- 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
- 315.2 s
- total steps
- 132
operator
1
scenes
1
trials
1
errored
0
scene-0
completedPick up the red block from the table and place it inside the bowl.
Reduced scores
operator=1
Trial scores
trial 0 operator=1
Termination reasons
give_up
Operator judgements
y
Grader notes
trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 10
Raw transcript
step 14
Raw transcript
step 17
Raw transcript
step 19
Raw transcript
step 22
Raw transcript
step 28
Raw transcript
step 31
Raw transcript
step 33
Raw transcript
step 35
Raw transcript
step 42
Raw transcript
step 52
Raw transcript
step 64
Raw transcript
step 68
Raw transcript
step 74
Raw transcript
step 97
Raw transcript
step 104
Raw transcript
step 108
Raw transcript
step 114
Raw transcript
step 120
Raw transcript
step 131
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 · 13.69 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, 0.7925, 0.6041, -0.387, -0.0193, -0.0334, 0.9993, -0.0212, 0.7948, 0.6067, -0.3962, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.1812, 1.9463, -0.0415, 0.1587, -0.0855, -0.1846, -1.5521, 9.7299, 1.9072, -0.0464, 0.1099, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4fdeca42728be682a7774f9d2133dcf9cc23f11b9885db329551aa941e0ca56"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:89215527db6080519fa46b9598261547ea0f56a23259f39837d300a186ad80c9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9bae252f8fcaee012a25683a08e819cdee33a0c3353ef172030c71819c9477eb"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 12.82 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.1, \"left_z\": 0.12, \"left_gripper\": 1}, \"note\": \"The left camera shows the red block ahead and slightly to the right of the left arm; I'll move the left gripper forward and right toward the block at a safe height to line up.\"}",
"name": "move_to"
},
"id": "toolu_01812FFzDNPHtP1BNNyGHcKi",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01812FFzDNPHtP1BNNyGHcKi"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3847, 1.4403, 0.6941, 0.0349, -0.3027, -0.2359, 0.9993, -0.0212, 0.7998, 0.6094, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.38 left_y=-0.0932 left_z=0.0958 left_yaw=-0.0171 left_pitch=-0.0989 left_roll=0.028 left_gripper=0.9993 right_x=0.2886 right_y=0.001 right_z=0.1702 right_yaw=0.0002 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.3521, 8.4991, 2.0, -0.2808, -0.0464, -0.0855, -0.0479, -1.6205, 6.7624, 2.0635, -0.0757, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:02be6214f9d4e06fc97afb84fe3b91712d2443cafc1138ddb649139aea726378"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cadc8ef521afffc9cf252ef8fe3064d385aa4b44489627261040140c3d7a1ef9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 10):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ac1b2471778dac0508741e0a3f6f4206fd19609e3386068b1416c3a7b59f19b"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 5.923 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, 0.7925, 0.6041, -0.387, -0.0193, -0.0334, 0.9993, -0.0212, 0.7948, 0.6067, -0.3962, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.179 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1777 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.1812, 1.9463, -0.0415, 0.1587, -0.0855, -0.1846, -1.5521, 9.7299, 1.9072, -0.0464, 0.1099, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.105, \"left_z\": 0.045, \"left_gripper\": 1}, \"note\": \"The block is now just ahead of the left gripper, slightly right in the wrist camera view. I'll advance a little forward-right and descend toward grasp height with the gripper open.\"}",
"name": "move_to"
},
"id": "toolu_012fsmFmGpVaxP2cFduTowtV",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_012fsmFmGpVaxP2cFduTowtV"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3744, 1.7168, 0.7128, 0.1909, -0.3008, -0.2409, 0.9993, -0.0212, 0.8032, 0.6075, -0.4503, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.096 left_z=0.0254 left_yaw=-0.0001 left_pitch=-0.1942 left_roll=0.0603 left_gripper=0.9993 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -8.3624, 8.1983, 2.1074, -0.1099, 0.0855, -0.0855, -0.0752, -1.5521, 7.2821, 1.8877, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:af7a16f8e61f0ea8d2641c252b16ef177bce89d01c050ab3fbbd9bd4b8db94ca"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0ce0905a97f34a4c07265c467669039dd2eb9b6452d1d760ad081deb86297da3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 