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 30.89 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]: [-0.3813, 2.0838, 0.4427, 1.2354, -0.4183, -0.091, 0.9985, -0.0212, 0.8135, 0.6121, -0.5461, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4041 left_y=-0.0808 left_z=0.0022 left_yaw=0.0058 left_pitch=0.2038 left_roll=0.0982 left_gripper=0.9985 right_x=0.2718 right_y=0.0014 right_z=0.1461 right_yaw=-0.0016 right_pitch=-0.1633 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.5231, 3.9179, 2.0488, -0.2759, 1.16, -0.2027, -0.1299, -1.4838, 6.8718, 2.0049, -0.0317, -0.0366, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block still isn't between the fingers—top camera shows it slightly to the upper-left of the jaws. Let me lift slightly to see it in the wrist camera and re-align.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.075, \"left_z\": 0.08, \"left_pitch\": 0.45, \"left_gripper\": 1}, \"note\": \"The block isn't visible between the fingers in the wrist camera. Lifting to 8 cm with more downward pitch so I can see the block relative to the gripper and re-align precisely.\"}",
"name": "move_to"
},
"id": "toolu_01EZDPVb9e6QMmxD8fwNRm3p",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01EZDPVb9e6QMmxD8fwNRm3p"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3668, 2.1258, 0.4461, 1.3151, -0.4088, -0.0753, 0.9991, -0.0212, 0.812, 0.6121, -0.606, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4085 left_y=-0.0779 left_z=0.0037 left_yaw=0.007 left_pitch=0.2398 left_roll=0.0942 left_gripper=0.9991 right_x=0.2614 right_y=0.0016 right_z=0.1359 right_yaw=-0.0014 right_pitch=-0.2216 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -7.2547, 3.6718, 1.707, -0.1832, 0.0171, -0.1099, -0.0752, -1.0462, 6.8444, 1.9414, -0.0464, -0.0513, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:75647eb09c39eea5f844762d8994e350de0217068c02191a350256d2dae56aa6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78b9f9117a3621faa9c321d1d1cc1753e1cf7d6fe6f7ac0eb85dc96fd70ad8a6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:04480bb585169244f0575fcf6fa38fddf4e45c016657efe005c735bd99b67eee"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 13.75 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]: [-0.3668, 2.1258, 0.4461, 1.3155, -0.4088, -0.0753, 0.9991, -0.0212, 0.812, 0.6121, -0.5686, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4085 left_y=-0.0779 left_z=0.0038 left_yaw=0.007 left_pitch=0.2401 left_roll=0.094 left_gripper=0.9991 right_x=0.2679 right_y=0.0014 right_z=0.1424 right_yaw=-0.0017 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.2684, 3.5624, 1.707, -0.1832, -0.0366, -0.1148, -0.0342, -1.0051, 6.9402, 1.746, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The left arm didn't move at all—its fingertips may be caught on the table. I'll command a straight lift with the current pitch to free it.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.408, \"left_y\": -0.078, \"left_z\": 0.09, \"left_pitch\": 0.24, \"left_gripper\": 1}, \"note\": \"The left arm did not move on the last command and may be caught on the table. Lifting straight up 9 cm without changing x/y or pitch to free it before re-aligning over the block.\"}",
"name": "move_to"
},
"id": "toolu_01HsQ4RoXkiqb7Jp4Bt4RZN7",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01HsQ4RoXkiqb7Jp4Bt4RZN7"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3714, 1.6878, 0.4561, 0.9318, -0.4164, -0.083, 0.9991, -0.0212, 0.8158, 0.6121, -0.622, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.079 left_z=0.0949 left_yaw=0.02 left_pitch=0.3009 left_roll=0.064 left_gripper=0.9991 right_x=0.2586 right_y=0.0016 right_z=0.1323 right_yaw=-0.0014 right_pitch=-0.2414 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -7.0085, 6.7624, 1.8242, -0.0659, 0.0317, -0.1099, -0.0889, -1.4017, 6.7897, 1.6142, -0.0415, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7deaf9da004390e91ef4c0fac4cd4fa1fd1e9cf01552b02ac24aa82deee14fcf"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:181cc503e7001c5cf57287b261b8e63469d1ae675ae9bdd5d73af513e39f50d6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb9e55ffc2f3668219389ed065693633162fdf5656cb717b592bccd55b8586a9"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 21.32 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]: [-0.3668, 2.1258, 0.4461, 1.3151, -0.4088, -0.0753, 0.9991, -0.0212, 0.812, 0.6121, -0.606, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4085 left_y=-0.0779 left_z=0.0037 left_yaw=0.007 left_pitch=0.2398 left_roll=0.0942 left_gripper=0.9991 right_x=0.2614 right_y=0.0016 right_z=0.1359 right_yaw=-0.0014 right_pitch=-0.2216 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -7.2547, 3.6718, 1.707, -0.1832, 0.0171, -0.1099, -0.0752, -1.0462, 6.8444, 1.9414, -0.0464, -0.0513, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The arm is now free at 9.5 cm height. Top camera shows the red block just ahead-right of the gripper tip. I'll move over it before descending.