- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5-1
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 335 s
- total steps
- 115
operator
1
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=1
Trial scores
trial 0 operator=1
Termination reasons
done
Operator judgements
y
Grader notes
trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 17
Raw transcript
step 22
Raw transcript
step 26
Raw transcript
step 30
Raw transcript
step 34
Raw transcript
step 41
Raw transcript
step 44
Raw transcript
step 47
Raw transcript
step 57
Raw transcript
step 66
Raw transcript
step 77
Raw transcript
step 84
Raw transcript
step 88
Raw transcript
step 95
Raw transcript
step 108
Raw transcript
step 114
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 · 38.39 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the red block from the table and place it inside the bowl.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6048, -0.384, -0.0193, -0.0334, 0.9992, -0.0212, 0.7937, 0.6056, -0.3958, -0.0196, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.347, 10.1949, 1.8388, -0.0366, 0.1783, -0.0952, -0.5675, -1.5111, 9.853, 1.9072, -0.0464, 0.0806, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:04b3ed0e36d1b822f35763d3bfe5c059c2ee5bb92a660017cee34a7e3db65f25"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5b2c878bd9d6d9f1cf68dc9bb7d3bacdb446ee0eacc50b1898b834acc78d6e9c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1bb91fc62d71f89feb9b1ec7d4db09870d4bc651ac60f0544e158a59897dccc2"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 14.19 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.28, \"left_y\": -0.18, \"left_z\": 0.15, \"right_x\": 0.29, \"right_y\": 0.15, \"right_z\": 0.18}, \"note\": \"The left wrist camera shows the red block to the lower-right (toward -y of the left arm) and the right wrist camera shows the bowl to the left (+y of the right arm). Moving the left arm toward the block and the right arm toward the bowl to refine their positions.\"}",
"name": "move_to"
},
"id": "toolu_01W3zptN75Z65967Dtxa4pLr",
"type": "function"
}
]
}{
"content": "executing move_to over 17 steps (1.7s)",
"role": "tool",
"tool_call_id": "toolu_01W3zptN75Z65967Dtxa4pLr"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9455, 1.2236, 0.7025, -0.3626, -0.7158, -0.6456, 0.9991, 0.7807, 1.1114, 0.7403, -0.4404, 0.5907, 0.4492, 0.9996]\nstate[eef_state]: left_x=0.2734 left_y=-0.1745 left_z=0.1332 left_yaw=-0.0355 left_pitch=-0.0524 left_roll=0.0405 left_gripper=0.9991 right_x=0.2815 right_y=0.1454 right_z=0.1586 right_yaw=0.0435 right_pitch=-0.0637 right_roll=-0.0545 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.5333, 8.9231, 1.4676, -0.5983, -0.0513, -0.022, 0.1709, -3.535, 9.6752, 1.6679, 0.398, 0.188, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:791f6702ce23a731efe1f4f3f306d6dcae87b26266606d1d5d982421ea83a578"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bf3230bc80425bc71de87f819e7dfe87baa1272419f008b36b9a70e4257e6706"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d897bc49d148293c4159fd97336caf239062fba6c085540d3b7b539916418e56"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 8.121 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6048, -0.384, -0.0193, -0.0334, 0.9992, -0.0212, 0.7937, 0.6056, -0.3958, -0.0196, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2942 left_y=0.0013 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2928 right_y=0.0009 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.347, 10.1949, 1.8388, -0.0366, 0.1783, -0.0952, -0.5675, -1.5111, 9.853, 1.9072, -0.0464, 0.0806, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.31, \"left_y\": -0.21, \"left_z\": 0.07}, \"note\": \"The left wrist camera shows the red block centered and slightly ahead of the gripper; from the top camera it sits a bit forward and to the -y side of the left gripper. Lowering the left arm toward the block while shifting forward and to -y.\"}",
"name": "move_to"
},
