- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 648.6 s
- total steps
- 151
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the red block from the table and place it inside the bowl.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
give_up
Operator judgements
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 9
Raw transcript
step 16
Raw transcript
step 23
Raw transcript
step 28
Raw transcript
step 34
Raw transcript
step 47
Raw transcript
step 53
Raw transcript
step 60
Raw transcript
step 73
Raw transcript
step 85
Raw transcript
step 95
Raw transcript
step 99
Raw transcript
step 102
Raw transcript
step 106
Raw transcript
step 109
Raw transcript
step 120
Raw transcript
step 130
Raw transcript
step 140
Raw transcript
step 150
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 · 40.5 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the red block from the table and place it inside the bowl.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.3882, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6056, -0.3962, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.2632, 1.9756, -0.0904, 0.1538, -0.0904, -0.5128, -1.5795, 9.8256, 1.9267, 0.0024, 0.1148, -0.0513]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c4542ea345e58e95493f66d5055a4d17077d1088fd21a065f1262f50b7447af"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d456fb47dc9d5000edce71e6d8234baa7236eab1cbf9732c6e3cb2f3716c9a4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:37f1510ced25a500b5fb1d33b15bd33a6e3f8d201f5d5fac23beec7e5bcea388"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 16.79 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I can see the red block and bowl in the top camera. The block appears forward of the arms and the bowl is farther right (forward). I'll start by moving the left arm to hover near where I estimate the block is, keeping the gripper open, and then refine based on the cameras.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.02, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The red block sits on the table ahead of the arms with the bowl farther forward. Moving the left arm forward and down to hover near the block so I can line up the grasp.\"}",
"name": "move_to"
},
"id": "toolu_01CN5ALfz1CVsjdsTUVBSmcf",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01CN5ALfz1CVsjdsTUVBSmcf"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0902, 1.367, 0.6159, 0.0422, -0.0757, -0.0803, 0.9993, -0.0212, 0.7967, 0.6056, -0.4328, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3736 left_y=-0.0168 left_z=0.087 left_yaw=0.0025 left_pitch=-0.1308 left_roll=0.0039 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2017, 9.4291, 2.0342, -0.1538, 0.0269, -0.0855, -0.1709, -1.4974, 6.9812, 2.0195, -0.0659, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d2c51cdb3d3f4cce2556606565c6dcb5e8de97651ca7f0bdc022d56e7cb648f6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:359cc5264dbd0562fe817aceded6f78883ec8a6a135e926abe3a794e9616b1a0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f355325cc5efd19c4e9d20e1596a4d1fba91ad592469bf9fc67b05354c00f85b"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 16 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.3882, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6056, -0.3962, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1789 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.2632, 1.9756, -0.0904, 0.1538, -0.0904, -0.5128, -1.5795, 9.8256, 1.9267, 0.0024, 0.1148, -0.0513]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The left arm moved forward; in the top camera the block is still ahead (further +x) of the gripper. I'll advance and lower slightly to line up above the block.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": -0.02, \"left_z\": 0.07, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block a few centimeters further forward than the left gripper. Advancing the left arm forward and lowering to hover just above the block height.\"}",
"name": "move_to"
},
"id": "toolu_01Smgx4zWTA8w8HYkj3Ppb9H",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01Smgx4zWTA8w8HYkj3Ppb9H"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0803, 1.7206, 0.8581, 0.0917, -0.075, -0.0834, 0.9993, -0.0212, 0.8005, 0.6056, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.441 left_y=-0.0186 left_z=0.0546 left_yaw=0.0144 left_pitch=-0.1924 left_roll=0.007 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.6239, 8.0479, 1.8291, 0.0122, 0.1197, -0.0855, -0.0615, -1.4838, 6.9675, 1.8632, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:813012c2db64a6381d535815db0d27e97a32744c382fd3783dd922fa91c1f29b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:997d723e1d074015cfe498f92168d16874c4d5cea21515ae46a59f5caf73eec1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:af326c8ce19e33a91b9f89006836ec07a9d617ca6585a2bcbbe75f4264acefdc"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 