- 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
- 306.6 s
- total steps
- 121
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 18
Raw transcript
step 23
Raw transcript
step 28
Raw transcript
step 32
Raw transcript
step 36
Raw transcript
step 40
Raw transcript
step 50
Raw transcript
step 60
Raw transcript
step 76
Raw transcript
step 82
Raw transcript
step 95
Raw transcript
step 101
Raw transcript
step 120
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 · 23.79 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the red block from the table and place it inside the bowl.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3878, -0.0223, -0.0334, 0.9993, -0.0212, 0.7952, 0.6079, -0.3958, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0019 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -1.306, 10.1949, 1.9756, -0.0415, 0.2125, -0.0855, -0.3077, -1.5521, 9.7026, 1.9072, -0.0317, 0.0806, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78b0493419e26c028fe9cfb46ff110e69e3d07904b766610eb0838b774748bea"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:599243f3376fc624a941603c8d0c6ebe8499d3f0d88f1f4fb7fb46537fe6d207"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3a64cd6de0e694277c98f9c50e0d7f9169a1c193cc4fc799df4475b1dc3f7324"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 6.438 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.36, \"left_y\": -0.2, \"left_z\": 0.12, \"left_gripper\": 1.0}, \"note\": \"Top camera shows the red block roughly 20+ cm to the right of the left gripper and slightly ahead; the bowl is further right near the right arm. Moving the left arm over toward the block at a safe height to refine alignment.\"}",
"name": "move_to"
},
"id": "toolu_01Y9tD7USqHCYD1CtMLzf5jN",
"type": "function"
}
]
}{
"content": "executing move_to over 18 steps (1.8s)",
"role": "tool",
"tool_call_id": "toolu_01Y9tD7USqHCYD1CtMLzf5jN"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7612, 1.5341, 0.8059, -0.0772, -0.6003, -0.5003, 0.9993, -0.0212, 0.7986, 0.6147, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3484 left_y=-0.1892 left_z=0.102 left_yaw=-0.0163 left_pitch=-0.0622 left_roll=0.0396 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.1729 right_yaw=-0.0003 right_pitch=-0.0328 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.6256, 8.9368, 1.7021, -0.5153, -0.0024, -0.0855, -0.0479, -1.5248, 6.6393, 2.0391, -0.0464, -0.022, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2327531772793d6cac96c54057a5c6b6eabd0a25c8d2441d52e3be653abced3c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5fce72ded2ef788da0313e336cc456ed2b09c17f3faf6f5804297f18222feb5e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b73ae6c8053dc663aa57c09b648b7d0623376898695b845797bd2733a082ce4"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 7.148 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3878, -0.0223, -0.0334, 0.9993, -0.0212, 0.7952, 0.6079, -0.3958, -0.02, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0019 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1782 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.7316, -1.306, 10.1949, 1.9756, -0.0415, 0.2125, -0.0855, -0.3077, -1.5521, 9.7026, 1.9072, -0.0317, 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\": 0.41, \"left_y\": -0.19, \"left_z\": 0.05, \"left_gripper\": 1.0}, \"note\": \"Left wrist camera shows the red block centered between the fingers but a few cm ahead of the gripper. Moving forward and lowering to approach grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01XsnmDjgj3FzZD5naVFaVwo",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01XsnmDjgj3FzZD5naVFaVwo"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6434, 1.8122, 0.8356, 0.1089, -0.5346, -0.4309, 0.9993, -0.0212, 0.8032, 0.6121, -0.4538, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1733 left_z=0.0297 left_yaw=0.0199 left_pitch=-0.1441 left_roll=0.0971 left_gripper=0.9993 right_x=0.286 right_y=0.0011 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.0188, 8.1162, 1.7753, -0.105, 0.1343, -0.0855, -0.0205, -1.5795, 7.2137, 1.8779, -0.0611, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d842406909b823bf5aaf624a58aab196497f7568b4ed2ebb4a8a74dce839c528"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f9fc44a33de4a4b04e5f0bcf616c3cd05a51dfdefc8e707e55e5fe251623bbd2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4d4305ff8d1acee4d9da86b2ebf07e8b281f7aa9db132940622451eaacabe65a"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 