"id": "toolu_01E56qhqMY5og56UYEP6QaXo",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01E56qhqMY5og56UYEP6QaXo"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9169, 1.5433, 0.6811, -0.0883, -0.6991, -0.6319, 0.9991, 0.7815, 1.1202, 0.7452, -0.4549, 0.5865, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.1962 left_z=0.062 left_yaw=-0.0211 left_pitch=-0.1047 left_roll=0.0957 left_gripper=0.9991 right_x=0.2805 right_y=0.1456 right_z=0.1556 right_yaw=0.045 right_pitch=-0.0793 right_roll=-0.0625 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.3111, 6.9538, 1.3309, -0.3004, 0.1392, -0.0122, -0.2667, -4.0, 6.3248, 1.5116, 0.2173, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:afc9c10aeb7f025cc571317b17b427e6e98950c279976b704f91816824eea056"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a15a4e3b24fbbe0837c2dee1d366a6313ee6599b3aee692759a0c3972e81030f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:372ab83e624476bb16811953090d02552b597875ef8f558fbf602393ed3a96e4"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 7.543 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9455, 1.2236, 0.7025, -0.3626, -0.7158, -0.6456, 0.9991, 0.7807, 1.1114, 0.7403, -0.4404, 0.5907, 0.4492, 0.9996]\nstate[eef_state]: left_x=0.2734 left_y=-0.1745 left_z=0.1332 left_yaw=-0.0355 left_pitch=-0.0524 left_roll=0.0405 left_gripper=0.9991 right_x=0.2815 right_y=0.1454 right_z=0.1586 right_yaw=0.0435 right_pitch=-0.0637 right_roll=-0.0545 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -4.5333, 8.9231, 1.4676, -0.5983, -0.0513, -0.022, 0.1709, -3.535, 9.6752, 1.6679, 0.398, 0.188, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.345, \"left_y\": -0.2, \"left_z\": 0.03, \"left_pitch\": 0.0, \"left_roll\": 0.0}, \"note\": \"The left wrist camera shows the block laterally centered between the fingers but still a few centimeters ahead of the gripper. Moving forward and down so the block sits between the open jaws.\"}",
"name": "move_to"
},
"id": "toolu_01XnMynNkoF6Ks9ryZjeT7qY",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01XnMynNkoF6Ks9ryZjeT7qY"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8101, 1.7443, 0.6224, 0.2573, -0.6579, -0.5533, 0.9991, 0.7815, 1.1221, 0.7452, -0.4614, 0.5865, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1854 left_z=0.0178 left_yaw=0.01 left_pitch=-0.0769 left_roll=0.0715 left_gripper=0.9991 right_x=0.2798 right_y=0.1449 right_z=0.1541 right_yaw=0.0479 right_pitch=-0.0857 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.6786, 4.9709, 1.6874, -0.3199, 0.1148, -0.0122, -0.1299, -3.1111, 6.694, 1.4872, 0.2418, -0.0073, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0f85b26d5362f375509130c7de0d51a79b1d4180759ded62b06727f65c4f74b5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:73f36e968e89877549ad90e17ff5049196618fe526b1abdc896024fafeef5557"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c848b46a2f4b1767e0878baf94ce7391f39475e2306e4f7560b7fb59cbb546f3"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 9.791 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9169, 1.5433, 0.6811, -0.0883, -0.6991, -0.6319, 0.9991, 0.7815, 1.1202, 0.7452, -0.4549, 0.5865, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.1962 left_z=0.062 left_yaw=-0.0211 left_pitch=-0.1047 left_roll=0.0957 left_gripper=0.9991 right_x=0.2805 right_y=0.1456 right_z=0.1556 right_yaw=0.045 right_pitch=-0.0793 right_roll=-0.0625 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.3111, 6.9538, 1.3309, -0.3004, 0.1392, -0.0122, -0.2667, -4.0, 6.3248, 1.5116, 0.2173, -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\": 0.37, \"left_y\": -0.19, \"left_z\": 0.015}, \"note\": \"The block is now large and centered in the left wrist view but still just ahead of the fingertips; the gripper is near table height. Sliding forward about 4 cm so the jaws straddle the block.\"}",
"name": "move_to"
},
