- 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
- 580.5 s
- total steps
- 107
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
overheat
Operator judgements
n
Grader notes
trial 00
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 8
Raw transcript
step 16
Raw transcript
step 20
Raw transcript
step 26
Raw transcript
step 34
Raw transcript
step 39
Raw transcript
step 43
Raw transcript
step 51
Raw transcript
step 66
Raw transcript
step 73
Raw transcript
step 78
Raw transcript
step 91
Raw transcript
step 98
Raw transcript
step 101
Raw transcript
step 106
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 · 16.06 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]: [-0.0189, 0.7933, 0.6044, -0.3885, -0.0189, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1786 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1782 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4291, 10.1538, 1.9658, -0.0513, 0.1392, -0.0904, -0.5812, -1.6615, 9.6889, 1.9316, -0.0415, 0.105, -0.0513]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:61f84d938fba1b95d886a7ec9a894f8d84bf83fed96b87c10edc7410882c7788"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:937459be026df09e27dfcb0b2f1802eab67294d5d146ce611a78f45d36bb0c4c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8bf1dc765bfecd9342e4a6ccf8a000a8f71ee18220442572cce00be64b3e9463"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 7.311 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.38, \"left_y\": -0.08, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"I see the red block ahead and slightly right in the left wrist camera, with the bowl further right near the right arm. Moving the left arm forward, right, and down toward the block to refine alignment.\"}",
"name": "move_to"
},
"id": "toolu_015KrQwpGHHdDgh9VpmL4fvK",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_015KrQwpGHHdDgh9VpmL4fvK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3378, 1.3338, 0.6029, -0.0002, -0.26, -0.2073, 0.9993, -0.0212, 0.8005, 0.6151, -0.4305, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3557 left_y=-0.073 left_z=0.0891 left_yaw=-0.0203 left_pitch=-0.1253 left_roll=0.031 left_gripper=0.9993 right_x=0.2896 right_y=0.001 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0328 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.1744, 9.3744, 2.0195, -0.3101, 0.0122, -0.0855, -0.1026, -1.6752, 6.4205, 2.0147, -0.0513, -0.0757, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:93ec0933a3a24c0c8c232c19e2fc5491a7d839288bbfd12055125eacaa8b5314"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:242f93779af7ae8b7091dd7fa1dad3390bb2d9d3300371675a4ee4d273a4fb86"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9018a55a70fdfcea4a6c8f2a97f4a27583ac6536994e858f7fe855096ab78e11"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 8.72 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]: [-0.0189, 0.7933, 0.6044, -0.3885, -0.0189, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3958, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1786 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1782 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4291, 10.1538, 1.9658, -0.0513, 0.1392, -0.0904, -0.5812, -1.6615, 9.6889, 1.9316, -0.0415, 0.105, -0.0513]",
"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\": -0.09, \"left_z\": 0.05, \"left_gripper\": 1}, \"note\": \"The left wrist camera shows the red block ahead and slightly right of center, still out of reach of the fingers. Moving the left gripper further forward and down to hover just above the block.\"}",
"name": "move_to"
},
"id": "toolu_012dmrfu8ghAdmhzR1yc1UFN",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_012dmrfu8ghAdmhzR1yc1UFN"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2955, 1.7782, 0.8345, 0.1486, -0.2428, -0.1955, 0.9993, -0.0212, 0.8043, 0.6147, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4304 left_y=-0.0829 left_z=0.0348 left_yaw=0.0044 left_pitch=-0.1903 left_roll=0.0481 left_gripper=0.9993 right_x=0.2862 right_y=0.001 right_z=0.1669 right_yaw=0.0003 right_pitch=-0.0614 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.3077, 7.9795, 1.7753, 0.0611, 0.2027, -0.0855, -0.212, -1.5521, 7.0085, 