6.396 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]: [-0.7612, 1.5341, 0.8059, -0.0772, -0.6003, -0.5003, 0.9993, -0.0212, 0.7986, 0.6147, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3484 left_y=-0.1892 left_z=0.102 left_yaw=-0.0163 left_pitch=-0.0622 left_roll=0.0396 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.1729 right_yaw=-0.0003 right_pitch=-0.0328 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.6256, 8.9368, 1.7021, -0.5153, -0.0024, -0.0855, -0.0479, -1.5248, 6.6393, 2.0391, -0.0464, -0.022, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.43, \"left_y\": -0.175, \"left_z\": 0.015, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"Block is centered in the left wrist camera but still slightly ahead of the fingertips; the arm undershot the last target. Moving forward ~4 cm more and lowering to table height with the tool leveled.\"}",
"name": "move_to"
},
"id": "toolu_01Akm8BWhjd1Tzcu6TX8hvWW",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01Akm8BWhjd1Tzcu6TX8hvWW"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6342, 1.8332, 0.852, 0.165, -0.5194, -0.4198, 0.9993, -0.0212, 0.8024, 0.6121, -0.4667, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3986 left_y=-0.1799 left_z=0.0341 left_yaw=0.0077 left_pitch=-0.1106 left_roll=0.0649 left_gripper=0.9993 right_x=0.284 right_y=0.0011 right_z=0.1639 right_yaw=-0.0003 right_pitch=-0.0736 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.8684, 7.5419, 1.8242, -0.1734, 0.2173, -0.0904, -0.0342, -1.0051, 7.1453, 1.8974, -0.0708, -0.0513, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb38732bcce76c44adef66dead6d224a0239ed2d251a98a04fe6bbb1493de0e4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ba6a51dad6382d47c475bfad4ec67a7282568a00a398c5463e12a75193f929d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e5a66c2cb5186afbcdbe9c4cae59d773963cd98638d90f8c2643c6c97c89c612"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 7.898 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]: [-0.6434, 1.8122, 0.8356, 0.1089, -0.5346, -0.4309, 0.9993, -0.0212, 0.8032, 0.6121, -0.4538, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1733 left_z=0.0297 left_yaw=0.0199 left_pitch=-0.1441 left_roll=0.0971 left_gripper=0.9993 right_x=0.286 right_y=0.0011 right_z=0.1662 right_yaw=-0.0003 right_pitch=-0.0614 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.0188, 8.1162, 1.7753, -0.105, 0.1343, -0.0855, -0.0205, -1.5795, 7.2137, 1.8779, -0.0611, -0.0757, -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\": 0.445, \"left_y\": -0.18, \"left_z\": 0.02, \"left_pitch\": 0.0, \"left_roll\": 0.0, \"left_gripper\": 1.0}, \"note\": \"The arm only moved ~1 cm and the block is still a few cm ahead of the fingertips in the wrist view; the controller seems to track slowly here. Commanding a slightly further forward, low target again.\"}",
"name": "move_to"
},
"id": "toolu_01Ai1Z968htscLg7dW6hqA2C",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Ai1Z968htscLg7dW6hqA2C"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6342, 1.8336, 0.852, 0.165, -0.5194, -0.4194, 0.9993, -0.0212, 0.8024, 0.6121, -0.4908, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3986 left_y=-0.1799 left_z=0.0339 left_yaw=0.0075 left_pitch=-0.111 left_roll=0.0654 left_gripper=0.9993 right_x=0.2803 right_y=0.0011 right_z=0.1592 right_yaw=-0.0005 right_pitch=-0.0976 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.8821, 7.5966, 1.7558, -0.1783, 0.1929, -0.0855, -0.212, -1.0872, 6.9402, 1.9756, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c88da46614ccbd1d57a5ad001e5cb56e80080232375d9af7710d963ba6ff9223"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:60d2814584d38ba1f370dabc99323bace8a6b60fcbef4fa8ea8f796a9dee41b1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d6be2659a47c34dd576cfb212f61f6e3fb74135219c4097e6d341d99bc8fa25f"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 6.629 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]: [-0.6342, 1.8332, 0.852, 0.165, -0.5194, -0.4198, 0.9993, -0.0212, 0.8024, 0.6121, -0.4667, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3986 left_y=-0.1799 left_z=0.0341 left_yaw=0.0077 left_pitch=-0.1106 left_roll=0.0649 left_gripper=0.9993 right_x=0.284 right_y=0.0011 right_z=0.1639 right_yaw=-0.0003 right_pitch=-0.0736 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.8684, 7.5419, 1.8242, -0.1734, 0.2173, -0.0904, -0.0342, -1.0051, 7.1453, 1.8974, -0.0708, -0.0513, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.18, \"left_z\": 0.08}, \"note\": \"The left arm did not move at all on the last command, likely an IK dead spot at this low, extended pose. Lifting to 8 cm while moving forward to reposition over the block, leaving orientation unconstrained.\"}",