"id": "toolu_01HLBEAgepJfb55HmVn5J6ii",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01HLBEAgepJfb55HmVn5J6ii"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7341, 1.8385, 0.7033, 0.2897, -0.6247, -0.5083, 0.9991, 0.7815, 1.124, 0.7452, -0.4782, 0.5835, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3605 left_y=-0.1814 left_z=0.0102 left_yaw=0.0373 left_pitch=-0.0834 left_roll=0.0761 left_gripper=0.9991 right_x=0.2777 right_y=0.1435 right_z=0.151 right_yaw=0.0491 right_pitch=-0.1012 right_roll=-0.0841 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -7.4051, 7.0085, 1.5653, -0.2662, 0.1343, -0.0122, -0.0342, -3.1932, 6.694, 1.5311, 0.2711, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:17b2d3e501c28b584131545b5ff77b196c27dc126b5a0b38c6701e7e0f0ba42f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3541db0f98b006508d41394b1e7a6b0ee5340062ce8cace60fb83c69a38d4c0d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b7737694b3d7f9c17d11a84633e092f6d0c009f0fbcb69a787e90e5441ae4b3"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 11.66 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8101, 1.7443, 0.6224, 0.2573, -0.6579, -0.5533, 0.9991, 0.7815, 1.1221, 0.7452, -0.4614, 0.5865, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.3305 left_y=-0.1854 left_z=0.0178 left_yaw=0.01 left_pitch=-0.0769 left_roll=0.0715 left_gripper=0.9991 right_x=0.2798 right_y=0.1449 right_z=0.1541 right_yaw=0.0479 right_pitch=-0.0857 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -7.6786, 4.9709, 1.6874, -0.3199, 0.1148, -0.0122, -0.1299, -3.1111, 6.694, 1.4872, 0.2418, -0.0073, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.185, \"left_z\": 0.01}, \"note\": \"The block is still visible just beyond the fingertips in the left wrist camera, so it is a few more centimeters forward. Advancing another 4 cm at table height to get the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_012hfBueAKeUFoHVydYLyov4",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_012hfBueAKeUFoHVydYLyov4"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7258, 1.8465, 0.7177, 0.2836, -0.6128, -0.4904, 0.9991, 0.7815, 1.124, 0.7452, -0.4969, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.1824 left_z=0.0099 left_yaw=0.0275 left_pitch=-0.0901 left_roll=0.0837 left_gripper=0.9991 right_x=0.2755 right_y=0.1414 right_z=0.1483 right_yaw=0.0483 right_pitch=-0.1155 right_roll=-0.0962 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.4051, 6.7761, 1.4823, -0.2173, 0.105, -0.0122, -0.0752, -3.2068, 6.7897, 1.5409, 0.2271, -0.0317, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7964308aca8cca516fd3561cab077d7e3a08bdc551ea2d948114cef6fc3035a5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:445161f25ecdf379c5e2ad6cf7c611bd3bf1e8e3ff3168a0024b5b1ce7a45bf4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a5e92e164596566907bd8d19b9126fd4037e4b30745bea308648ae26c1f014e5"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 10.95 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7341, 1.8385, 0.7033, 0.2897, -0.6247, -0.5083, 0.9991, 0.7815, 1.124, 0.7452, -0.4782, 0.5835, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3605 left_y=-0.1814 left_z=0.0102 left_yaw=0.0373 left_pitch=-0.0834 left_roll=0.0761 left_gripper=0.9991 right_x=0.2777 right_y=0.1435 right_z=0.151 right_yaw=0.0491 right_pitch=-0.1012 right_roll=-0.0841 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -7.4051, 7.0085, 1.5653, -0.2662, 0.1343, -0.0122, -0.0342, -3.1932, 6.694, 1.5311, 0.2711, -0.0171, -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\": 0.42, \"left_y\": -0.185, \"left_z\": 0.02, \"left_pitch\": 0.1}, \"note\": \"The left arm barely advanced (x stayed ~0.36) although effort is flat, suggesting the controller is sagging near this pose; the block is still just ahead of the fingertips. Commanding a larger forward target with slight forward pitch to get the jaws over the block.\"}",
"name": "move_to"
},