17.22 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0902, 1.367, 0.6159, 0.0422, -0.0757, -0.0803, 0.9993, -0.0212, 0.7967, 0.6056, -0.4328, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3736 left_y=-0.0168 left_z=0.087 left_yaw=0.0025 left_pitch=-0.1308 left_roll=0.0039 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.1692 right_yaw=0.0005 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2017, 9.4291, 2.0342, -0.1538, 0.0269, -0.0855, -0.1709, -1.4974, 6.9812, 2.0195, -0.0659, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The block is still ahead of the gripper in the top view. I'll continue forward while staying just above table height.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.52, \"left_y\": -0.02, \"left_z\": 0.05, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block still several centimeters forward of the left gripper. Moving further forward at low height to get the block between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_016dixc3jxu9qmqFJtYiAZj1",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_016dixc3jxu9qmqFJtYiAZj1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0711, 1.9743, 1.1595, 0.0109, -0.075, -0.0868, 0.9993, -0.0212, 0.8024, 0.6056, -0.4824, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5062 left_y=-0.0192 left_z=0.0405 left_yaw=0.0261 left_pitch=-0.2254 left_roll=0.0077 left_gripper=0.9993 right_x=0.2807 right_y=0.0012 right_z=0.1579 right_yaw=0.0006 right_pitch=-0.0953 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.2496, 7.7744, 1.5311, 0.0024, 0.1197, -0.0855, -0.0889, -1.3744, 7.0085, 1.8926, -0.0513, -0.0708, -0.0122]\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:1ce2c688fdd0ff40c728c614af9489112e56377f5a8401e4d93c9db93f92bea6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:956a441cf7430d90a5c4630152426611c844f8ec7bad8c35e8d4a7ab02c59d21"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d31a132597fe8d91e9872402eb599255834eab304eeefce6da2d1406b9051561"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 25.63 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0803, 1.7206, 0.8581, 0.0917, -0.075, -0.0834, 0.9993, -0.0212, 0.8005, 0.6056, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.441 left_y=-0.0186 left_z=0.0546 left_yaw=0.0144 left_pitch=-0.1924 left_roll=0.007 left_gripper=0.9993 right_x=0.2848 right_y=0.0011 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.066 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.6239, 8.0479, 1.8291, 0.0122, 0.1197, -0.0855, -0.0615, -1.4838, 6.9675, 1.8632, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The left cam (wrist) doesn't show the block yet, so it's still ahead of the fingers. I'll push forward a bit more at low height.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.56, \"left_y\": -0.02, \"left_z\": 0.035, \"left_gripper\": 1}, \"note\": \"Wrist camera shows only table between the fingers, so the block is still ahead of the gripper. Advancing forward a few more centimeters just above the table.\"}",
"name": "move_to"
},
"id": "toolu_014p9iwhc6mJTgifTVjyLgAn",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_014p9iwhc6mJTgifTVjyLgAn"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0696, 2.1456, 1.3754, -0.0841, -0.075, -0.091, 0.9993, -0.0212, 0.8043, 0.6056, -0.5014, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5428 left_y=-0.021 left_z=0.0205 left_yaw=0.0313 left_pitch=-0.2755 left_roll=0.01 left_gripper=0.9993 right_x=0.2778 right_y=0.0012 right_z=0.1538 right_yaw=0.0007 right_pitch=-0.1163 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.2479, 8.6222, 1.7607, -0.0269, 0.0562, -0.0855, -0.1299, -1.3333, 6.9949, 1.8046, -0.0317, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:85d5da313938c8997bdfe56a55cefb8a007d4759d6e4602de9176e4a4f95a716"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b531c9a35f9535494253c60ca23a1867e9ce77675b09ad8df09ddfbad5e48c3d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f3c434acf52c7fab800b46f40ab6969161628686fa24baca0ecc2094f4a6485"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 12.93 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0711, 1.9743, 1.1595, 0.0109, -0.075, -0.0868, 0.9993, -0.0212, 0.8024, 0.6056, -0.4824, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5062 left_y=-0.0192 left_z=0.0405 left_yaw=0.0261 left_pitch=-0.2254 left_roll=0.0077 left_gripper=0.9993 right_x=0.2807 right_y=0.0012 right_z=0.1579 right_yaw=0.0006 right_pitch=-0.0953 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.2496, 7.7744, 1.5311, 0.0024, 0.1197, -0.0855, -0.0889, -1.3744, 7.0085, 1.8926, -0.0513, -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\": 0.54, \"left_y\": -0.08, \"left_z\": 0.06, \"left_gripper\": 1}, \"note\": \"The block still isn't between the fingers in the wrist view, so it must be offset laterally. Shifting the left arm toward -y and lifting a bit to find the block in the wrist camera.\"}",