"name": "move_to"
},
"id": "toolu_01JjDhFfjtQdVLxXbJz6SAPM",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01JjDhFfjtQdVLxXbJz6SAPM"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5625, 1.8637, 1.0565, 0.0128, -0.482, -0.3885, 0.9992, -0.0212, 0.8043, 0.6121, -0.5053, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.1772 left_z=0.0677 left_yaw=0.0326 left_pitch=-0.1098 left_roll=0.0545 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.156 right_yaw=-0.0002 right_pitch=-0.114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.841, 6.7897, 1.1111, -0.0952, 0.2027, -0.0171, -0.0752, -1.306, 6.9265, 1.8144, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:708b2898c9ef4c649a5a2973014c5f2978300262b6deedea92e2162b7c7dc9af"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:659fc26e0ed868bfc29c2c2be5bf1eb895929c9c7866982165e5560815c98076"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:76821bf1ad13484b5f5c68ed06e5d3c4183dd56bb4f6954aa569fb9aa9df9f2e"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 4.588 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]: [-0.6342, 1.8336, 0.852, 0.165, -0.5194, -0.4194, 0.9993, -0.0212, 0.8024, 0.6121, -0.4908, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3986 left_y=-0.1799 left_z=0.0339 left_yaw=0.0075 left_pitch=-0.111 left_roll=0.0654 left_gripper=0.9993 right_x=0.2803 right_y=0.0011 right_z=0.1592 right_yaw=-0.0005 right_pitch=-0.0976 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.8821, 7.5966, 1.7558, -0.1783, 0.1929, -0.0855, -0.212, -1.0872, 6.9402, 1.9756, -0.0366, -0.0464, -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\": 0.445, \"left_y\": -0.177, \"left_z\": 0.02, \"left_gripper\": 1.0}, \"note\": \"Now the block appears directly between the fingertips at the bottom of the left wrist view, so the gripper is above it. Lowering straight down to grasp height.\"}",
"name": "move_to"
},
"id": "toolu_019my8qzLXtgQVj3r9X3R8XS",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_019my8qzLXtgQVj3r9X3R8XS"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5568, 1.9831, 1.0019, 0.1143, -0.4744, -0.3798, 0.9993, -0.0212, 0.8043, 0.6121, -0.5236, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4342 left_y=-0.171 left_z=0.0105 left_yaw=0.0335 left_pitch=-0.1735 left_roll=0.0973 left_gripper=0.9993 right_x=0.2752 right_y=0.0012 right_z=0.1525 right_yaw=-0.0005 right_pitch=-0.1324 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.3179, 5.9829, 1.9902, -0.2515, -0.0659, -0.0904, -0.1299, -1.2103, 6.9675, 1.7607, -0.0415, -0.0659, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4d50ded091dafd8c78a123bbcc1c817f1b5e703dba60c79e698ad46b7f32da3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63fe7ef15f5a8eb5cdc9cb5d42b9de7e2b02b0964448a5352dc4eb7739cda9ce"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:27eda4dff7f52e744d3e40d38107bdc15d3f52bf3b7166b4dc49a08b67bfc783"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 5.765 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]: [-0.5625, 1.8637, 1.0565, 0.0128, -0.482, -0.3885, 0.9992, -0.0212, 0.8043, 0.6121, -0.5053, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.1772 left_z=0.0677 left_yaw=0.0326 left_pitch=-0.1098 left_roll=0.0545 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.156 right_yaw=-0.0002 right_pitch=-0.114 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -8.841, 6.7897, 1.1111, -0.0952, 0.2027, -0.0171, -0.0752, -1.306, 6.9265, 1.8144, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_gripper\": 0.0}, \"note\": \"The block sits squarely between the fingertips at table height in the left wrist camera. Closing