"id": "toolu_01WJFkKY1tCV7DjJ9VD59JGe",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01WJFkKY1tCV7DjJ9VD59JGe"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7258, 1.8465, 0.7189, 0.2836, -0.6128, -0.49, 0.9991, 0.7815, 1.124, 0.7452, -0.5003, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3644 left_y=-0.1827 left_z=0.0102 left_yaw=0.0273 left_pitch=-0.0893 left_roll=0.0832 left_gripper=0.9991 right_x=0.2751 right_y=0.141 right_z=0.1478 right_yaw=0.048 right_pitch=-0.118 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.4598, 6.4752, 1.4872, -0.1587, 0.0855, -0.0122, -0.1299, -3.0838, 6.7624, 1.3944, 0.1929, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ffe8594a2e91985eb573c388f2aab383410947b86a0d483f8de179c4f8deea99"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1c8972bfba0645aa318b6ca7cb362dee63d391a83aca74649f9804d6501f2c03"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:92e1bf349eb35f9ad3836195d26ce654833bdd42bc92a00e51c90701f4ce5a90"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 8.858 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7258, 1.8465, 0.7177, 0.2836, -0.6128, -0.4904, 0.9991, 0.7815, 1.124, 0.7452, -0.4969, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.1824 left_z=0.0099 left_yaw=0.0275 left_pitch=-0.0901 left_roll=0.0837 left_gripper=0.9991 right_x=0.2755 right_y=0.1414 right_z=0.1483 right_yaw=0.0483 right_pitch=-0.1155 right_roll=-0.0962 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.4051, 6.7761, 1.4823, -0.2173, 0.105, -0.0122, -0.0752, -3.2068, 6.7897, 1.5409, 0.2271, -0.0317, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.183, \"left_z\": 0.035, \"left_pitch\": 0.0}, \"note\": \"The left arm is not tracking forward at this very low height (x stuck at 0.364), possibly because the fingertips are dragging on the table. Raising the grasp point slightly to 3.5 cm and pushing forward again to bring the jaws over the block.\"}",
"name": "move_to"
},
"id": "toolu_01KPCYMcEVbTibg876SEHLA5",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01KPCYMcEVbTibg876SEHLA5"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6819, 1.8664, 0.746, 0.3134, -0.6167, -0.4393, 0.9991, 0.7815, 1.124, 0.7452, -0.5087, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3817 left_y=-0.1737 left_z=0.0156 left_yaw=0.0446 left_pitch=-0.0627 left_roll=0.1009 left_gripper=0.9991 right_x=0.274 right_y=0.14 right_z=0.1466 right_yaw=0.0473 right_pitch=-0.1242 right_roll=-0.1042 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7333, 7.747, 1.7363, -0.3101, 0.1734, -0.0122, -0.2393, -3.3573, 6.7624, 1.4188, 0.1929, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c57dba3d00e736c09c90a9af43fd0d380cc2324cda96a660e0060711dcb6b08"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6a071fbb2dbddbaa55d464109f9fd917c83b3ca9599896b0042bedf286756211"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fa758be9e88d3770ad37417a1ffa3a17851ed6600361cc5b9796535d16868c3f"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 8.607 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7258, 1.8465, 0.7189, 0.2836, -0.6128, -0.49, 0.9991, 0.7815, 1.124, 0.7452, -0.5003, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3644 left_y=-0.1827 left_z=0.0102 left_yaw=0.0273 left_pitch=-0.0893 left_roll=0.0832 left_gripper=0.9991 right_x=0.2751 right_y=0.141 right_z=0.1478 right_yaw=0.048 right_pitch=-0.118 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.4598, 6.4752, 1.4872, -0.1587, 0.0855, -0.0122, -0.1299, -3.0838, 6.7624, 1.3944, 0.1929, -0.0269, -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\": 0.41, \"left_y\": -0.172, \"left_z\": 0.015}, \"note\": \"The block now fills the bottom of the left wrist view, right between the fingertips but still slightly ahead. Advancing ~3 cm more so the block is fully between the jaws before closing.\"}",
"name": "move_to"
},
"id": "toolu_01WVXsB5xnDyYh6Je8AFcCrh",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01WVXsB5xnDyYh6Je8AFcCrh"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6727, 1.8668, 0.7677, 0.3367, -0.6174, -0.4149, 0.9991, 0.7815, 1.1244, 0.7452, -0.5228, 0.5823, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3919 left_y=-0.1769 left_z=0.0258 left_yaw=0.0398 left_pitch=-0.0301 left_roll=0.0918 left_gripper=0.9991 right_x=0.2723 right_y=0.1384 right_z=0.1446 right_yaw=0.0463 right_pitch=-0.1352 right_roll=-0.1138 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.1436, 6.653, 1.6874, -0.3053, 0.1929, -0.0122, -0.0479, -3.3299, 6.8171, 1.453, 