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.07, \"left_z\": 0.05, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"Arm is free and hovering; top camera shows the block a few cm beyond the gripper tip. Moving 3 cm forward and slightly left while descending to 5 cm to get the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01CfVuGrouPwT1CAGuimfpJo",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01CfVuGrouPwT1CAGuimfpJo"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3126, 1.9541, 0.514, 1.0252, -0.3786, -0.0765, 0.9991, -0.0212, 0.8204, 0.6121, -0.6415, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4253 left_y=-0.0651 left_z=0.0275 left_yaw=0.0324 left_pitch=0.1887 left_roll=0.1002 left_gripper=0.9991 right_x=0.2551 right_y=0.0017 right_z=0.128 right_yaw=-0.001 right_pitch=-0.2655 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.8667, 5.4222, 2.5128, -0.0855, 0.0952, -0.1099, -0.0479, -0.9368, 6.7761, 1.7802, -0.0415, -0.0708, -0.0073]\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:7b63ee8736b83674f6acdf52e81401ad9a8ab6ce7366239f896a4ee01666fa46"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6306455bfc18e0410bbb8bde348fe59e450858bb8c9d464e3aa10b94241aca2f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cb8d8e0db19dada533333dfd59f3129580d831fdc50c91124206a731b67dbda8"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 14.8 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]: [-0.3714, 1.6878, 0.4561, 0.9318, -0.4164, -0.083, 0.9991, -0.0212, 0.8158, 0.6121, -0.622, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4097 left_y=-0.079 left_z=0.0949 left_yaw=0.02 left_pitch=0.3009 left_roll=0.064 left_gripper=0.9991 right_x=0.2586 right_y=0.0016 right_z=0.1323 right_yaw=-0.0014 right_pitch=-0.2414 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -7.0085, 6.7624, 1.8242, -0.0659, 0.0317, -0.1099, -0.0889, -1.4017, 6.7897, 1.6142, -0.0415, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block is directly ahead of the gripper tip in the top camera. I'll advance a few more cm and drop to grasp height.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.065, \"left_z\": 0.015, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"Top camera shows the block directly ahead of the gripper tip. Advancing ~3.5 cm forward and lowering to 1.5 cm so the jaws straddle the block.\"}",
"name": "move_to"
},
"id": "toolu_014SaS1kFHQXqqD1ScPsoRTg",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_014SaS1kFHQXqqD1ScPsoRTg"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2867, 2.0697, 0.6167, 1.0538, -0.3695, -0.0746, 0.9991, -0.0208, 0.8238, 0.6121, -0.6586, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.063 left_z=0.0165 left_yaw=0.0506 left_pitch=0.2021 left_roll=0.0932 left_gripper=0.9991 right_x=0.2519 right_y=0.0019 right_z=0.1244 right_yaw=-0.0007 right_pitch=-0.2861 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.1709, 4.6701, 2.0879, 0.0562, 0.1099, -0.1099, -0.0342, -1.3607, 6.7761, 1.5946, -0.0464, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3258be8e7a389ee1b87b0e2b894fc75f7dee66105700907904a922cfa9a67e53"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9cac41e677c51e697a13d77fd33686c305618549b68422dc282f03f95d84d367"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:574ee8ebb8b548163af6800a295261fe3f0823b07dd5b5f1153f87808df5e212"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 13.69 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]: [-0.3126, 1.9541, 0.514, 1.0252, -0.3786, -0.0765, 0.9991, -0.0212, 0.8204, 0.6121, -0.6415, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4253 left_y=-0.0651 left_z=0.0275 left_yaw=0.0324 left_pitch=0.1887 left_roll=0.1002 left_gripper=0.9991 right_x=0.2551 right_y=0.0017 right_z=0.128 right_yaw=-0.001 right_pitch=-0.2655 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.8667, 5.4222, 2.5128, -0.0855, 0.0952, -0.1099, -0.0479, -0.9368, 6.7761, 1.7802, -0.0415, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The wrist camera shows only table between the fingers—the block is offset to the arm's left. In top_cam the block sits slightly above the gripper tip, meaning +y in the arm frame.