the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01Md5PsZVm2VrjfcUZTTo3Nv",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01Md5PsZVm2VrjfcUZTTo3Nv"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5568, 1.9915, 0.9955, 0.1158, -0.4751, -0.3897, 0.446, -0.0212, 0.807, 0.6121, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4318 left_y=-0.1694 left_z=0.005 left_yaw=0.0409 left_pitch=-0.1836 left_roll=0.0981 left_gripper=0.446 right_x=0.2703 right_y=0.0013 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.1652 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.5231, 5.8051, 1.3211, -0.2173, 0.0513, 1.0281, -0.1983, -1.388, 6.8718, 1.873, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33882e4a8e9d442b2cc1964ab41422c5f1edf790f3202dd8e194e88326e59c61"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34fbe0402cc0b7e98dc30d18f72373f9684eba5410c767d75348d6ff5612a9ea"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb29b039f7e53946aad5ff66a48a4689fc10e463d9e0081b076dde4d68c3fc87"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 15.23 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]: [-0.5568, 1.9831, 1.0019, 0.1143, -0.4744, -0.3798, 0.9993, -0.0212, 0.8043, 0.6121, -0.5236, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4342 left_y=-0.171 left_z=0.0105 left_yaw=0.0335 left_pitch=-0.1735 left_roll=0.0973 left_gripper=0.9993 right_x=0.2752 right_y=0.0012 right_z=0.1525 right_yaw=-0.0005 right_pitch=-0.1324 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -10.3179, 5.9829, 1.9902, -0.2515, -0.0659, -0.0904, -0.1299, -1.2103, 6.9675, 1.7607, -0.0415, -0.0659, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Gripper stopped closing at 0.45 with rising effort, indicating the block is held between the jaws. Lifting straight up to clear the table before moving toward the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01RL8EbUMZDQksuxuZAKQSYU",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01RL8EbUMZDQksuxuZAKQSYU"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.5568, 1.7805, 1.264, -0.4057, -0.4747, -0.3985, 0.4459, -0.0212, 0.8074, 0.6121, -0.588, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4308 left_y=-0.1688 left_z=0.1205 left_yaw=0.0502 left_pitch=-0.2178 left_roll=0.1157 left_gripper=0.4459 right_x=0.2644 right_y=0.0015 right_z=0.1401 right_yaw=0.0001 right_pitch=-0.1999 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.1504, 8.9641, 1.3797, -0.2857, 0.0317, 1.033, -0.0342, -1.1829, 6.8718, 1.8681, -0.0366, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:726b4d1b80d809ce736925f8aafbdf15f7dc5deb00986ca5219feff31d5ccd6b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b2cd86c2768464619439d121e0e2f3a122886006f8fcfe761e0dccf071f3b4ee"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:247a63d74a828e29a232bde177841f487c46ea91524dc768266bc9814fc9977e"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 12.79 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]: [-0.5568, 1.9915, 0.9955, 0.1158, -0.4751, -0.3897, 0.446, -0.0212, 0.807, 0.6121, -0.5537, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4318 left_y=-0.1694 left_z=0.005 left_yaw=0.0409 left_pitch=-0.1836 left_roll=0.0981 left_gripper=0.446 right_x=0.2703 right_y=0.0013 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.1652 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -10.5231, 5.8051, 1.3211, -0.2173, 0.0513, 1.0281, -0.1983, -1.388, 6.8718, 1.873, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.34, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Block is lifted securely in the left gripper; the bowl is to the right of the gripper in the top camera (roughly 20 cm further in -y). Moving the left arm sideways over toward the bowl at a safe height.\"}",
"name": "move_to"
},
"id": "toolu_01M9ShZ8FnNCt2ETDywLopBL",
"type": "function"
}
]
}{
"content": "executing move_to over 16 steps (1.6s)",
"role": "tool",