0.1734, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e10a466feac14bf3aadc9f4adcb1f58d7ad0d3570e115a727d470e47d91b5091"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5d8e3e5c7330f89e0ad8cff0e6bfd5949ef5f5c4a61dababc5e7b4be79997da8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f77499cabe973b37bed954db48ab4d0d4e9b6e1a75ca43eb256a5b099ce6cce8"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 6.523 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6819, 1.8664, 0.746, 0.3134, -0.6167, -0.4393, 0.9991, 0.7815, 1.124, 0.7452, -0.5087, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3817 left_y=-0.1737 left_z=0.0156 left_yaw=0.0446 left_pitch=-0.0627 left_roll=0.1009 left_gripper=0.9991 right_x=0.274 right_y=0.14 right_z=0.1466 right_yaw=0.0473 right_pitch=-0.1242 right_roll=-0.1042 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7333, 7.747, 1.7363, -0.3101, 0.1734, -0.0122, -0.2393, -3.3573, 6.7624, 1.4188, 0.1929, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.395, \"left_y\": -0.177, \"left_z\": 0.012, \"left_gripper\": 0.0}, \"note\": \"The red block now sits between the two fingertips at the bottom of the left wrist view. Lowering slightly to table height and closing the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01DLcFs2xc51NBmtWw1VDWTc",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01DLcFs2xc51NBmtWw1VDWTc"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6716, 1.8965, 0.7712, 0.3996, -0.627, -0.4168, 0.4349, 0.7815, 1.1244, 0.7452, -0.5449, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.1797 left_z=0.0256 left_yaw=0.0487 left_pitch=0.0018 left_roll=0.071 left_gripper=0.4349 right_x=0.2696 right_y=0.1356 right_z=0.1417 right_yaw=0.0439 right_pitch=-0.1514 right_roll=-0.129 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.1197, 4.3556, 1.2967, -0.1099, 0.0415, 1.0281, -0.0752, -3.3299, 6.612, 1.5116, 0.232, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ebfbfc42b5809020e219c74f983539875e6d475c8fd7e96af3ff4ccad80ed0cc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34411d73980ef37beafc8342a728cee5621252f190f4a1413a9aa9a17c997384"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5deb3c63e77a7b8d91b4b1e274db5173c0c35bf67a9c3479e3975de14ead2a8f"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 21.88 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6727, 1.8668, 0.7677, 0.3367, -0.6174, -0.4149, 0.9991, 0.7815, 1.1244, 0.7452, -0.5228, 0.5823, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3919 left_y=-0.1769 left_z=0.0258 left_yaw=0.0398 left_pitch=-0.0301 left_roll=0.0918 left_gripper=0.9991 right_x=0.2723 right_y=0.1384 right_z=0.1446 right_yaw=0.0463 right_pitch=-0.1352 right_roll=-0.1138 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.1436, 6.653, 1.6874, -0.3053, 0.1929, -0.0122, -0.0479, -3.3299, 6.8171, 1.453, 0.1734, -0.0269, -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_z\": 0.15}, \"note\": \"The left gripper stopped at 0.43 with rising gripper effort, indicating it has closed on the block. Lifting the block to 15 cm to confirm the grasp before moving toward the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01YTLpbFYrTFLDZ9RPywEnpe",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01YTLpbFYrTFLDZ9RPywEnpe"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6727, 1.636, 0.9661, -0.0978, -0.6243, -0.4282, 0.4403, 0.7815, 1.1244, 0.7452, -0.5678, 0.5823, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3952 left_y=-0.1782 left_z=0.1223 left_yaw=0.0522 left_pitch=-0.0303 left_roll=0.0878 left_gripper=0.4403 right_x=0.2668 right_y=0.1329 right_z=0.1387 right_yaw=0.0417 right_pitch=-0.1685 right_roll=-0.1444 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.0171, 9.2376, 1.5849, -0.3199, 0.1001, 1.0281, -0.1299, -3.3026, 6.6256, 1.453, 0.2027, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:08927bf2b87ca00b32a684ca1ddc7ce96a023e393efed9c2fa203624bd4f3b5a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:889e906292a178eefc2a82d12b1d019df16a6edc023d8c0db546b1fef65dcab4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e1d345c9f5b42d826feca77483881e329f9defaf55d3579831d85a2f2e7bb8ac"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 