1.8828, -0.0269, -0.0366, -0.0073]\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,$blob:7c4fc6fde39584cd9349702a4077f3fc7610c642b6919065f0155021853eb0fd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0d41426dac08fa5b354e7d2a172fe21a6974a97dfc0c5752a94964f1e712ef00"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2a1630f8fdac2e0af228057a0c973268ac82ab2ef0c4557d65595325b53c90e0"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 21.29 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]: [-0.3378, 1.3338, 0.6029, -0.0002, -0.26, -0.2073, 0.9993, -0.0212, 0.8005, 0.6151, -0.4305, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3557 left_y=-0.073 left_z=0.0891 left_yaw=-0.0203 left_pitch=-0.1253 left_roll=0.031 left_gripper=0.9993 right_x=0.2896 right_y=0.001 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0328 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.1744, 9.3744, 2.0195, -0.3101, 0.0122, -0.0855, -0.1026, -1.6752, 6.4205, 2.0147, -0.0513, -0.0757, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.045, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block now appears at the right edge of the left wrist camera, meaning I overshot to the right (negative y). Shifting the left gripper back toward +y and lowering closer to grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01B3Hh5opoQDi3KzfPMzXr2r",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01B3Hh5opoQDi3KzfPMzXr2r"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1741, 1.8397, 0.8452, 0.1829, -0.1848, -0.1364, 0.9993, -0.0212, 0.8047, 0.6147, -0.4744, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.041 left_z=0.0171 left_yaw=0.0451 left_pitch=-0.2186 left_roll=0.0541 left_gripper=0.9993 right_x=0.2833 right_y=0.0011 right_z=0.163 right_yaw=0.0006 right_pitch=-0.0812 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9932, 6.1333, 1.9609, 0.0855, 0.0659, -0.0855, -0.0205, -1.0872, 6.9812, 2.0244, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef906acf78ada37402512fea2c40e1347f8938b20c7a5ebc8601dd98ac48644b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9a332ccecb7e991bfedb1a9df301ad1837605368bddc6731c0c323d962025f1d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d5191ddd8fd944451e16c91a1941ce55db99c2bfed0d0b5a00ae413dc7a64aad"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 28.47 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]: [-0.2955, 1.7782, 0.8345, 0.1486, -0.2428, -0.1955, 0.9993, -0.0212, 0.8043, 0.6147, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4304 left_y=-0.0829 left_z=0.0348 left_yaw=0.0044 left_pitch=-0.1903 left_roll=0.0481 left_gripper=0.9993 right_x=0.2862 right_y=0.001 right_z=0.1669 right_yaw=0.0003 right_pitch=-0.0614 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.3077, 7.9795, 1.7753, 0.0611, 0.2027, -0.0855, -0.212, -1.5521, 7.0085, 1.8828, -0.0269, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.45, \"left_y\": -0.105, \"left_z\": 0.015, \"left_gripper\": 1}, \"note\": \"The block left the wrist camera view to the right, so it sits at more negative y than I thought. Moving the left gripper back to the right (y\\u2248-0.105) at grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01MypePZQNJhnM6Y5GLvrQeA",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01MypePZQNJhnM6Y5GLvrQeA"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.165, 1.8507, 0.8452, 0.1837, -0.1684, -0.1196, 0.9993, -0.0212, 0.8043, 0.6147, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4406 left_y=-0.0397 left_z=0.0122 left_yaw=0.0315 left_pitch=-0.2317 left_roll=0.0563 left_gripper=0.9993 right_x=0.2793 right_y=0.0012 right_z=0.1581 right_yaw=0.0007 right_pitch=-0.1064 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -8.1573, 6.0786, 1.8535, 0.0269, 0.149, -0.0855, -0.2256, -1.1556, 6.9538, 1.8877, -0.0855, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a1d13291ec4900eec54c57ddf38bcfe2b9606bff57ee662f6e1625b05d17c494"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:11b0df55b11aca0cc394003f1d829ab6a21d961224eb77bafc7671577e8d667b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:70038f0f891824da9b35d7e4548967ca0db060d55301522211d4a0aaa3b3b769"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 7.631 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]: [-0.1741, 1.8397, 0.8452, 0.1829, -0.1848, -0.1364, 0.9993, -0.0212, 0.8047, 0.6147, -0.4744, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4413 