"tool_call_id": "toolu_01M9ShZ8FnNCt2ETDywLopBL"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.831, 2.3051, 2.1548, -0.918, -0.6041, -0.6708, 0.4458, -0.0212, 0.8108, 0.6121, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.3376 left_z=0.1419 left_yaw=0.0394 left_pitch=-0.2347 left_roll=0.1046 left_gripper=0.4458 right_x=0.2601 right_y=0.0016 right_z=0.1349 right_yaw=0.0002 right_pitch=-0.2285 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -12.9026, 8.6632, 0.8864, -0.5592, 0.0171, 1.033, -0.0479, -1.388, 6.7897, 1.7314, -0.0269, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e4cbe46f131eb34b36b939f98fe884c1cbe85fc14b4949f6446e24545a198a86"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:be63fba6a2171940d3176723929ebaf85750607c6cc74c8fc878b9ef7cd8c713"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:da9ae0624ccff80dced8571ae2bd0447bd979090a7f5027e22e1b46e1f840157"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 41.63 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]: [-0.5568, 1.7805, 1.264, -0.4057, -0.4747, -0.3985, 0.4459, -0.0212, 0.8074, 0.6121, -0.588, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4308 left_y=-0.1688 left_z=0.1205 left_yaw=0.0502 left_pitch=-0.2178 left_roll=0.1157 left_gripper=0.4459 right_x=0.2644 right_y=0.0015 right_z=0.1401 right_yaw=0.0001 right_pitch=-0.1999 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.1504, 8.9641, 1.3797, -0.2857, 0.0317, 1.033, -0.0342, -1.1829, 6.8718, 1.8681, -0.0366, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.4, \"left_z\": 0.15, \"left_gripper\": 0.0}, \"note\": \"Top camera shows the held block at the left rim of the bowl and the wrist camera shows the bowl to the lower right of the block, so the bowl center is about 6 cm further in -y. Moving to the -y bound to center over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01HuKJ1rKE3XgfVs6by4kX2D",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01HuKJ1rKE3XgfVs6by4kX2D"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.9165, 2.7361, 2.9181, -1.2957, -0.625, -0.7635, 0.4458, -0.0212, 0.8154, 0.6121, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.442 left_y=-0.4005 left_z=0.1282 left_yaw=0.0268 left_pitch=-0.2426 left_roll=0.0877 left_gripper=0.4458 right_x=0.2561 right_y=0.0016 right_z=0.1301 right_yaw=0.0001 right_pitch=-0.2552 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -15.665, 8.6222, 0.6325, -0.5397, 0.0171, 1.033, -0.0752, -1.5248, 6.7761, 1.663, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56a503789dd179bfa49f05d41bd127e5cf875144b1ec247aec2c51dedf71c3e8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:77823d002edae70f87a537b8b2f963436f68122c9b34fe7d077f243b31eaa03e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:062586af1da179178aab0d8fad4064ce9576baafc41505c81b9a1da5bd290a10"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 8.719 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]: [-0.831, 2.3051, 2.1548, -0.918, -0.6041, -0.6708, 0.4458, -0.0212, 0.8108, 0.6121, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.3376 left_z=0.1419 left_yaw=0.0394 left_pitch=-0.2347 left_roll=0.1046 left_gripper=0.4458 right_x=0.2601 right_y=0.0016 right_z=0.1349 right_yaw=0.0002 right_pitch=-0.2285 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -12.9026, 8.6632, 0.8864, -0.5592, 0.0171, 1.033, -0.0479, -1.388, 6.7897, 1.7314, -0.0269, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.44, \"left_y\": -0.37, \"left_z\": 0.03, \"left_gripper\": 0.0, \"right_x\": 0.4, \"right_y\": 0.15, \"right_z\": 0.2, \"right_gripper\": 1.0}, \"note\": \"The left arm is at its -y limit (-0.4) and the block is still only at the bowl's rim, so the bowl is out of the left arm's reach. Plan: set the block down on the table just beside the bowl, then use the right arm (whose camera sees the bowl forward-left) to pick it up and drop it in. Lowering left to place and pre-positioning the right arm toward the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01K8m2tWAwcEcsNSHDGeAue9",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_01K8m2tWAwcEcsNSHDGeAue9"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8101, 2.9746, 3.1287, -1.2675, -0.5995, -0.7662, 0.4458, 0.437, 1.5597, 1.285, -0.9199, 0.3347, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.4943 left_y=-0.3696 left_z=0.0592 left_yaw=0.1199 left_pitch=-0.2607 left_roll=0.0714 left_gripper=0.4458 right_x=0.3457 right_y=0.1014 right_z=0.1471 right_yaw=-0.1071 right_pitch=-0.5068 right_roll=-0.1903 right_gripper=0.9996\nstate[joint_eff]: [-6.9402, -12.2872, 7.159, 1.1453, -0.4811, 0.2076, 1.033, 2.6598, -6.7214, 11.959, 3.7534, -0.3053, 