14):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1b57145b3ffff6366dd74fef105f8519f584a4ca32917feda844447139330ba2"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 6.729 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]: [-0.3847, 1.4403, 0.6941, 0.0349, -0.3027, -0.2359, 0.9993, -0.0212, 0.7998, 0.6094, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.38 left_y=-0.0932 left_z=0.0958 left_yaw=-0.0171 left_pitch=-0.0989 left_roll=0.028 left_gripper=0.9993 right_x=0.2886 right_y=0.001 right_z=0.1702 right_yaw=0.0002 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.3521, 8.4991, 2.0, -0.2808, -0.0464, -0.0855, -0.0479, -1.6205, 6.7624, 2.0635, -0.0757, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.42, \"left_y\": -0.125, \"left_z\": 0.015, \"left_gripper\": 1}, \"note\": \"The wrist camera shows the block at the right edge between the fingers, so I'll shift right and slightly forward while lowering close to the table before closing.\"}",
"name": "move_to"
},
"id": "toolu_015MCqDPuB39R6ZManwoLotd",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_015MCqDPuB39R6ZManwoLotd"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3744, 1.7451, 0.7208, 0.2413, -0.3008, -0.2409, 0.9993, -0.0212, 0.8043, 0.6075, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.0993 left_z=0.0256 left_yaw=-0.0021 left_pitch=-0.1661 left_roll=0.0491 left_gripper=0.9993 right_x=0.2852 right_y=0.0011 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0679 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.4581, 7.4325, 1.917, -0.1001, 0.1099, -0.0904, -0.212, -1.1966, 6.9675, 1.6923, -0.0757, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ce8b28b6d362e5d724bb2aac30a2b7da41726d525d9515fc723ad6ba52920b89"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:90b5acb6e21e1279086778d3de7e6ae1d1b521e6d9acb573ff83adec65389be4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b58722d799ee6d34d2583d0aa3ee234be80dbb026c99e08b925b7f5d8cdd58e4"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 12.87 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]: [-0.3744, 1.7168, 0.7128, 0.1909, -0.3008, -0.2409, 0.9993, -0.0212, 0.8032, 0.6075, -0.4503, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3972 left_y=-0.096 left_z=0.0254 left_yaw=-0.0001 left_pitch=-0.1942 left_roll=0.0603 left_gripper=0.9993 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -8.3624, 8.1983, 2.1074, -0.1099, 0.0855, -0.0855, -0.0752, -1.5521, 7.2821, 1.8877, -0.0415, -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\": 0.42, \"left_y\": -0.12, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The block is still to the right of the fingers in the wrist view; the previous move was clamped, so I'll take another small step right and forward before grasping.\"}",
"name": "move_to"
},
"id": "toolu_01MtfHHa9siP8kLnJJvD7oGP",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01MtfHHa9siP8kLnJJvD7oGP"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3725, 1.7451, 0.7208, 0.2501, -0.3008, -0.2413, 0.9993, -0.0212, 0.8043, 0.6075, -0.4564, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4071 left_y=-0.099 left_z=0.0271 left_yaw=-0.0005 left_pitch=-0.1579 left_roll=0.0456 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.069 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3897, 7.2957, 1.8828, -0.0855, 0.1148, -0.0904, -0.1299, -1.2239, 6.9538, 1.6679, -0.0464, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13efd9a60934b29a09e849e5a34cadc07205142d208f2d7c30b7e5961b7ec3e2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c6b97fa170114846e63f712a7d6e9537b1bf2d6fbc2cb71efac4f3eb622fab0f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:93c0bbc67f15e5307ad08dc70f522d884a804bcf2cff62719ed57c5bbb320c24"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 13.72 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]: [-0.3744, 1.7451, 0.7208, 0.2413, -0.3008, -0.2409, 0.9993, -0.0212, 0.8043, 0.6075, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.0993 left_z=0.0256 left_yaw=-0.0021 left_pitch=-0.1661 left_roll=0.0491 left_gripper=0.9993 right_x=0.2852 right_y=0.0011 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0679 