left_y=-0.041 left_z=0.0171 left_yaw=0.0451 left_pitch=-0.2186 left_roll=0.0541 left_gripper=0.9993 right_x=0.2833 right_y=0.0011 right_z=0.163 right_yaw=0.0006 right_pitch=-0.0812 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.9932, 6.1333, 1.9609, 0.0855, 0.0659, -0.0855, -0.0205, -1.0872, 6.9812, 2.0244, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.03, \"left_z\": 0.02, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block a few centimeters forward of the left gripper tips, roughly in line. Moving the left gripper forward to x\\u22480.50 and leveling pitch so the block sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_019N8Je9itJK6CeSsCngxqaa",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_019N8Je9itJK6CeSsCngxqaa"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1268, 2.0033, 0.8768, 0.4515, -0.168, -0.0937, 0.9993, -0.0212, 0.8074, 0.6147, -0.524, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4813 left_y=-0.028 left_z=0.0038 left_yaw=0.0505 left_pitch=-0.0883 left_roll=0.0479 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1528 right_yaw=0.0007 right_pitch=-0.1335 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -8.4718, 7.5009, 1.7607, -0.0171, 0.2027, -0.0855, -0.1026, -1.4564, 7.3094, 1.8339, -0.0611, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fe8d9ecff9daa30983cbc86fe30cf48d109923f0751d1c1bdc8f0ed6c232d29e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f5d49994b74b7be2a86c97f29f7299623eac026755f295ec985cd0131ae51576"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dc69f93d94b256b37886137a6c39f31990c7246002069ad705109585ae851afa"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 14.12 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]: [-0.165, 1.8507, 0.8452, 0.1837, -0.1684, -0.1196, 0.9993, -0.0212, 0.8043, 0.6147, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4406 left_y=-0.0397 left_z=0.0122 left_yaw=0.0315 left_pitch=-0.2317 left_roll=0.0563 left_gripper=0.9993 right_x=0.2793 right_y=0.0012 right_z=0.1581 right_yaw=0.0007 right_pitch=-0.1064 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -8.1573, 6.0786, 1.8535, 0.0269, 0.149, -0.0855, -0.2256, -1.1556, 6.9538, 1.8877, -0.0855, -0.0366, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.54, \"left_y\": -0.03, \"left_z\": 0.01, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Top view shows the block still a few cm beyond the left gripper tips; the wrist camera shows empty table between the jaws. Advancing the left gripper forward to x\\u22480.54 at grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01NKYLwXbz5fxzEojL5i4qoa",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01NKYLwXbz5fxzEojL5i4qoa"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.123, 2.1353, 1.05, 0.4717, -0.1707, -0.0902, 0.9993, -0.0212, 0.8116, 0.6147, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5285 left_y=-0.0315 left_z=0.0059 left_yaw=0.0541 left_pitch=-0.0276 left_roll=0.0414 left_gripper=0.9993 right_x=0.2709 right_y=0.0014 right_z=0.1463 right_yaw=0.0008 right_pitch=-0.1674 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.7299, 7.0085, 1.9267, -0.1099, 0.0659, -0.0904, -0.1299, -1.0598, 7.0769, 1.8291, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:029aed4ef331ae9aa8c8cdde794199bdc4c7f3cbf71ae534fdd993b8a51e0452"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fc40d3d6ee565b4b19c4ea2a81e662eea1a1420b80df38269be65aba2abdf686"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10802f71128800f41fe154040631ddae7411fdaf450560c66912c2e147363022"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 10.46 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]: [-0.1268, 2.0033, 0.8768, 0.4515, -0.168, -0.0937, 0.9993, -0.0212, 0.8074, 0.6147, -0.524, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4813 left_y=-0.028 left_z=0.0038 left_yaw=0.0505 left_pitch=-0.0883 left_roll=0.0479 left_gripper=0.9993 right_x=0.2756 right_y=0.0013 right_z=0.1528 right_yaw=0.0007 right_pitch=-0.1335 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -8.4718, 7.5009, 1.7607, -0.0171, 0.2027, -0.0855, -0.1026, -1.4564, 7.3094, 1.8339, -0.0611, -0.022, -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\": 0.57, \"left_y\": -0.03, \"left_z\": 0.005, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"Top view shows the red