8.642 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6716, 1.8965, 0.7712, 0.3996, -0.627, -0.4168, 0.4349, 0.7815, 1.1244, 0.7452, -0.5449, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3984 left_y=-0.1797 left_z=0.0256 left_yaw=0.0487 left_pitch=0.0018 left_roll=0.071 left_gripper=0.4349 right_x=0.2696 right_y=0.1356 right_z=0.1417 right_yaw=0.0439 right_pitch=-0.1514 right_roll=-0.129 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.1197, 4.3556, 1.2967, -0.1099, 0.0415, 1.0281, -0.0752, -3.3299, 6.612, 1.5116, 0.232, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.3, \"left_z\": 0.16}, \"note\": \"The block is firmly held in the left gripper and lifted; the top camera shows the bowl to the right (left arm's -y) and slightly ahead of the gripper. Moving the left arm over toward the bowl at a safe height to check alignment.\"}",
"name": "move_to"
},
"id": "toolu_01UturYbcoprC4J9aMXZoeEA",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_01UturYbcoprC4J9aMXZoeEA"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8555, 1.9667, 1.5234, -0.4587, -0.7288, -0.6071, 0.444, 0.7815, 1.124, 0.7452, -0.5907, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2934 left_z=0.1465 left_yaw=0.043 left_pitch=-0.0573 left_roll=0.0924 left_gripper=0.444 right_x=0.2639 right_y=0.1299 right_z=0.1359 right_yaw=0.0387 right_pitch=-0.1849 right_roll=-0.1601 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.5231, 9.1829, 1.1941, -0.5153, 0.0366, 1.033, -0.0889, -3.2615, 6.6803, 1.4774, 0.2369, -0.0415, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 77):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:74fc749d24d198b42d23cd379c403c288773158ca64bef317992fe033274fb1b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 77):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2fb7a6256cd5ddfae677deb49af695bb83217dba9efdb2baf664856af52dc5d2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 77):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:364c5f93902a4f1442745f9b5d9760890ee3babd8838e37e85a2d46896ae2243"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 17.67 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6727, 1.636, 0.9661, -0.0978, -0.6243, -0.4282, 0.4403, 0.7815, 1.1244, 0.7452, -0.5678, 0.5823, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.3952 left_y=-0.1782 left_z=0.1223 left_yaw=0.0522 left_pitch=-0.0303 left_roll=0.0878 left_gripper=0.4403 right_x=0.2668 right_y=0.1329 right_z=0.1387 right_yaw=0.0417 right_pitch=-0.1685 right_roll=-0.1444 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.0171, 9.2376, 1.5849, -0.3199, 0.1001, 1.0281, -0.1299, -3.3026, 6.6256, 1.453, 0.2027, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.37, \"left_z\": 0.16}, \"note\": \"The left wrist camera now shows the bowl rim at the bottom-right, meaning the bowl is further toward the left arm's -y and roughly at the gripper's x. Shifting the left arm ~8 cm further to -y to center over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01VGNeFDQydLosTW4K2Sk4Ru",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01VGNeFDQydLosTW4K2Sk4Ru"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9668, 2.1719, 1.8793, -0.7258, -0.7757, -0.7464, 0.444, 0.775, 1.124, 0.7452, -0.6258, 0.5892, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.4024 left_y=-0.3591 left_z=0.1496 left_yaw=0.0421 left_pitch=-0.0857 left_roll=0.0981 left_gripper=0.444 right_x=0.2606 right_y=0.1228 right_z=0.1323 right_yaw=0.0185 right_pitch=-0.2061 right_roll=-0.1824 right_gripper=0.9996\nstate[joint_eff]: [-2.1402, -11.2615, 8.9504, 1.2039, -0.5055, -0.0317, 1.0281, 0.4171, -3.0701, 6.5162, 1.6239, 0.1343, -0.1294, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c8d13575b73142f0715732cc4c7ec2140bbbf8ecdfeab200620ed6d3d36c8425"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:131932f607ef6b0697a4b64090b9308eee92d722842fc2d94eea3d892f2102c1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:88420654b624ca9147e40761e30423ed7854d35b95c985a8429ca5e05f901a58"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 