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.465, \"left_y\": -0.04, \"left_z\": 0.012, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The block is not between the fingers; top camera shows it offset toward the arm's left. Shifting the gripper ~2.5 cm left (+y) at grasp height to center the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01CG7r8EqEoYvgEPf9ETnY3J",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01CG7r8EqEoYvgEPf9ETnY3J"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2176, 2.0895, 0.6361, 1.0367, -0.329, -0.0616, 0.9991, -0.0212, 0.823, 0.6121, -0.6758, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4586 left_y=-0.0393 left_z=0.0091 left_yaw=0.0772 left_pitch=0.1797 left_roll=0.0955 left_gripper=0.9991 right_x=0.2486 right_y=0.0019 right_z=0.1219 right_yaw=-0.001 right_pitch=-0.3025 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.6239, 5.1214, 2.1172, 0.1441, 0.1001, -0.1099, -0.1026, -1.0462, 6.735, 1.5995, -0.0513, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c2e9639a2e0801855cd9817d716520d830f32ed120e313a3b36f5136d212fb9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d702fc44bc4197923473caa1724942076532a8bce7ba226d40b3d7f9b2043f1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4167c793ebca01ddc62617dc4142afc6da9a1eeca9b5cbc44ffa03a52424b350"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 39.7 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]: [-0.2867, 2.0697, 0.6167, 1.0538, -0.3695, -0.0746, 0.9991, -0.0208, 0.8238, 0.6121, -0.6586, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.063 left_z=0.0165 left_yaw=0.0506 left_pitch=0.2021 left_roll=0.0932 left_gripper=0.9991 right_x=0.2519 right_y=0.0019 right_z=0.1244 right_yaw=-0.0007 right_pitch=-0.2861 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -8.1709, 4.6701, 2.0879, 0.0562, 0.1099, -0.1099, -0.0342, -1.3607, 6.7761, 1.5946, -0.0464, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The gripper is very close now; top camera shows the block just ahead of the fingertips. One more small advance.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.478, \"left_y\": -0.035, \"left_z\": 0.008, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"Top camera shows the block just beyond the fingertips. Advancing 2 cm forward at grasp height so the block ends up between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01DRoyMprAygAe7cjj8wVcDQ",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01DRoyMprAygAe7cjj8wVcDQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2024, 2.0964, 0.6369, 1.0363, -0.3073, -0.0563, 0.9991, -0.0212, 0.823, 0.6121, -0.6788, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.036 left_z=0.0058 left_yaw=0.0709 left_pitch=0.1707 left_roll=0.0937 left_gripper=0.9991 right_x=0.2481 right_y=0.0018 right_z=0.1214 right_yaw=-0.0013 right_pitch=-0.3055 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.1983, 4.8342, 2.0586, 0.0513, 0.1148, -0.1099, -0.0889, -1.1282, 6.7077, 1.4383, -0.0415, -0.0171, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:28afcb545e181c9e9aa02e326aed7820083b6e06a9baac0f12a9ae919741000e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:614c5724355a52bfbc4520ea2be1154f4a8cb2fdff0a797004912bd3c01a18eb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c3392b88f4effd1c85401b5b9141a69160798093f815c428f22c2aa6e388918"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 38.1 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]: [-0.2176, 2.0895, 0.6361, 1.0367, -0.329, -0.0616, 0.9991, -0.0212, 0.823, 0.6121, -0.6758, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4586 left_y=-0.0393 left_z=0.0091 left_yaw=0.0772 left_pitch=0.1797 left_roll=0.0955 left_gripper=0.9991 right_x=0.2486 right_y=0.0019 right_z=0.1219 right_yaw=-0.001 right_pitch=-0.3025 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.6239, 5.1214, 2.1172, 0.1441, 0.1001, -0.1099, -0.1026, -1.0462, 6.735, 1.5995, -0.0513, -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\": 0.505, \"left_y\": -0.033, \"left_z\": 0.005, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"Top camera shows the block about 4-5 cm ahead of the fingertips. Advancing to x=0.505 at table height with jaws open so the block sits between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_011qvVfaNZjz3KfVYqDEPmqf",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_011qvVfaNZjz3KfVYqDEPmqf"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2024, 2.1002, 0.6415, 1.0389, -0.3069, -0.0563, 0.9991, -0.0212, 0.8288, 0.6094, -0.7021, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4604 left_y=-0.0363 