block just beyond the left gripper tips. Advancing a bit further forward and slightly down so the block ends up between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Q4RHyj6dwnSbSGMZf83iK4",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Q4RHyj6dwnSbSGMZf83iK4"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1219, 2.1448, 1.063, 0.4713, -0.1726, -0.0898, 0.9993, -0.0212, 0.8116, 0.6147, -0.5766, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5317 left_y=-0.031 left_z=0.0058 left_yaw=0.0566 left_pitch=-0.0244 left_roll=0.0422 left_gripper=0.9993 right_x=0.267 right_y=0.0015 right_z=0.1422 right_yaw=0.0009 right_pitch=-0.1903 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -9.7162, 7.1043, 1.8437, -0.0757, 0.1099, -0.0904, -0.0615, -1.1556, 7.0085, 1.7851, -0.0464, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:16dbdb3558b0561e57d7ab051e76a1130c6bee425b1e04c107093103bb902cec"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:052b455c6b6629d1f4db50a9674d63443640429b70444ca387b5497396947763"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8e56a9893892fe47c91a91d917a45969f7541e0f61f7bf5084b9736ebf4d5993"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 26.28 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]: [-0.123, 2.1353, 1.05, 0.4717, -0.1707, -0.0902, 0.9993, -0.0212, 0.8116, 0.6147, -0.5537, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5285 left_y=-0.0315 left_z=0.0059 left_yaw=0.0541 left_pitch=-0.0276 left_roll=0.0414 left_gripper=0.9993 right_x=0.2709 right_y=0.0014 right_z=0.1463 right_yaw=0.0008 right_pitch=-0.1674 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -9.7299, 7.0085, 1.9267, -0.1099, 0.0659, -0.0904, -0.1299, -1.0598, 7.0769, 1.8291, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.028, \"left_z\": 0.01, \"left_pitch\": 0.2, \"left_gripper\": 1}, \"note\": \"The arm barely advanced (x stuck near 0.53) and the block is still just beyond the fingertips in the top view. Commanding maximum forward reach x=0.6 with a slight forward pitch to help the tips reach the block.\"}",
"name": "move_to"
},
"id": "toolu_012JdL1hMDfZP6Zngb6kp9B7",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_012JdL1hMDfZP6Zngb6kp9B7"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1158, 2.2669, 1.1904, 0.5598, -0.178, -0.0818, 0.9993, -0.0212, 0.8097, 0.6147, -0.614, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5708 left_y=-0.0313 left_z=0.007 left_yaw=0.0631 left_pitch=0.0682 left_roll=0.0352 left_gripper=0.9993 right_x=0.2603 right_y=0.0016 right_z=0.1362 right_yaw=0.0011 right_pitch=-0.2258 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.8547, -11.8359, 3.535, 0.8718, -0.1343, 0.232, -0.0904, -0.212, -0.5812, 6.8034, 1.8779, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5d69665441ab68909f7bbd5a8872c333fba5d4a5c660eae954a275d812548cff"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4bf12633d4ed07f0783d9ab097a09c0815e916a022fc8c35123fe61da590f123"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 51):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:df468604b99d216558d41936fb4e4434a1fd30e84fd982c422740f3bca34cffd"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 25.25 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]: [-0.1219, 2.1448, 1.063, 0.4713, -0.1726, -0.0898, 0.9993, -0.0212, 0.8116, 0.6147, -0.5766, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5317 left_y=-0.031 left_z=0.0058 left_yaw=0.0566 left_pitch=-0.0244 left_roll=0.0422 left_gripper=0.9993 right_x=0.267 right_y=0.0015 right_z=0.1422 right_yaw=0.0009 right_pitch=-0.1903 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -9.7162, 7.1043, 1.8437, -0.0757, 0.1099, -0.0904, -0.0615, -1.1556, 7.0085, 1.7851, -0.0464, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.02, \"left_z\": 0.15, \"left_pitch\": 0.5, \"left_gripper\": 1}, \"note\": \"The wrist camera shows only bare table, so I've lost the block; I may be past it or off to one side. Lifting the left gripper and pitching it down to get a wider view and re-localize the block.\"}",
"name": "move_to"
},
"id": "toolu_01CXhzhujWLw5SQ7LR2vqxAq",
"type": "function"
}
]
}{
"content": "executing move_to over 15 steps (1.5s)",
"role": "tool",