"name": "move_to"
},
"id": "toolu_01E12nBhTYWZrzymL3WTLAkX",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01E12nBhTYWZrzymL3WTLAkX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2001, 2.1529, 1.4334, -0.2314, -0.1398, -0.1802, 0.9993, -0.0212, 0.8043, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5263 left_y=-0.078 left_z=0.0169 left_yaw=0.0139 left_pitch=-0.3618 left_roll=0.02 left_gripper=0.9993 right_x=0.2743 right_y=0.0013 right_z=0.1498 right_yaw=0.0007 right_pitch=-0.1377 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -16.1846, 9.1829, 1.4872, -0.1685, 0.0122, -0.0855, -0.0752, -1.2103, 6.8991, 1.7998, -0.0708, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8a587c925c0d80ef9dbc4d6d7a126dd0db50f0740f29b8c272283e805300d16f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b844f878f5e7f3661a124dd4151a20cb84f712d4328e5fe3ee10de4ac3ed955c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0123cb8e7b019f70821bac58f263f21b78b47d9fb383b8c8226dcc57503d54de"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 71.42 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0696, 2.1456, 1.3754, -0.0841, -0.075, -0.091, 0.9993, -0.0212, 0.8043, 0.6056, -0.5014, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5428 left_y=-0.021 left_z=0.0205 left_yaw=0.0313 left_pitch=-0.2755 left_roll=0.01 left_gripper=0.9993 right_x=0.2778 right_y=0.0012 right_z=0.1538 right_yaw=0.0007 right_pitch=-0.1163 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -11.2479, 8.6222, 1.7607, -0.0269, 0.0562, -0.0855, -0.1299, -1.3333, 6.9949, 1.8046, -0.0317, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.02, \"left_z\": 0.18, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"I still can't find the block in the wrist camera, so I'm lifting the left gripper higher and leveling the pitch to spot both the gripper and the block in the top camera for calibration.\"}",
"name": "move_to"
},
"id": "toolu_0155EDFs6JUfbz8KadU18AfD",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_0155EDFs6JUfbz8KadU18AfD"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1005, 1.5364, 1.018, -0.1139, -0.1173, -0.086, 0.9993, -0.0212, 0.8074, 0.6056, -0.561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4518 left_y=-0.0212 left_z=0.1616 left_yaw=0.0295 left_pitch=-0.0517 left_roll=0.0166 left_gripper=0.9993 right_x=0.268 right_y=0.0015 right_z=0.1421 right_yaw=0.0009 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -8.5949, 6.6667, 1.8828, 0.0464, 0.1832, -0.0855, -0.0615, -1.0872, 6.8718, 1.9805, -0.0513, -0.0708, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2335b788877e2807f1c02dfbb739e0134240e2a1a817db3a4611eec8309314fa"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d8d14dfc5989c341327cdf31bd09adbddaab56d83111941005511de084caf7c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:49c4ac895ec8acb53678b21c7b3dd59b4c8a70febf9c04f35c4dbd863d0f4b2b"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 18.93 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2001, 2.1529, 1.4334, -0.2314, -0.1398, -0.1802, 0.9993, -0.0212, 0.8043, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5263 left_y=-0.078 left_z=0.0169 left_yaw=0.0139 left_pitch=-0.3618 left_roll=0.02 left_gripper=0.9993 right_x=0.2743 right_y=0.0013 right_z=0.1498 right_yaw=0.0007 right_pitch=-0.1377 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -16.1846, 9.1829, 1.4872, -0.1685, 0.0122, -0.0855, -0.0752, -1.2103, 6.8991, 1.7998, -0.0708, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": 0.04, \"left_z\": 0.1, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The wrist camera shows something pale at the upper-left, suggesting the block/bowl are to the left of the gripper, not the right where I searched. Shifting the left arm to its +y limit and lowering a bit to find the block in the wrist view.\"}",
"name": "move_to"
},