left_z=0.0061 left_yaw=0.0707 left_pitch=0.1739 left_roll=0.0926 left_gripper=0.9991 right_x=0.2431 right_y=0.002 right_z=0.1155 right_yaw=-0.0007 right_pitch=-0.3372 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.6359, 4.1504, 2.0342, 0.022, 0.0952, -0.1099, -0.1709, -1.5385, 6.9128, 1.619, -0.0317, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3eac7467118db3477b79925855ca931e712203376bd7d4f8252742782268fad6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94572dfad67aeecf34aaffc6e64a3a744597e71576a4d8074fa4d7c5dc4f3b3e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bdeb53fe2d09849d03a1c83f45a7ee2ccc41f414f15b25dc9a6f06764c98b86a"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 9.099 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]: [-0.2024, 2.0964, 0.6369, 1.0363, -0.3073, -0.0563, 0.9991, -0.0212, 0.823, 0.6121, -0.6788, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.036 left_z=0.0058 left_yaw=0.0709 left_pitch=0.1707 left_roll=0.0937 left_gripper=0.9991 right_x=0.2481 right_y=0.0018 right_z=0.1214 right_yaw=-0.0013 right_pitch=-0.3055 right_roll=0.0086 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.1983, 4.8342, 2.0586, 0.0513, 0.1148, -0.1099, -0.0889, -1.1282, 6.7077, 1.4383, -0.0415, -0.0171, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The arm again failed to advance—fingertips are likely dragging on the table at z≈0.006 with the tool pitched down. I'll advance while keeping the grasp point slightly higher.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.51, \"left_y\": -0.033, \"left_z\": 0.02, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The arm stalled again, likely from fingertips scraping the table. Raising the grasp point to 2 cm while advancing 5 cm so the open jaws slide around the block without dragging.\"}",
"name": "move_to"
},
"id": "toolu_01WnfoDMDayakickzirRrx6Z",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01WnfoDMDayakickzirRrx6Z"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2024, 2.1002, 0.6415, 1.0389, -0.3069, -0.0559, 0.9991, -0.0212, 0.8288, 0.6094, -0.7097, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4604 left_y=-0.0363 left_z=0.0061 left_yaw=0.0705 left_pitch=0.1739 left_roll=0.0929 left_gripper=0.9991 right_x=0.2416 right_y=0.0019 right_z=0.1144 right_yaw=-0.001 right_pitch=-0.3448 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.2803, 4.3829, 2.0684, 0.0317, 0.1099, -0.1099, -0.0068, -1.1419, 6.694, 1.3993, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:370640b295fbfaf386c2f19f9a2e9242cbad5fe73ecaa4146fdc55f811206f00"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0f99411d670c08271a6c838f2b30f346c8f4c65795db575bbbcfde52df0c2c28"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2c8a0c5bb0024397e3190ae4b62bbb9328a9fbae8c15eda4a0f650ef3b97b662"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 14.14 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]: [-0.2024, 2.1002, 0.6415, 1.0389, -0.3069, -0.0563, 0.9991, -0.0212, 0.8288, 0.6094, -0.7021, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4604 left_y=-0.0363 left_z=0.0061 left_yaw=0.0707 left_pitch=0.1739 left_roll=0.0926 left_gripper=0.9991 right_x=0.2431 right_y=0.002 right_z=0.1155 right_yaw=-0.0007 right_pitch=-0.3372 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.6359, 4.1504, 2.0342, 0.022, 0.0952, -0.1099, -0.1709, -1.5385, 6.9128, 1.619, -0.0317, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The arm is stuck again at x=0.46; it seems forward motion at low height keeps stalling. I'll lift up first, then reposition directly above the block, then descend vertically.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.035, \"left_z\": 0.1, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The arm won't slide forward at table height\\u2014it keeps stalling. Lifting straight up to 10 cm first; I'll then position directly above the block and descend vertically.\"}",
"name": "move_to"
},