"tool_call_id": "toolu_01CXhzhujWLw5SQ7LR2vqxAq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1173, 1.9083, 0.7483, 0.9882, -0.1993, -0.0242, 0.9993, -0.0212, 0.8154, 0.6147, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5012 left_y=-0.0202 left_z=0.1191 left_yaw=0.0626 left_pitch=0.4077 left_roll=0.0354 left_gripper=0.9993 right_x=0.2566 right_y=0.0017 right_z=0.1313 right_yaw=0.0012 right_pitch=-0.2529 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -11.1385, 5.2444, 2.2882, -0.1245, 0.1538, -0.0904, -0.1162, -1.347, 6.7624, 1.6825, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d05e5791e2363152a9e123fb52619896a39e2eb7c7e0e229e230bcc11d846b16"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d6a6c7586e47caf89c9e35e9e37a3c563d63217322f34df4a4731bee63a1200d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a78470b5f719432c8c8888c499639f31ef94ece98b23af26d26b56a1e92c5ae3"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 30.39 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]: [-0.1158, 2.2669, 1.1904, 0.5598, -0.178, -0.0818, 0.9993, -0.0212, 0.8097, 0.6147, -0.614, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5708 left_y=-0.0313 left_z=0.007 left_yaw=0.0631 left_pitch=0.0682 left_roll=0.0352 left_gripper=0.9993 right_x=0.2603 right_y=0.0016 right_z=0.1362 right_yaw=0.0011 right_pitch=-0.2258 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.8547, -11.8359, 3.535, 0.8718, -0.1343, 0.232, -0.0904, -0.212, -0.5812, 6.8034, 1.8779, -0.0415, -0.0171, -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\": 0.58, \"left_y\": -0.02, \"left_z\": 0.03, \"left_pitch\": 0.5, \"left_gripper\": 1}, \"note\": \"Top camera shows the red block just beyond and slightly right of the left fingertips' last position; the wrist view is now angled down. Approaching again at x\\u22480.58 with the tool pitched down 0.5 rad so the fingertips reach over the block.\"}",
"name": "move_to"
},
"id": "toolu_01UWd2hWpmFnpT8tFQuYrcz3",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01UWd2hWpmFnpT8tFQuYrcz3"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0994, 2.4355, 1.0676, 1.219, -0.1978, -0.0219, 0.9993, -0.0212, 0.8185, 0.6147, -0.6579, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5709 left_y=-0.0184 left_z=0.0196 left_yaw=0.0796 left_pitch=0.4301 left_roll=0.0331 left_gripper=0.9993 right_x=0.2525 right_y=0.0018 right_z=0.1269 right_yaw=0.0014 right_pitch=-0.2784 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0701, 4.8205, 2.3761, 0.1441, 0.1197, -0.0952, -0.0889, -1.2239, 6.8034, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:725e16863f7604391a5fe3fdae71178e59e9936d6411994297baf3cd0bcfec32"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:456d76847f1418b3b925c7ef86a493b3b9361ed47b99b8bfbd6184552e6f8e2b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:251adc86437e0b17fb3900bf9228b53f96a87fb41e827f6270272e2ff400a6bb"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 94.21 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]: [-0.1173, 1.9083, 0.7483, 0.9882, -0.1993, -0.0242, 0.9993, -0.0212, 0.8154, 0.6147, -0.6353, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5012 left_y=-0.0202 left_z=0.1191 left_yaw=0.0626 left_pitch=0.4077 left_roll=0.0354 left_gripper=0.9993 right_x=0.2566 right_y=0.0017 right_z=0.1313 right_yaw=0.0012 right_pitch=-0.2529 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -11.1385, 5.2444, 2.2882, -0.1245, 0.1538, -0.0904, -0.1162, -1.347, 6.7624, 1.6825, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.01, \"left_z\": 0.0, \"left_pitch\": 0.3, \"left_gripper\": 1}, \"note\": \"Top view shows the block just beyond and slightly left of the fingertips; the wrist view sees only table ahead. Advancing to full forward reach, shifting slightly left (+y) and lowering to table level to bracket the block between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01AP6fUnWqSft5GUCMr1Xf6G",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01AP6fUnWqSft5GUCMr1Xf6G"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0765, 2.4573, 1.2072, 1.0401, -0.1925, -0.0456, 0.9993, -0.0212, 0.8211, 0.6147, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5982 left_y=-0.0084 left_z=0.0148 left_yaw=0.107 left_pitch=0.3703 left_roll=0.0187 left_gripper=0.9993 right_x=0.249 right_y=0.0018 right_z=0.1233 right_yaw=0.0012 right_pitch=-0.2994 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -12.1915, 5.9692, 