21 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8555, 1.9667, 1.5234, -0.4587, -0.7288, -0.6071, 0.444, 0.7815, 1.124, 0.7452, -0.5907, 0.5827, 0.4454, 0.9996]\nstate[eef_state]: left_x=0.4155 left_y=-0.2934 left_z=0.1465 left_yaw=0.043 left_pitch=-0.0573 left_roll=0.0924 left_gripper=0.444 right_x=0.2639 right_y=0.1299 right_z=0.1359 right_yaw=0.0387 right_pitch=-0.1849 right_roll=-0.1601 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.5231, 9.1829, 1.1941, -0.5153, 0.0366, 1.033, -0.0889, -3.2615, 6.6803, 1.4774, 0.2369, -0.0415, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.4, \"left_z\": 0.16}, \"note\": \"The bowl rim is still at the bottom-right of the left wrist view, so the bowl is further in the left arm's -y and slightly +x. Moving to the -y bound and a bit forward to get the held block over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01KvuEK66XHF8wdrgJWqnL2P",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01KvuEK66XHF8wdrgJWqnL2P"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9478, 2.4489, 2.3695, -0.9146, -0.7624, -0.7536, 0.4479, 0.7708, 1.1297, 0.7403, -0.6621, 0.5865, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.4404 left_y=-0.3978 left_z=0.1553 left_yaw=0.0557 left_pitch=-0.0818 left_roll=0.0656 left_gripper=0.4479 right_x=0.2554 right_y=0.1167 right_z=0.1248 right_yaw=0.0076 right_pitch=-0.2415 right_roll=-0.2125 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -14.8308, 7.7744, 0.5348, -0.5104, 0.1538, 0.7204, 0.1026, -3.6308, 6.8171, 1.4188, 0.2857, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:79cfe71606fee59b5311af4f045c790200a79e2e40683c8f7e974e4e6214d5c0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:471a934b391feaed3e2862d62df2916e927ebbfc7cfed5eba1ffe3c5ea176be1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34dd197118bfcb7ed7a1b63d80766d89f7f21495aee6b0c11de661b787394ff8"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 24.83 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9668, 2.1719, 1.8793, -0.7258, -0.7757, -0.7464, 0.444, 0.775, 1.124, 0.7452, -0.6258, 0.5892, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.4024 left_y=-0.3591 left_z=0.1496 left_yaw=0.0421 left_pitch=-0.0857 left_roll=0.0981 left_gripper=0.444 right_x=0.2606 right_y=0.1228 right_z=0.1323 right_yaw=0.0185 right_pitch=-0.2061 right_roll=-0.1824 right_gripper=0.9996\nstate[joint_eff]: [-2.1402, -11.2615, 8.9504, 1.2039, -0.5055, -0.0317, 1.0281, 0.4171, -3.0701, 6.5162, 1.6239, 0.1343, -0.1294, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.35, \"left_y\": -0.4, \"left_z\": 0.14}, \"note\": \"Moving forward made the bowl disappear from the left wrist view, so the bowl is behind (smaller x) the current gripper position, off to the -y side. Bringing the left arm back to x=0.35 at the -y limit to get the block over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01ETSbEmr6SS94XQeahFTRPc",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01ETSbEmr6SS94XQeahFTRPc"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9943, 2.299, 1.9873, -0.8524, -0.7994, -0.9146, 0.4493, 0.7731, 1.129, 0.7231, -0.791, 0.5755, 0.4496, 0.9996]\nstate[eef_state]: left_x=0.3946 left_y=-0.3681 left_z=0.1137 left_yaw=0.1315 left_pitch=-0.128 left_roll=0.1049 left_gripper=0.4493 right_x=0.2332 right_y=0.0983 right_z=0.106 right_yaw=-0.0109 right_pitch=-0.3534 right_roll=-0.3153 right_gripper=0.9996\nstate[joint_eff]: [-9.388, -17.388, 5.8051, 0.8816, -0.8181, -0.0952, 0.8083, -0.5265, -2.6872, 7.5966, 2.3175, 0.3883, 0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a558e00d50abd54e4973ec05c5359e88af358afbb0908db27940706350185e06"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:484cf057b557b858322d77c780af9e1b709af47ef7cd7fc1bb252bcc13096041"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:76e3f97a690183f0d2dc74141a1de6db26313d96fa1d7d89d63bcf038f253d8e"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 9.55 s
- model
- claude-fable-5-1