"id": "toolu_01KJcwrembku7kRXbMS4YFMt",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01KJcwrembku7kRXbMS4YFMt"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0921, 1.5108, 0.7021, 0.1547, 0.0097, 0.0013, 0.9993, -0.0212, 0.8108, 0.6029, -0.5907, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=0.0398 left_z=0.0898 left_yaw=0.0679 left_pitch=-0.0784 left_roll=0.0118 left_gripper=0.9993 right_x=0.2625 right_y=0.0016 right_z=0.1349 right_yaw=0.001 right_pitch=-0.2147 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.7504, 6.5573, 2.0635, 0.2369, 0.1099, -0.0904, -0.1436, -0.9778, 7.0496, 1.8095, -0.0708, -0.0073, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4143fe504035804145a9aba69061c6764d6da411cd8e8914a6d9f690a8e6505"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7d934e13c41f4f408e58e1d5abf8134440719bba405392bb2b9ac4e8fa791f2c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0b266d24d59ba7861ccbf0c5370a0539b5d65900f48dd01272f7a22cd175726f"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 50.23 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1005, 1.5364, 1.018, -0.1139, -0.1173, -0.086, 0.9993, -0.0212, 0.8074, 0.6056, -0.561, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4518 left_y=-0.0212 left_z=0.1616 left_yaw=0.0295 left_pitch=-0.0517 left_roll=0.0166 left_gripper=0.9993 right_x=0.268 right_y=0.0015 right_z=0.1421 right_yaw=0.0009 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -8.5949, 6.6667, 1.8828, 0.0464, 0.1832, -0.0855, -0.0615, -1.0872, 6.8718, 1.9805, -0.0513, -0.0708, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": 0.04, \"left_z\": 0.09, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The top camera now shows the left arm entering from the image left with the red block further toward the image center. Advancing forward to x=0.5 at the current height so I can compare the gripper and block positions in the top view.\"}",
"name": "move_to"
},
"id": "toolu_018LDtH6Fgt4Nu2p3JGHQpfB",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_018LDtH6Fgt4Nu2p3JGHQpfB"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.078, 1.8114, 0.9398, 0.2226, -0.004, -0.0162, 0.9993, -0.0212, 0.8154, 0.6018, -0.6159, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4814 left_y=0.0419 left_z=0.0705 left_yaw=0.0749 left_pitch=-0.0734 left_roll=0.0062 left_gripper=0.9993 right_x=0.2579 right_y=0.0017 right_z=0.1291 right_yaw=0.0012 right_pitch=-0.2456 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -9.1829, 8.0068, 1.917, -0.0269, 0.0024, -0.0904, -0.212, -1.5248, 6.9949, 1.7021, -0.0659, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f43065386c6c14ef882e9617de1535ab6effaee159899feebf7a3e1bb8523ce3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6bcd7ca9ec68de76826c5bc5cf1ef9040b869791b895ac8cf1ca2c694cc8b165"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a59fc17578c96df968a60a8877c8084814a747af87b00ca045426735ec2ce34b"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 21.73 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0921, 1.5108, 0.7021, 0.1547, 0.0097, 0.0013, 0.9993, -0.0212, 0.8108, 0.6029, -0.5907, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=0.0398 left_z=0.0898 left_yaw=0.0679 left_pitch=-0.0784 left_roll=0.0118 left_gripper=0.9993 right_x=0.2625 right_y=0.0016 right_z=0.1349 right_yaw=0.001 right_pitch=-0.2147 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -5.7504, 6.5573, 2.0635, 0.2369, 0.1099, -0.0904, -0.1436, -0.9778, 7.0496, 1.8095, -0.0708, -0.0073, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.12, \"right_z\": 0.12, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The left wrist camera still shows no red block, but the right wrist camera shows the bowl at its upper-left, so the objects are on the right arm's side. Switching to the right arm: moving it forward and left toward the bowl area to locate the block.\"}",
"name": "move_to"
},
"id": "toolu_01N71DBoUxMyqLw6YCh89jg4",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_01N71DBoUxMyqLw6YCh89jg4"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.2016, -0.0116, -0.0196, 0.9993, 0.3946, 1.544, 0.7963, 0.012, 0.292, 0.1921, 0.9996]\nstate[eef_state]: left_x=0.478 left_y=0.0408 left_z=0.0598 left_yaw=0.0786 left_pitch=-0.1085 left_roll=0.0082 left_gripper=0.9993 right_x=0.3974 right_y=0.1143 right_z=0.0929 right_yaw=0.0346 right_pitch=-0.1147 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.0855, 5.8325, 1.8242, 0.022, -0.0171, -0.0171, 0.1983, -7.1043, 8.6359, 1.9316, 0.1685, 0.232, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4838e5743e83fc76f94a8d41b0bc071f76e753c5e24b63a8cba65f1b2c09b758"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:db0b42004f1c8a4f01f1250177f00af8903f32f0e93ead28b923383d48de9fd3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3845a547cddbb0a9a304712f34df1bec51f060d0476366c2d16e908398f83b17"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 8.669 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.078, 1.8114, 0.9398, 0.2226, -0.004, -0.0162, 0.9993, -0.0212, 0.8154, 0.6018, -0.6159, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4814 left_y=0.0419 left_z=0.0705 left_yaw=0.0749 left_pitch=-0.0734 left_roll=0.0062 left_gripper=0.9993 right_x=0.2579 right_y=0.0017 right_z=0.1291 right_yaw=0.0012 right_pitch=-0.2456 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -9.1829, 8.0068, 1.917, -0.0269, 0.0024, -0.0904, -0.212, -1.5248, 6.9949, 1.7021, -0.0659, 0.0024, -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\": {\"right_x\": 0.42, \"right_y\": 0.25, \"right_z\": 0.12, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The right wrist camera shows the bowl at its lower-left and the top camera shows the block beyond the bowl. Moving the right arm further in +y (its left) to get over the block region, staying high enough to see it in the wrist camera.\"}",