1.7363, 0.1832, 0.0562, -0.0904, -0.1846, -1.3607, 6.7487, 1.5653, -0.0464, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f300d384b4f31006880a1b993f2dc3a0544cfe68507371082c455af9530c19a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:768739992551b91b2992446f4e978869b7cd2dc304f929d5497307e52ab58e34"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5040015ae868929ddc3520d5abba67f325f07835a5f12e1198eed164288c0fc0"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 27.74 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]: [-0.0994, 2.4355, 1.0676, 1.219, -0.1978, -0.0219, 0.9993, -0.0212, 0.8185, 0.6147, -0.6579, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5709 left_y=-0.0184 left_z=0.0196 left_yaw=0.0796 left_pitch=0.4301 left_roll=0.0331 left_gripper=0.9993 right_x=0.2525 right_y=0.0018 right_z=0.1269 right_yaw=0.0014 right_pitch=-0.2784 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -11.0701, 4.8205, 2.3761, 0.1441, 0.1197, -0.0952, -0.0889, -1.2239, 6.8034, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.02, \"left_z\": 0.01, \"left_yaw\": 1.5, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The left arm is at its forward command limit (x=0.6) and the block still sits a few cm beyond the fingertips in the top view. I'll yaw the tool ~90\\u00b0 so the jaws straddle along x; the far jaw should reach past the block and closing will capture or sweep it back within reach.\"}",
"name": "move_to"
},
"id": "toolu_01ER8cai8YiuA2JKhoKMskjK",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_01ER8cai8YiuA2JKhoKMskjK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2604, 2.9856, 2.7865, -0.8982, -1.0523, -1.6135, 0.9986, -0.0212, 0.8246, 0.6147, -0.6991, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6247 left_y=-0.0039 left_z=0.0232 left_yaw=1.3443 left_pitch=0.0478 left_roll=-0.4923 left_gripper=0.9986 right_x=0.2447 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3257 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [1.1145, -16.0068, 4.1778, 0.6471, 0.1294, -0.2173, -0.1587, -0.1573, -1.4291, 6.8308, 1.6044, -0.0464, -0.0317, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a2fb917a92726a9e03a5964f3343e100615c77fe2d6591b8e50e023c864a7bf6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ca7ea17a1d6d4834b4d1b623d3c85b7b4ee54274ee85b6257fbb8ad65864061c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a89396745af6d6f60fba9a5894b25db36eab84f2bb6481c20b64e3b4fc33d680"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 43.97 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]: [-0.0765, 2.4573, 1.2072, 1.0401, -0.1925, -0.0456, 0.9993, -0.0212, 0.8211, 0.6147, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5982 left_y=-0.0084 left_z=0.0148 left_yaw=0.107 left_pitch=0.3703 left_roll=0.0187 left_gripper=0.9993 right_x=0.249 right_y=0.0018 right_z=0.1233 right_yaw=0.0012 right_pitch=-0.2994 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -12.1915, 5.9692, 1.7363, 0.1832, 0.0562, -0.0904, -0.1846, -1.3607, 6.7487, 1.5653, -0.0464, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.015, \"left_z\": 0.005, \"left_yaw\": 1.5, \"left_pitch\": 0, \"left_roll\": 0, \"left_gripper\": 1}, \"note\": \"The yaw motion stretched the arm out and the grasp point is now at x\\u22480.62, near the block, but the tool picked up unwanted roll. Straightening roll to 0 and settling at the block's height with jaws still rotated to straddle it along x.\"}",
"name": "move_to"
},
"id": "toolu_01W87ZMmHZzudeywhMuFjTDK",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01W87ZMmHZzudeywhMuFjTDK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2584, 3.0112, 2.8864, -1.3674, -1.0397, -1.6836, 0.9986, -0.0212, 0.8249, 0.6147, -0.7193, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5664 left_y=0.0115 left_z=0.0165 left_yaw=1.3622 left_pitch=0.0399 left_roll=-0.1573 left_gripper=0.9986 right_x=0.2407 right_y=0.002 right_z=0.1159 right_yaw=0.0019 right_pitch=-0.3463 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -14.7897, 7.5009, 0.3004, -0.5397, 0.0415, -0.1538, -0.1709, -1.1419, 6.6803, 1.5556, -0.0757, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:793341f8f3cd30ef12a97f999d409f98e253c74253c40dd3f1f4c812b2891ec4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dffd4c2076a1584b6e1d3b10448df77f73c810460ac62cc0be6745c0717f28e3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:597fee3fbbae6023538f8a39cc3a761c27dbb37b9ad8c6b3983592e4f0700b5b"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 