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.4581, 7.4325, 1.917, -0.1001, 0.1099, -0.0904, -0.212, -1.1966, 6.9675, 1.6923, -0.0757, 0.0073, -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\": 0.435, \"left_y\": -0.13, \"left_z\": 0.02, \"left_gripper\": 1}, \"note\": \"The arm barely moved last step and the block remains ahead-right of the fingers in the wrist camera; I'll command a slightly larger step forward and to the right at grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01WCys2C1bmN4Gp7VqyY9LVd",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01WCys2C1bmN4Gp7VqyY9LVd"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.3725, 1.7451, 0.7208, 0.2501, -0.3008, -0.2413, 0.9993, -0.0212, 0.8043, 0.6075, -0.4782, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4071 left_y=-0.099 left_z=0.0271 left_yaw=-0.0005 left_pitch=-0.1579 left_roll=0.0456 left_gripper=0.9993 right_x=0.2817 right_y=0.0011 right_z=0.1591 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.335, 7.4051, 1.8535, -0.1148, 0.0708, -0.0855, -0.0205, -0.9231, 6.9675, 1.8437, -0.0366, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dab87eb85b85fb97802cfc7e4daaa4f98049b07804d2dfac0bc58482e58036c3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:540cb1bfd28c29928405e58f6e27ce0572cdbac2912da2665eef1aceab40d61a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 22):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7afc92ff064e341dbb29478c3cafb99c7363fdc3bd5d5d6812883c2c65458155"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 11.05 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]: [-0.3725, 1.7451, 0.7208, 0.2501, -0.3008, -0.2413, 0.9993, -0.0212, 0.8043, 0.6075, -0.4564, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4071 left_y=-0.099 left_z=0.0271 left_yaw=-0.0005 left_pitch=-0.1579 left_roll=0.0456 left_gripper=0.9993 right_x=0.285 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.069 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3897, 7.2957, 1.8828, -0.0855, 0.1148, -0.0904, -0.1299, -1.2239, 6.9538, 1.6679, -0.0464, -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\": 0.44, \"left_y\": -0.135, \"left_z\": 0.04, \"left_pitch\": 0, \"left_gripper\": 1}, \"note\": \"The left arm didn't move at all last step\\u2014likely an awkward IK pose. I'll raise the target slightly and level the pitch while moving toward the block ahead-right.\"}",
"name": "move_to"
},
"id": "toolu_01TA6Jdy7enZ7HWPXH3fnK9k",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01TA6Jdy7enZ7HWPXH3fnK9k"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 1.861, 0.7525, 0.3626, -0.3763, -0.2501, 0.9993, -0.0212, 0.8062, 0.6075, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4167 left_y=-0.1287 left_z=0.0135 left_yaw=-0.0207 left_pitch=-0.1112 left_roll=0.0759 left_gripper=0.9993 right_x=0.2783 right_y=0.0012 right_z=0.1544 right_yaw=0.0 right_pitch=-0.1148 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.8974, 8.1846, 2.1319, -0.2613, -0.0317, -0.0855, -0.1299, -1.3197, 6.9538, 1.8486, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:16d0d480c5d49f12921ae3da6d4f8f0d802b18386b5f31837afc459c7d4e41de"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e06ac958cbf396c0eb36fde23dcf798ff99f20d8220a65f3f5833c5b61ab5e93"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ec91d9727625a5cadd257133d8f2792d77dbf028dcb77ed958d4d5bbb1fa1c75"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 9.224 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]: [-0.3725, 1.7451, 0.7208, 0.2501, -0.3008, -0.2413, 0.9993, -0.0212, 0.8043, 0.6075, -0.4782, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4071 left_y=-0.099 left_z=0.0271 left_yaw=-0.0005 left_pitch=-0.1579 left_roll=0.0456 left_gripper=0.9993 right_x=0.2817 right_y=0.0011 right_z=0.1591 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.335, 7.4051, 1.8535, -0.1148, 0.0708, -0.0855, -0.0205, -0.9231, 6.9675, 1.8437, -0.0366, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.445, \"left_y\": -0.14, \"left_z\": 0.01, \"left_gripper\": 1}, \"note\": \"The wrist camera now shows the block centered just ahead of the open fingers. I'll advance a few centimeters forward and slightly right at table height so the block sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01NDhodt8FfE5WZPqJxdW5Sd",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01NDhodt8FfE5WZPqJxdW5Sd"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4568, 