"id": "toolu_01ALPbxV4TBMhTD3xsCThDfv",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01ALPbxV4TBMhTD3xsCThDfv"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2012, 1.7763, 0.6518, 0.6991, -0.3111, -0.0605, 0.9991, -0.0212, 0.8295, 0.6094, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4534 left_y=-0.0336 left_z=0.0772 left_yaw=0.0775 left_pitch=0.1691 left_roll=0.0919 left_gripper=0.9991 right_x=0.2386 right_y=0.002 right_z=0.112 right_yaw=-0.0009 right_pitch=-0.3604 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -9.5248, 8.0342, 1.9463, -0.0952, 0.0806, -0.1099, -0.0889, -1.1966, 6.6803, 1.4774, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ebf1ac603eb02f86c720be43b6455cbe679b62a3bdaeee18ad38a20a97a4a52"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:62556a6da0dbd8015f279c9b5266788de7e1a3bc99fd049b0d5b85e76c7b2641"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6d571ea7f96047cbc8168520b54b8c2f4abf388f3ade6f96c64d933637a56934"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 14.38 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]: [-0.2024, 2.1002, 0.6415, 1.0389, -0.3069, -0.0559, 0.9991, -0.0212, 0.8288, 0.6094, -0.7097, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4604 left_y=-0.0363 left_z=0.0061 left_yaw=0.0705 left_pitch=0.1739 left_roll=0.0929 left_gripper=0.9991 right_x=0.2416 right_y=0.0019 right_z=0.1144 right_yaw=-0.001 right_pitch=-0.3448 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.2803, 4.3829, 2.0684, 0.0317, 0.1099, -0.1099, -0.0068, -1.1419, 6.694, 1.3993, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The arm is free at 7.7 cm. Top camera shows the block a few cm ahead of the fingertips. I'll move above the block while staying high, then descend vertically.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.032, \"left_z\": 0.09, \"left_pitch\": 0.35, \"left_gripper\": 1}, \"note\": \"Arm is free at 8 cm height with the block visible a few cm ahead in the top camera. Moving forward to hover directly above the block with more downward pitch before descending vertically.\"}",
"name": "move_to"
},
"id": "toolu_01VLK4NosYJAzogErTBFK2cq",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01VLK4NosYJAzogErTBFK2cq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1814, 1.9614, 0.7322, 0.9054, -0.3107, -0.0277, 0.9991, -0.0212, 0.8307, 0.6094, -0.7376, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4877 left_y=-0.0309 left_z=0.0698 left_yaw=0.0848 left_pitch=0.2654 left_roll=0.0952 left_gripper=0.9991 right_x=0.236 right_y=0.0021 right_z=0.1099 right_yaw=-0.0005 right_pitch=-0.3745 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.4718, 6.5983, 2.0391, -0.0269, 0.1636, -0.1099, -0.0479, -1.1829, 6.653, 1.4432, -0.0366, -0.022, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1dba9437a85e3c31fc040bd689a544d9fca85880bf6bde1552ac3c6534dec4fc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:58d35482790f25df386bf5b140ce4fbc05d66de3d6dea6df71bd4cde887e9a5b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:67deff2356d0454eeb49fd09f00a1acb8fd62903f0971ce5d8cb9e4834556c35"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 11.18 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]: [-0.2012, 1.7763, 0.6518, 0.6991, -0.3111, -0.0605, 0.9991, -0.0212, 0.8295, 0.6094, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4534 left_y=-0.0336 left_z=0.0772 left_yaw=0.0775 left_pitch=0.1691 left_roll=0.0919 left_gripper=0.9991 right_x=0.2386 right_y=0.002 right_z=0.112 right_yaw=-0.0009 right_pitch=-0.3604 right_roll=0.0098 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -9.5248, 8.0342, 1.9463, -0.0952, 0.0806, -0.1099, -0.0889, -1.1966, 6.6803, 1.4774, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The gripper is hovering just behind the block. I'll descend to grasp height while advancing slightly so the jaws straddle the block.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.505, \"left_y\": -0.03, \"left_z\": 0.005, \"left_pitch\": 0.35, \"left_gripper\": 1}, \"note\": \"Gripper is hovering just behind the red block per the top camera. Descending to table height while advancing ~2 cm so the open jaws straddle the block.\"}",
"name": "move_to"
},
"id": "toolu_015gL81MBRCKitsgsNcaZ7rV",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_015gL81MBRCKitsgsNcaZ7rV"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1791, 2.286, 0.783, 1.2461, -0.3096, -0.0353, 0.9991, -0.0212, 0.8326, 0.6094, -0.7471, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5026 left_y=-0.0327 left_z=0.0106 left_yaw=0.0959 left_pitch=0.33 left_roll=0.0685 left_gripper=0.9991 right_x=0.234 right_y=0.0021 right_z=0.1082 right_yaw=-0.0007 right_pitch=-0.386 right_roll=0.0104 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -8.253, 3.4256, 1.1746, -0.0611, 0.2955, -0.1099, -0.0889, -1.265, 6.6393, 1.3602, -0.022, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:53df3405df7430239378df61a47a57f65769e6a2ca142e62c137fa74c85dcc75"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ea688578340f16bc718e14993c89666d1f37eaf62b7d10a45531f6db079adb75"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cad25ff3dd8ba776a0b08e416cbb8eb213ab774085f19d3c5b69d78de4ffea21"
},
"type": "image_url"
}
],
"role": "user"
}