"name": "move_to"
},
"id": "toolu_01QwcCwLGZiFKJsGBRUSTPvZ",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01QwcCwLGZiFKJsGBRUSTPvZ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1936, -0.0116, -0.0231, 0.9992, 0.7219, 1.8111, 1.1206, -0.0731, 0.5419, 0.3576, 0.9996]\nstate[eef_state]: left_x=0.4767 left_y=0.0407 left_z=0.0583 left_yaw=0.0805 left_pitch=-0.1164 left_roll=0.0056 left_gripper=0.9992 right_x=0.4105 right_y=0.2449 right_z=0.1057 right_yaw=0.0732 right_pitch=-0.0519 right_roll=-0.0709 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.9641, 5.9556, 1.7167, -0.0806, -0.0073, -0.0171, 0.2256, -8.8137, 8.5675, 1.6825, 0.3834, 0.2515, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2faf6a22b88ea59cbd2ae7ff3326dcb8740aa4c7410637cd1b2b327cac5b58e0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:761db28606d8e8bd944027c8cb7fafd0c9411a85a3d0514216f597de0ec494d3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3a85ec789ccc4a8f0d3177b7597c75fc2a43626e5f8cf512a7a2409a0e995037"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 9.143 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.2016, -0.0116, -0.0196, 0.9993, 0.3946, 1.544, 0.7963, 0.012, 0.292, 0.1921, 0.9996]\nstate[eef_state]: left_x=0.478 left_y=0.0408 left_z=0.0598 left_yaw=0.0786 left_pitch=-0.1085 left_roll=0.0082 left_gripper=0.9993 right_x=0.3974 right_y=0.1143 right_z=0.0929 right_yaw=0.0346 right_pitch=-0.1147 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -10.0855, 5.8325, 1.8242, 0.022, -0.0171, -0.0171, 0.1983, -7.1043, 8.6359, 1.9316, 0.1685, 0.232, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The right gripper is now directly over the bowl — good reference (bowl ≈ x0.41, y0.245). The block is further in +y. Moving there.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.36, \"right_z\": 0.1, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The right wrist camera shows the bowl centered directly below the gripper, so the bowl is at about (0.41, 0.245). The block lies further in +y per the top view; shifting the right arm there to center it in the wrist camera.\"}",
"name": "move_to"
},
"id": "toolu_0121dZV9HEjkn1Lg4jij6sZK",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_0121dZV9HEjkn1Lg4jij6sZK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.1783, -0.012, -0.0235, 0.9992, 0.9211, 2.1036, 1.4776, -0.2245, 0.6746, 0.4755, 0.9996]\nstate[eef_state]: left_x=0.4743 left_y=0.0404 left_z=0.0554 left_yaw=0.0807 left_pitch=-0.1317 left_roll=0.0057 left_gripper=0.9992 right_x=0.4027 right_y=0.3535 right_z=0.0883 right_yaw=0.1091 right_pitch=-0.0471 right_roll=-0.1053 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0188, 6.0239, 1.8046, -0.0757, -0.0024, -0.0122, 0.1299, -11.2889, 8.6222, 1.4676, 0.5983, 0.1343, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ced53bff498c07e72659362720b10d8278ff65ddc02f20dff537b0686edb29d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:81a302faff9ca8c11fc8b6d5356772abaa0753d9a307b0acb65a64a95596553b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb56b942a3d4ab2c0d913329ebd59263cca23322f04310460ff73d400c256715"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 6.248 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1936, -0.0116, -0.0231, 0.9992, 0.7219, 1.8111, 1.1206, -0.0731, 0.5419, 0.3576, 0.9996]\nstate[eef_state]: left_x=0.4767 left_y=0.0407 left_z=0.0583 left_yaw=0.0805 left_pitch=-0.1164 left_roll=0.0056 left_gripper=0.9992 right_x=0.4105 right_y=0.2449 right_z=0.1057 right_yaw=0.0732 right_pitch=-0.0519 right_roll=-0.0709 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -8.9641, 5.9556, 1.7167, -0.0806, -0.0073, -0.0171, 0.2256, -8.8137, 8.5675, 1.6825, 0.3834, 0.2515, -0.0464]\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\": {\"right_x\": 0.38, \"right_y\": 0.39, \"right_z\": 0.07, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The right wrist camera shows the red block at its lower-left and the bowl at lower-right, meaning the block is slightly closer to the base and further +y. Nudging the right gripper back and left while lowering to center the block