- 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]: [-0.9478, 2.4489, 2.3695, -0.9146, -0.7624, -0.7536, 0.4479, 0.7708, 1.1297, 0.7403, -0.6621, 0.5865, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.4404 left_y=-0.3978 left_z=0.1553 left_yaw=0.0557 left_pitch=-0.0818 left_roll=0.0656 left_gripper=0.4479 right_x=0.2554 right_y=0.1167 right_z=0.1248 right_yaw=0.0076 right_pitch=-0.2415 right_roll=-0.2125 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -14.8308, 7.7744, 0.5348, -0.5104, 0.1538, 0.7204, 0.1026, -3.6308, 6.8171, 1.4188, 0.2857, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.2, \"right_y\": -0.05, \"right_z\": 0.28, \"left_x\": 0.37, \"left_y\": -0.4, \"left_z\": 0.11}, \"note\": \"The bowl rim is now at the lower-right of the left wrist view and the left arm's base joint effort spiked (-9.4 N\\u00b7m), suggesting it is pressing against the nearby right arm. Retracting the right arm up and away, and pushing the left arm the last few cm to -y so the block is over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_019GdXEW81YL5in5sE2hiFSJ",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_019GdXEW81YL5in5sE2hiFSJ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0653, 2.3795, 2.1231, -0.9848, -0.8032, -1.0206, 0.4502, -0.1947, 0.8845, 1.2675, -1.3186, 0.1146, -0.3538, 0.9996]\nstate[eef_state]: left_x=0.3688 left_y=-0.3965 left_z=0.108 left_yaw=0.1296 left_pitch=-0.1494 left_roll=0.0964 left_gripper=0.4502 right_x=0.1962 right_y=-0.0556 right_z=0.2659 right_yaw=-0.1028 right_pitch=-0.3847 right_roll=-0.3133 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.0, 8.8684, 0.7497, -0.6374, -0.0122, 0.7741, 0.0752, -0.1846, 6.9949, 1.4286, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fe62a9ec1f00f87765f86c7014c6b49cb18ebb41a6a7269bc010fd786c2dab2b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f3cda9493e40d0613a2252e74ed06017f48af64af0c4daedbabcff2c735355ae"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e729cabc11f7886f375060802f96434141a914e2e69f54741ca7511b5557c681"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 24.28 s
- model
- claude-fable-5-1
- 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]: [-0.9943, 2.299, 1.9873, -0.8524, -0.7994, -0.9146, 0.4493, 0.7731, 1.129, 0.7231, -0.791, 0.5755, 0.4496, 0.9996]\nstate[eef_state]: left_x=0.3946 left_y=-0.3681 left_z=0.1137 left_yaw=0.1315 left_pitch=-0.128 left_roll=0.1049 left_gripper=0.4493 right_x=0.2332 right_y=0.0983 right_z=0.106 right_yaw=-0.0109 right_pitch=-0.3534 right_roll=-0.3153 right_gripper=0.9996\nstate[joint_eff]: [-9.388, -17.388, 5.8051, 0.8816, -0.8181, -0.0952, 0.8083, -0.5265, -2.6872, 7.5966, 2.3175, 0.3883, 0.0562, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The left wrist camera now shows the block held directly over the bowl's interior.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_z\": 0.07, \"left_gripper\": 1.0}, \"note\": \"The left wrist camera shows the red block centered over the inside of the bowl. Lowering a few centimeters and opening the gripper to drop the block into the bowl.\"}",
"name": "move_to"
},
"id": "toolu_019aw2HYhbuMkiBrFr5Grzk8",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_019aw2HYhbuMkiBrFr5Grzk8"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-1.0664, 2.3951, 2.0125, -0.878, -0.7982, -1.0252, 0.9963, -0.1955, 0.889, 1.2675, -1.3495, 0.1085, -0.3729, 0.9996]\nstate[eef_state]: left_x=0.3664 left_y=-0.3945 left_z=0.0715 left_yaw=0.132 left_pitch=-0.1606 left_roll=0.1095 left_gripper=0.9963 right_x=0.191 right_y=-0.0537 right_z=0.2606 right_yaw=-0.0855 right_pitch=-0.4227 right_roll=-0.3157 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -13.6684, 5.6, 0.8718, -0.442, 0.0073, -0.1294, -0.0068, -0.6769, 5.4359, 1.5702, 0.022, 0.1636, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f37dc0b3ed46eb458dd4dd422b381b9f1a442a17b67da354941fa0eb56eb0401"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3f1efcd97569e910f631638f84cdf8686899b85102cf4b8d21ddc68b5ac423b1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34432bdc37bc364b6eaee8de41209b42510e5f337fafd83185013baf08895d7c"
},
"type": "image_url"
}
],
"role": "user"
}