1.9472, 0.8417, 0.3504, -0.3862, -0.2523, 0.9993, -0.0212, 0.8082, 0.6075, -0.5079, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4356 left_y=-0.1359 left_z=0.0054 left_yaw=-0.0107 left_pitch=-0.1165 left_roll=0.0842 left_gripper=0.9993 right_x=0.2772 right_y=0.0013 right_z=0.1525 right_yaw=0.0004 right_pitch=-0.1243 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -9.1556, 7.1316, 1.5897, -0.0415, 0.0611, -0.0904, -0.1983, -1.1692, 6.9128, 1.7705, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ce090a2857ab1776f8440f248fb23cf8e4b9ef4de6e44a7c4afc3122cc35648"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:aded55786d88edac88bc2b5fa314602efff39c435235627c4d115bd71fb2f912"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:95ae2c148cc72b9be16cd3780503f4a2b56c0e4653eb20d78c2dcb1e6ba807d1"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 7.109 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4572, 1.861, 0.7525, 0.3626, -0.3763, -0.2501, 0.9993, -0.0212, 0.8062, 0.6075, -0.5003, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4167 left_y=-0.1287 left_z=0.0135 left_yaw=-0.0207 left_pitch=-0.1112 left_roll=0.0759 left_gripper=0.9993 right_x=0.2783 right_y=0.0012 right_z=0.1544 right_yaw=0.0 right_pitch=-0.1148 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.8974, 8.1846, 2.1319, -0.2613, -0.0317, -0.0855, -0.1299, -1.3197, 6.9538, 1.8486, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.455, \"left_y\": -0.15, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block fills the wrist view slightly right of center with the fingers at the frame edges; one more small forward-right step to get the block between the jaws before closing.\"}",
"name": "move_to"
},
"id": "toolu_01GQAqggE5F8JLEfNufgQozF",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01GQAqggE5F8JLEfNufgQozF"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4606, 1.9839, 0.9035, 0.321, -0.3908, -0.2668, 0.9993, -0.0212, 0.8097, 0.6075, -0.5243, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4469 left_y=-0.1426 left_z=0.0054 left_yaw=-0.0027 left_pitch=-0.1182 left_roll=0.0777 left_gripper=0.9993 right_x=0.2746 right_y=0.0013 right_z=0.149 right_yaw=0.0004 right_pitch=-0.1423 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -8.0068, 6.8034, 1.4237, -0.2271, 0.1343, -0.0904, -0.1846, -1.2923, 7.0496, 1.7558, -0.0611, -0.0757, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d498d0c9758dd86be2b7541984f8e52023117760dc2f3fc2c9da51997bd7fecc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:877d86e3edcb3b65602cbb89c6752b358d38cc67638e2fb739b1a5405da5c9e6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4422dd4e2f25d731bff59495eb3d4117cdc7b629446cf2e6bb4d5d641d7e65a0"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 6.186 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]: [-0.4568, 1.9472, 0.8417, 0.3504, -0.3862, -0.2523, 0.9993, -0.0212, 0.8082, 0.6075, -0.5079, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4356 left_y=-0.1359 left_z=0.0054 left_yaw=-0.0107 left_pitch=-0.1165 left_roll=0.0842 left_gripper=0.9993 right_x=0.2772 right_y=0.0013 right_z=0.1525 right_yaw=0.0004 right_pitch=-0.1243 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -9.1556, 7.1316, 1.5897, -0.0415, 0.0611, -0.0904, -0.1983, -1.1692, 6.9128, 1.7705, -0.0317, -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\": 0.468, \"left_y\": -0.152, \"left_z\": 0.005, \"left_gripper\": 1}, \"note\": \"The block is nearly centered between the finger tips in the wrist camera; I'll advance the final couple of centimeters so the jaws straddle it.\"}",
"name": "move_to"
},
"id": "toolu_016LNApzbFgrgJnP6qBWSKfw",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_016LNApzbFgrgJnP6qBWSKfw"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4633, 2.0228, 0.9672, 0.2951, -0.3901, -0.2749, 0.9993, -0.0212, 0.8116, 0.6075, -0.5465, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4588 left_y=-0.1501 left_z=0.0051 left_yaw=-0.0016 left_pitch=-0.1191 left_roll=0.0715 left_gripper=0.9993 right_x=0.2709 right_y=0.0014 right_z=0.1445 right_yaw=0.0005 right_pitch=-0.1663 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.7863, 6.9538, 1.4725, -0.1343, 0.0562, -0.0855, -0.0615, -1.3197, 6.8718, 