between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01FQCisetAi5y5hSfZrww3xk",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01FQCisetAi5y5hSfZrww3xk"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.1776, -0.012, -0.0238, 0.9992, 1.0069, 2.1735, 1.494, -0.2287, 0.7273, 0.514, 0.9996]\nstate[eef_state]: left_x=0.4742 left_y=0.0404 left_z=0.0553 left_yaw=0.0809 left_pitch=-0.1325 left_roll=0.0054 left_gripper=0.9992 right_x=0.3754 right_y=0.3806 right_z=0.0631 right_yaw=0.1367 right_pitch=-0.0527 right_roll=-0.1442 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9915, 5.9009, 1.6288, -0.0757, -0.0366, -0.0122, 0.1299, -11.2752, 8.8137, 1.663, 0.5788, 0.0806, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:68ca2ec291b3089906474dc3f87d78bca94f5f57f0d6f3a493001840a98e197f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef2eff90472403e22274e06d87372b0a19ece8a2f291d427d76391d4dd908e5a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7325d6a1033273e3f63574e5b9e1511afbb0382235c41c63922e1fa11e2c5d1b"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 14.11 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.1783, -0.012, -0.0235, 0.9992, 0.9211, 2.1036, 1.4776, -0.2245, 0.6746, 0.4755, 0.9996]\nstate[eef_state]: left_x=0.4743 left_y=0.0404 left_z=0.0554 left_yaw=0.0807 left_pitch=-0.1317 left_roll=0.0057 left_gripper=0.9992 right_x=0.4027 right_y=0.3535 right_z=0.0883 right_yaw=0.1091 right_pitch=-0.0471 right_roll=-0.1053 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -9.0188, 6.0239, 1.8046, -0.0757, -0.0024, -0.0122, 0.1299, -11.2889, 8.6222, 1.4676, 0.5983, 0.1343, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.4, \"right_z\": 0.025, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The right wrist camera now shows the red block clearly at the lower-left near the left fingertip. Nudging slightly back and left while descending to get the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01HyJo9v6JUtMTjjDsSUVYu6",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01HyJo9v6JUtMTjjDsSUVYu6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1745, -0.0116, -0.0242, 0.9992, 1.0199, 2.1941, 1.494, -0.2268, 0.7448, 0.5259, 0.9996]\nstate[eef_state]: left_x=0.4737 left_y=0.0405 left_z=0.0547 left_yaw=0.0812 left_pitch=-0.1355 left_roll=0.0049 left_gripper=0.9992 right_x=0.3713 right_y=0.3824 right_z=0.0547 right_yaw=0.1313 right_pitch=-0.0529 right_roll=-0.158 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9778, 5.9145, 1.6484, -0.0562, -0.022, -0.0122, -0.2256, -11.9316, 8.1983, 1.5946, 0.442, 0.1343, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d91ef61722d7116cc3c1d0c163d17dc603f37b0465245bd69e32268f4e71e72d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:522835ae692666fea614c1d121fd156c1df92c77e93ebdb4a61a524e0a0f4983"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9f6338a0c5143d1523ee1687fb4a32d3d17645983ef023f3b459d1afb1d82b42"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 8.885 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.1776, -0.012, -0.0238, 0.9992, 1.0069, 2.1735, 1.494, -0.2287, 0.7273, 0.514, 0.9996]\nstate[eef_state]: left_x=0.4742 left_y=0.0404 left_z=0.0553 left_yaw=0.0809 left_pitch=-0.1325 left_roll=0.0054 left_gripper=0.9992 right_x=0.3754 right_y=0.3806 right_z=0.0631 right_yaw=0.1367 right_pitch=-0.0527 right_roll=-0.1442 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9915, 5.9009, 1.6288, -0.0757, -0.0366, -0.0122, 0.1299, -11.2752, 8.8137, 1.663, 0.5788, 0.0806, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.355, \"right_y\": 0.4, \"right_z\": 0.005, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The block now sits just left of center below the gripper in the right wrist camera, meaning it's slightly more +y and -x than the grasp point. Descending to table height while nudging toward it to straddle the block with the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01BwXuoYnYNHjTuJEyZcQHTX",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01BwXuoYnYNHjTuJEyZcQHTX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1558, -0.012, -0.0303, 0.9992, 1.0199, 2.1937, 1.494, -0.2264, 0.7448, 0.5282, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=0.0403 left_z=0.0512 left_yaw=0.0849 left_pitch=-0.1542 left_roll=0.0007 left_gripper=0.9992 right_x=0.3713 right_y=0.3825 right_z=0.0549 right_yaw=0.1301 right_pitch=-0.0522 right_roll=-0.1556 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.8547, 5.9282, 1.7509, -0.0562, 0.0171, -0.0073, -0.4718, -12.0821, 8.1983, 1.663, 0.486, 0.105, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:69a135c16f97eb35b0a92238d69553807aa95afca68fd3a26ddb03fd7c6a3301"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:293267f7630781a61bea81ea216ea80825433ccba54dd411148d1846d5504f49"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4ce82b777dd12337a1039fc86102454f3cbc31fc298433af2692e42b51accdb2"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 