0.1441, -0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f4aa23b506317a6988f5666bf168a83e32ab8dd152ad6435a5038f14affcb951"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb32317883b645764e7ea9e8e6257b5353cd8a8a65b75f47f1f1417d21071652"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4679e964ba610435e608aa5a8bf8d3ed587eb5bcab76eea377da36f400dc1de8"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 6.539 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]: [-0.9165, 2.7361, 2.9181, -1.2957, -0.625, -0.7635, 0.4458, -0.0212, 0.8154, 0.6121, -0.6353, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.442 left_y=-0.4005 left_z=0.1282 left_yaw=0.0268 left_pitch=-0.2426 left_roll=0.0877 left_gripper=0.4458 right_x=0.2561 right_y=0.0016 right_z=0.1301 right_yaw=0.0001 right_pitch=-0.2552 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -15.665, 8.6222, 0.6325, -0.5397, 0.0171, 1.033, -0.0752, -1.5248, 6.7761, 1.663, -0.0415, -0.0415, -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_gripper\": 1.0}, \"note\": \"The left wrist camera now shows the block directly over the bowl's interior, with the rim curving around it, at about 6 cm height. Opening the gripper to drop the block into the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01PWWuw3Ued1UtN1sPKkMcZS",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01PWWuw3Ued1UtN1sPKkMcZS"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8028, 2.9906, 3.1283, -1.2686, -0.5919, -0.7715, 0.5961, 0.4427, 1.5562, 1.2476, -0.9539, 0.3309, 0.318, 0.9996]\nstate[eef_state]: left_x=0.4956 left_y=-0.3662 left_z=0.0489 left_yaw=0.1296 left_pitch=-0.2765 left_roll=0.0781 left_gripper=0.5961 right_x=0.33 right_y=0.0969 right_z=0.1329 right_yaw=-0.1112 right_pitch=-0.5681 right_roll=-0.2346 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -17.0462, 6.147, 1.0427, -0.4371, 0.022, -0.1099, -0.7863, -6.1333, 9.4701, 1.1941, 0.188, 0.1001, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:013e6de8fe0d838d13efbca0688e47fc74650ea35602645ee665dd128f15a103"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1e6fc1a5aa5f17634bd13594971bf239a14629065d496aeb52faf740e3798a7c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7a605c93777c865f0e162fa2748cae95387e9fbe78e945ae2c9e94a5f12c683e"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 13.17 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]: [-0.8101, 2.9746, 3.1287, -1.2675, -0.5995, -0.7662, 0.4458, 0.437, 1.5597, 1.285, -0.9199, 0.3347, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.4943 left_y=-0.3696 left_z=0.0592 left_yaw=0.1199 left_pitch=-0.2607 left_roll=0.0714 left_gripper=0.4458 right_x=0.3457 right_y=0.1014 right_z=0.1471 right_yaw=-0.1071 right_pitch=-0.5068 right_roll=-0.1903 right_gripper=0.9996\nstate[joint_eff]: [-6.9402, -12.2872, 7.159, 1.1453, -0.4811, 0.2076, 1.033, 2.6598, -6.7214, 11.959, 3.7534, -0.3053, 0.1441, -0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_z\": 0.2, \"left_gripper\": 1.0, \"right_x\": 0.3, \"right_y\": 0.0, \"right_z\": 0.18, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The left wrist camera shows the block released and resting inside the bowl, with the opened fingers on either side. Raising the left arm to clear the bowl and returning the right arm toward its home pose to confirm the placement.\"}",
"name": "move_to"
},
"id": "toolu_01SWY3dQ4MgqYYtUfZ7YAxW6",
"type": "function"
}
]
}{
"content": "executing move_to over 19 steps (1.9s)",
"role": "tool",
"tool_call_id": "toolu_01SWY3dQ4MgqYYtUfZ7YAxW6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.8024, 2.6865, 2.883, -1.3754, -0.588, -0.7658, 0.998, 0.0925, 0.8604, 0.6369, -0.45, 0.1902, 0.1104, 0.9996]\nstate[eef_state]: left_x=0.4681 left_y=-0.3382 left_z=0.1342 left_yaw=0.1362 left_pitch=-0.3082 left_roll=0.1202 left_gripper=0.998 right_x=0.292 right_y=-0.0028 right_z=0.1646 right_yaw=-0.1378 right_pitch=-0.0759 right_roll=-0.021 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -19.9863, 7.3778, 0.8523, -0.3834, 0.105, -0.0904, -0.1983, -1.812, 7.5692, 2.1123, -0.0611, -0.0562, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8e208f079839c7297f8b38e20f636b46a3bd28298deb1edff621a1c0651699d1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1367fc2db09167d9bc074198563f00c06495e1eccaa29849aea67c472993e158"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4194ca3d9e17aeb39c9adcc79e686c61e1233c36af6bb2f29ef34c72e562abb4"
},
"type": "image_url"
}
],
"role": "user"
}