1.79, -0.0366, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cc65546c726441d3a3370837067accba437fa4857e6a29e0c7ea3860d5b85764"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2c47927affe77d103c77cf800e286ff9a95424b86ad1e39b074d425afb2418ab"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ae8b7c14f6612340b682cf0b4002064d768e4dce5c407071073f3cc134e012f"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 6.106 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]: [-0.4606, 1.9839, 0.9035, 0.321, -0.3908, -0.2668, 0.9993, -0.0212, 0.8097, 0.6075, -0.5243, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4469 left_y=-0.1426 left_z=0.0054 left_yaw=-0.0027 left_pitch=-0.1182 left_roll=0.0777 left_gripper=0.9993 right_x=0.2746 right_y=0.0013 right_z=0.149 right_yaw=0.0004 right_pitch=-0.1423 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.6632, -8.0068, 6.8034, 1.4237, -0.2271, 0.1343, -0.0904, -0.1846, -1.2923, 7.0496, 1.7558, -0.0611, -0.0757, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_gripper\": 0.35}, \"note\": \"The block now sits between the open jaws at the bottom of the wrist view; I'll close the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01QMgixnQwFM4KpmnAs7bipX",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01QMgixnQwFM4KpmnAs7bipX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4633, 2.0399, 0.976, 0.3126, -0.3904, -0.2832, 0.4576, -0.0212, 0.812, 0.6075, -0.5686, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4623 left_y=-0.1518 left_z=0.0032 left_yaw=0.0028 left_pitch=-0.1105 left_roll=0.0611 left_gripper=0.4576 right_x=0.2672 right_y=0.0014 right_z=0.1404 right_yaw=0.0003 right_pitch=-0.1888 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.5077, 4.4786, 1.3651, -0.2027, 0.0171, 0.8816, -0.1846, -1.2239, 6.8718, 1.7363, -0.0366, -0.0024, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e9c45ad4edde8391e6c37ee56359778a15a98a34d08bafdc5c617f709d0203ae"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d08cce592fad85bc18e26af0dae0b78e5e50b6b6e6220b1f56cbb41e116227e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:df3d3da3e8ac2a0129860efde32c515af0bc02279831a3c3179224991956b8eb"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 17.5 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]: [-0.4633, 2.0228, 0.9672, 0.2951, -0.3901, -0.2749, 0.9993, -0.0212, 0.8116, 0.6075, -0.5465, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4588 left_y=-0.1501 left_z=0.0051 left_yaw=-0.0016 left_pitch=-0.1191 left_roll=0.0715 left_gripper=0.9993 right_x=0.2709 right_y=0.0014 right_z=0.1445 right_yaw=0.0005 right_pitch=-0.1663 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.7863, 6.9538, 1.4725, -0.1343, 0.0562, -0.0855, -0.0615, -1.3197, 6.8718, 1.79, -0.0366, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_z\": 0.15, \"left_gripper\": 0.35}, \"note\": \"The gripper closed on the block (stopped at 0.46 with rising effort). I'll lift straight up to confirm the grasp.\"}",
"name": "move_to"
},
"id": "toolu_01N46sx63Ymh5rHZKGvLA5Ke",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01N46sx63Ymh5rHZKGvLA5Ke"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.4633, 1.7924, 1.2072, -0.2184, -0.3897, -0.2939, 0.4538, -0.0212, 0.8127, 0.6075, -0.5987, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4588 left_y=-0.1502 left_z=0.1163 left_yaw=0.0113 left_pitch=-0.1569 left_roll=0.0763 left_gripper=0.4538 right_x=0.2619 right_y=0.0016 right_z=0.135 right_yaw=0.0007 right_pitch=-0.2197 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.3009, 9.5248, 1.6532, -0.1832, 0.0855, 1.0281, -0.0752, -1.1419, 6.9675, 1.7753, -0.0317, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:168ed52ede64b556be2441f6fed0639d696990f2c0a36372113877e9f13cc7f3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0e80ed2f3459f47e193f3248e9c8f3357cc8a8b48ef11479c82413b84c1cacff"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e29a25e03908bd67274749bc20af8cd03809c69f892bfe69a47b36000292a48d"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 19.06 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]: [-0.4633, 2.0399, 0.976, 0.3126, -0.3904, -0.2832, 0.4576, -0.0212, 0.812, 0.6075, -0.5686, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4623 left_y=-0.1518 left_z=0.0032 left_yaw=0.0028 left_pitch=-0.1105 left_roll=0.0611 left_gripper=0.4576 right_x=0.2672 right_y=0.0014 right_z=0.1404 right_yaw=0.0003 right_pitch=-0.1888 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.5077, 4.4786, 1.3651, -0.2027, 0.0171, 0.8816, -0.1846, -1.2239, 6.8718, 1.7363, -0.0366, -0.0024, -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\": 0.25, \"left_gripper\": 0.35}, \"note\": \"The block is lifted and held in the left gripper. The top camera shows the white bowl to the left of the block's original spot; I'll move up and over toward the bowl area and check alignment from the top view.\"}",