17.57 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1745, -0.0116, -0.0242, 0.9992, 1.0199, 2.1941, 1.494, -0.2268, 0.7448, 0.5259, 0.9996]\nstate[eef_state]: left_x=0.4737 left_y=0.0405 left_z=0.0547 left_yaw=0.0812 left_pitch=-0.1355 left_roll=0.0049 left_gripper=0.9992 right_x=0.3713 right_y=0.3824 right_z=0.0547 right_yaw=0.1313 right_pitch=-0.0529 right_roll=-0.158 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.9778, 5.9145, 1.6484, -0.0562, -0.022, -0.0122, -0.2256, -11.9316, 8.1983, 1.5946, 0.442, 0.1343, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The right arm barely moved — the target may be near its reachable edge at y=0.4. I'll try a smaller step, lowering mostly in z.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.365, \"right_y\": 0.395, \"right_z\": 0.01, \"right_gripper\": 1}, \"note\": \"The arm didn't track the last target, likely near its workspace edge at y=0.4. Trying a smaller step, mostly descending toward the table so the jaws come down around the red block.\"}",
"name": "move_to"
},
"id": "toolu_01VkwB6CFtJD3sp7UDjjp4jC",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01VkwB6CFtJD3sp7UDjjp4jC"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.149, -0.012, -0.0307, 0.9992, 1.0195, 2.1941, 1.494, -0.2264, 0.7448, 0.5278, 0.9996]\nstate[eef_state]: left_x=0.4695 left_y=0.0401 left_z=0.05 left_yaw=0.0847 left_pitch=-0.161 left_roll=0.0005 left_gripper=0.9992 right_x=0.3715 right_y=0.3823 right_z=0.0547 right_yaw=0.1299 right_pitch=-0.0525 right_roll=-0.1562 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.9504, 5.8872, 1.6239, -0.0366, -0.0317, -0.0122, -0.4855, -11.9863, 8.1983, 1.5849, 0.486, 0.0904, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fa57f8484eb1f533362c71d28232e1df3bd07c58668be590d1aa60d070d2cbde"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:69747a1b97f9ffc26065a61c6a2db9c9bc8a068f3284bcba35179a446a9f6846"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8fcc8c35103203cb14a4e92c975579cac908e4138c4d927bd5ddbc0e4d6f0e80"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 8.957 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1558, -0.012, -0.0303, 0.9992, 1.0199, 2.1937, 1.494, -0.2264, 0.7448, 0.5282, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=0.0403 left_z=0.0512 left_yaw=0.0849 left_pitch=-0.1542 left_roll=0.0007 left_gripper=0.9992 right_x=0.3713 right_y=0.3825 right_z=0.0549 right_yaw=0.1301 right_pitch=-0.0522 right_roll=-0.1556 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.8547, 5.9282, 1.7509, -0.0562, 0.0171, -0.0073, -0.4718, -12.0821, 8.1983, 1.663, 0.486, 0.105, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.4, \"right_z\": 0.0, \"right_pitch\": 0.25, \"right_gripper\": 1}, \"note\": \"The right arm stopped tracking near this pose, so I'm commanding a firmer target: down to the table at the block's position with a bit of forward pitch to help the IK reach the low grasp.\"}",
"name": "move_to"
},
"id": "toolu_01C1MkKEaEAvMMdfF2BVvHnf",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_01C1MkKEaEAvMMdfF2BVvHnf"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1333, -0.0116, -0.0307, 0.9992, 1.1206, 2.3577, 1.3018, 0.408, 0.9688, 0.4095, 0.9996]\nstate[eef_state]: left_x=0.4669 left_y=0.04 left_z=0.0471 left_yaw=0.0848 left_pitch=-0.1767 left_roll=0.0004 left_gripper=0.9992 right_x=0.3522 right_y=0.4024 right_z=0.0122 right_yaw=0.1249 right_pitch=0.2303 right_roll=-0.1298 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -8.9641, 5.8872, 1.7607, -0.0464, -0.0171, -0.0073, 0.5265, -9.4017, 3.9179, 1.3114, 0.3492, -0.2564, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e1779b2055025e4c1ccd748da082dea9b82049c01564f0ccac7b188f197fd7f7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d6cbfdf20005b2f7e1042ffc0a97760eccd60298852a2135fb7f24fff35d2ee1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:db7ef489ee1cb7760be6dcc1352402ea3250d56a44cf7ea94aa311f176998437"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 4.788 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "The block is now right between the jaws in the right wrist camera. Closing the gripper to grasp it.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.348, \"right_y\": 0.405, \"right_z\": 0.005, \"right_gripper\": 0}, \"note\": \"The right wrist camera shows the red block sitting between the open jaws. Closing the gripper while holding position to grasp the block.\"}",
"name": "move_to"
},
"id": "toolu_01Jj4eGTRRHQR9QWN6p4EFzL",
"type": "function"
}
]
}{
"content": "target for right_y is outside [-0.08, 0.4]",