57.21 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]: [-0.2604, 2.9856, 2.7865, -0.8982, -1.0523, -1.6135, 0.9986, -0.0212, 0.8246, 0.6147, -0.6991, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.6247 left_y=-0.0039 left_z=0.0232 left_yaw=1.3443 left_pitch=0.0478 left_roll=-0.4923 left_gripper=0.9986 right_x=0.2447 right_y=0.0019 right_z=0.119 right_yaw=0.0017 right_pitch=-0.3257 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [1.1145, -16.0068, 4.1778, 0.6471, 0.1294, -0.2173, -0.1587, -0.1573, -1.4291, 6.8308, 1.6044, -0.0464, -0.0317, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": 0.035, \"left_z\": 0.0, \"left_yaw\": 1.5, \"left_pitch\": 0, \"left_roll\": 0, \"left_gripper\": 1}, \"note\": \"Top view shows the red block just beyond and slightly left of the yawed gripper; the wrist camera shows it centered ahead. Moving forward and left to y\\u22480.035 at table height so the block lands between the jaws (which now open along x).\"}",
"name": "move_to"
},
"id": "toolu_01XZvVFi5SmFv27KBQAvJf65",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01XZvVFi5SmFv27KBQAvJf65"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2584, 3.0112, 2.8864, -1.3701, -1.0359, -1.6833, 0.9986, -0.0212, 0.8249, 0.6147, -0.7288, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.566 left_y=0.0113 left_z=0.0159 left_yaw=1.3616 left_pitch=0.0363 left_roll=-0.1541 left_gripper=0.9986 right_x=0.2388 right_y=0.002 right_z=0.1145 right_yaw=0.0016 right_pitch=-0.3558 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -14.6667, 7.4735, 0.2613, -0.5788, 0.0757, -0.1538, -0.1162, -0.9915, 6.6667, 1.4579, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c9f8e0246749891048e7f93a707244d632cade9ce79f0035d0c477f535f7cef8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ddc547f62db99fbf4129196cc4365f63601945454da62abce89008bc498bead"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9112ebb474b3d541a65fcb754c1180389bbdb4bb809ea48ee3a8f9e6d1a4f69c"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 60.5 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]: [-0.2584, 3.0112, 2.8864, -1.3674, -1.0397, -1.6836, 0.9986, -0.0212, 0.8249, 0.6147, -0.7193, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5664 left_y=0.0115 left_z=0.0165 left_yaw=1.3622 left_pitch=0.0399 left_roll=-0.1573 left_gripper=0.9986 right_x=0.2407 right_y=0.002 right_z=0.1159 right_yaw=0.0019 right_pitch=-0.3463 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -14.7897, 7.5009, 0.3004, -0.5397, 0.0415, -0.1538, -0.1709, -1.1419, 6.6803, 1.5556, -0.0757, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.6, \"left_y\": -0.03, \"left_z\": 0.005, \"left_yaw\": 1.5, \"left_pitch\": 0, \"left_roll\": -0.5, \"left_gripper\": 1}, \"note\": \"The arm has stalled around x=0.567 and the top view shows the block just beyond and slightly right of the jaws. Tipping the tool forward with negative roll (at yaw 90\\u00b0 this tips toward +x) to extend the fingertips those last few centimeters over the block.\"}",
"name": "move_to"
},
"id": "toolu_01DLLHdUR4h4TBpHHk3SLtEX",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01DLLHdUR4h4TBpHHk3SLtEX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2958, 3.0066, 2.8037, -1.335, -1.1412, -1.8904, 0.9986, -0.0212, 0.8261, 0.6147, -0.7399, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5627 left_y=0.0001 left_z=0.0135 left_yaw=1.4379 left_pitch=0.1204 left_roll=-0.3048 left_gripper=0.9986 right_x=0.2366 right_y=0.0021 right_z=0.1127 right_yaw=0.0017 right_pitch=-0.368 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.8821, -15.5419, 4.6701, 1.1795, 0.0952, -0.5739, -0.1538, -0.0889, -0.7043, 6.8991, 1.4237, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b71254c8a581bc8c47eaee6a64450bd47dedbba77a5808ad9daeb2cb4f91cb9c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3e0135b7fec1b05eea7b4205a914408942559f74dc0c0bbe0582c74e4acb2799"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 106):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:009a3b456559dcd280a47dc62b426a2496acf011d7be617d30958bd227ae2b97"
},
"type": "image_url"
}
],
"role": "user"
}