"name": "move_to"
},
"id": "toolu_01KpzoRQAf6YvqrGnbSYUrmq",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01KpzoRQAf6YvqrGnbSYUrmq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.1184, 1.6028, 1.4288, -0.6315, -0.1635, -0.0788, 0.4538, -0.0212, 0.8158, 0.6075, -0.6201, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4502 left_y=-0.021 left_z=0.2165 left_yaw=0.0506 left_pitch=-0.2201 left_roll=0.078 left_gripper=0.4538 right_x=0.2581 right_y=0.0017 right_z=0.1307 right_yaw=0.0009 right_pitch=-0.2441 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -10.5368, 9.7709, 1.7509, 0.0806, 0.2125, 1.033, -0.0342, -1.4017, 6.7897, 1.663, -0.0659, -0.022, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7669d474083807d774a4ba11020e18b8d448ae93b0d073f5c9c7b561deacd2b1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:987389eeb662fb0a34c05bab6b91175a6ac55e6e5f61db0692588b5d3058b0e5"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c93c23c6d78f266a84230c87a8d2ef8a6da1a4e4541c8fd4bea3094f7ec1aa8"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 16.47 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]: [-0.4633, 1.7924, 1.2072, -0.2184, -0.3897, -0.2939, 0.4538, -0.0212, 0.8127, 0.6075, -0.5987, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4588 left_y=-0.1502 left_z=0.1163 left_yaw=0.0113 left_pitch=-0.1569 left_roll=0.0763 left_gripper=0.4538 right_x=0.2619 right_y=0.0016 right_z=0.135 right_yaw=0.0007 right_pitch=-0.2197 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.3009, 9.5248, 1.6532, -0.1832, 0.0855, 1.0281, -0.0752, -1.1419, 6.9675, 1.7753, -0.0317, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.4, \"left_y\": -0.06, \"left_z\": 0.2, \"left_gripper\": 0.35}, \"note\": \"The bowl is visible in the top camera at upper-center but the gripper is out of frame; I'll move the block toward my estimate of the bowl position and re-check the top view for alignment.\"}",
"name": "move_to"
},
"id": "toolu_01R2vjCdeRojHFdWCZjHuVQN",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01R2vjCdeRojHFdWCZjHuVQN"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.2684, 1.4998, 1.2251, -0.6373, -0.2226, -0.1585, 0.4538, -0.0212, 0.8173, 0.6075, -0.6357, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3987 left_y=-0.0655 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.3104 left_roll=0.0921 left_gripper=0.4538 right_x=0.2553 right_y=0.0017 right_z=0.1277 right_yaw=0.0006 right_pitch=-0.2613 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.7453, -9.7299, 8.1709, 1.8388, -0.4469, -0.0611, 1.0281, -0.1983, -1.0872, 6.8991, 1.58, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:88be4acd6f3a7252a29fb43258e50fde14766443768223561ae8e19af938daad"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13d6bd31bce9d200ddbe8e0abdc237c70f9b7bba3e62feb9365ddb32512695c7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 68):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fe185ab5511dc7430c6583e11ff3ad28cf67fc8683535ffa71746cc4f1b98485"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 45.86 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]: [-0.1184, 1.6028, 1.4288, -0.6315, -0.1635, -0.0788, 0.4538, -0.0212, 0.8158, 0.6075, -0.6201, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4502 left_y=-0.021 left_z=0.2165 left_yaw=0.0506 left_pitch=-0.2201 left_roll=0.078 left_gripper=0.4538 right_x=0.2581 right_y=0.0017 right_z=0.1307 right_yaw=0.0009 right_pitch=-0.2441 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -10.5368, 9.7709, 1.7509, 0.0806, 0.2125, 1.033, -0.0342, -1.4017, 6.7897, 1.663, -0.0659, -0.022, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.46, \"left_y\": 0.0, \"left_z\": 0.2, \"left_gripper\": 0.35}, \"note\": \"The gripper appeared as a dark shape at the top-left of the top camera while the bowl sits