"role": "tool",
"tool_call_id": "toolu_01Jj4eGTRRHQR9QWN6p4EFzL"
}call 18 attempt 0 · /chat/completions · status null · 120.1 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8271, 0.9413, 0.149, -0.012, -0.0307, 0.9992, 1.0195, 2.1941, 1.494, -0.2264, 0.7448, 0.5278, 0.9996]\nstate[eef_state]: left_x=0.4695 left_y=0.0401 left_z=0.05 left_yaw=0.0847 left_pitch=-0.161 left_roll=0.0005 left_gripper=0.9992 right_x=0.3715 right_y=0.3823 right_z=0.0547 right_yaw=0.1299 right_pitch=-0.0525 right_roll=-0.1562 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.9504, 5.8872, 1.6239, -0.0366, -0.0317, -0.0122, -0.4855, -11.9863, 8.1983, 1.5849, 0.486, 0.0904, -0.0464]\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\": {\"right_x\": 0.348, \"right_y\": 0.4, \"right_z\": 0.005, \"right_gripper\": 0}, \"note\": \"The red block is centered between the open jaws in the right wrist camera. Closing the gripper at the block position to grasp it (y clamped to the 0.4 limit).\"}",
"name": "move_to"
},
"id": "toolu_01GyqRTBpixhKtNE7YgYXCJA",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01GyqRTBpixhKtNE7YgYXCJA"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1219, -0.0116, -0.0307, 0.9992, 1.1229, 2.3711, 1.29, 0.4427, 0.9737, 0.4179, 0.0087]\nstate[eef_state]: left_x=0.465 left_y=0.0399 left_z=0.0451 left_yaw=0.0848 left_pitch=-0.1881 left_roll=0.0005 left_gripper=0.9992 right_x=0.351 right_y=0.4014 right_z=0.0071 right_yaw=0.117 right_pitch=0.2385 right_roll=-0.1151 right_gripper=0.0087\nstate[joint_eff]: [-0.0615, -8.8, 5.9009, 1.6435, -0.0806, -0.0317, -0.0122, 0.1162, -12.547, 4.6154, 1.2674, 0.2271, -0.1587, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 130):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:81652e916da137fd01335a8c5a0c3103b8afe4bdf5b72f891bb34f5c364ab04f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 130):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:51b1560f290092a5e4ad33b6dac9d04e808a7844a20d11aee2745dd823d1cc5b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 130):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2c908c7e3251043528ebee8fb0369c2e1518384a12876ee9494c673a1fa4f143"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 1 · /chat/completions · status 200 · 80.21 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
no new messages
call 19 attempt 0 · /chat/completions · status 200 · 44.99 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0734, 1.8271, 0.9413, 0.1333, -0.0116, -0.0307, 0.9992, 1.1206, 2.3577, 1.3018, 0.408, 0.9688, 0.4095, 0.9996]\nstate[eef_state]: left_x=0.4669 left_y=0.04 left_z=0.0471 left_yaw=0.0848 left_pitch=-0.1767 left_roll=0.0004 left_gripper=0.9992 right_x=0.3522 right_y=0.4024 right_z=0.0122 right_yaw=0.1249 right_pitch=0.2303 right_roll=-0.1298 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -8.9641, 5.8872, 1.7607, -0.0464, -0.0171, -0.0073, 0.5265, -9.4017, 3.9179, 1.3114, 0.3492, -0.2564, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The gripper closed fully to 0.009 — it missed the block, which sits just beyond the fingertips (image-up = +x). Reopening and shifting forward ~2.5 cm.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.4, \"right_z\": 0.005, \"right_gripper\": 1}, \"note\": \"The gripper closed empty; the wrist camera shows the block just beyond the closed fingertips, i.e. slightly further +x. Reopening and shifting the gripper about 2.5 cm forward at table height to straddle the block.\"}",
"name": "move_to"
},
"id": "toolu_01WQQk7qB4wXKAb6GzVB7wHP",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01WQQk7qB4wXKAb6GzVB7wHP"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [0.0731, 1.8282, 0.936, 0.1104, -0.012, -0.0345, 0.9992, 1.079, 2.3741, 1.309, 0.4679, 0.939, 0.3782, 0.9945]\nstate[eef_state]: left_x=0.4612 left_y=0.0395 left_z=0.0405 left_yaw=0.0869 left_pitch=-0.206 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3707 right_y=0.3976 right_z=0.0121 right_yaw=0.1126 right_pitch=0.2422 right_roll=-0.1068 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -8.8957, 6.2564, 1.619, -0.0757, -0.0366, -0.0122, -0.6496, -10.3043, 7.3778, 1.5214, 0.232, -0.0513, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 140):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2f70e90a63c510dc73ea80ceff2210c4be62491cc3a0c801e60e005ee1d59596"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 140):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b8370392bb8a1d9d534b8fef59e67fc5b395757d74ed0f1423ab70b0cfd16d79"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 140):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:90c11338807bfed6ed2c14e5583127032832bcfe440adbd33502f6801a44ad32"
},
"type": "image_url"
}
],
"role": "user"
}