center-frame; moving x/y down made it drift left, so I'll move forward and toward y=0 to bring the block over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01FXjVhytMgRZ9QhPFwQRykr",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01FXjVhytMgRZ9QhPFwQRykr"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.0555, 1.6798, 1.4647, -0.725, -0.1101, -0.0261, 0.4538, -0.0212, 0.8204, 0.6075, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4464 left_y=-0.0018 left_z=0.1825 left_yaw=0.0426 left_pitch=-0.3616 left_roll=0.09 left_gripper=0.4538 right_x=0.2513 right_y=0.0018 right_z=0.1235 right_yaw=0.0011 right_pitch=-0.286 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.253, 8.8684, 1.4335, 0.105, 0.2173, 1.0281, -0.0342, -1.388, 6.8718, 1.6923, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 74):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b85ff4604eb6df83d5a3ce423a71636cffd9b8cde3a5bb52ec086f824a1a3021"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 74):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:db5e407498699860aab06f04ff82c236b4892b8dc7ea0eb6cf9d94bdfcd6e6bf"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 74):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8b4fe77d24eed7a83f2a3634bebefa581c4b2fa62c22f4d1560bf01b0c787bd"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 22.34 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]: [-0.2684, 1.4998, 1.2251, -0.6373, -0.2226, -0.1585, 0.4538, -0.0212, 0.8173, 0.6075, -0.6357, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3987 left_y=-0.0655 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.3104 left_roll=0.0921 left_gripper=0.4538 right_x=0.2553 right_y=0.0017 right_z=0.1277 right_yaw=0.0006 right_pitch=-0.2613 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.7453, -9.7299, 8.1709, 1.8388, -0.4469, -0.0611, 1.0281, -0.1983, -1.0872, 6.8991, 1.58, -0.0366, -0.0611, -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\": 0.45, \"left_y\": -0.25, \"left_z\": 0.25, \"left_gripper\": 0.35}, \"note\": \"I can't reliably tell where the gripper is relative to the bowl in the top camera, so I'm making a deliberate large sideways move (y to -0.25) to see which way the gripper travels in the top view and calibrate direction to the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01CgZ3T3Yk8j49MgRtowR94A",
"type": "function"
}
]
}{
"content": "executing move_to over 23 steps (2.3s)",
"role": "tool",
"tool_call_id": "toolu_01CgZ3T3Yk8j49MgRtowR94A"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.6495, 2.2688, 2.5881, -1.3945, -0.4076, -0.5476, 0.4538, -0.0212, 0.823, 0.6075, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4538 left_y=-0.2521 left_z=0.244 left_yaw=0.0224 left_pitch=-0.3681 left_roll=0.0653 left_gripper=0.4538 right_x=0.2477 right_y=0.0018 right_z=0.12 right_yaw=0.0009 right_pitch=-0.3074 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -12.3282, 7.0085, 0.6374, -0.4615, 0.0904, 1.0281, -0.0342, -1.3607, 6.8034, 1.5458, -0.022, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:624850153238302e659ffde770ccdcacb53f38d453a75a994abd84c86abcd528"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:111f480162abfb83a05cc84a00bf1d76190d51c50f8dcf17937cc693cc1fe2e0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:af9fc023ce8f481de5b5bb4f084c5cac2978820755c3192632a0ea2e355cd6ab"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 15.42 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]: [-0.0555, 1.6798, 1.4647, -0.725, -0.1101, -0.0261, 0.4538, -0.0212, 0.8204, 0.6075, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4464 left_y=-0.0018 left_z=0.1825 left_yaw=0.0426 left_pitch=-0.3616 left_roll=0.09 left_gripper=0.4538 right_x=0.2513 right_y=0.0018 right_z=0.1235 right_yaw=0.0011 right_pitch=-0.286 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -8.253, 8.8684, 1.4335, 0.105, 0.2173, 1.0281, -0.0342, -1.388, 6.8718, 1.6923, -0.022, -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\": 0.48, \"left_y\": -0.33, \"left_z\": 0.22, \"left_gripper\": 0.35}, \"note\": \"The wrist camera now shows the bowl just to the right of the held block, so the bowl is at slightly larger x and more negative y; I'll shift right and forward to hover above it.\"}",
"name": "move_to"
},
"id": "toolu_01Q1TQPMU9ziN6WN91aGoC8b",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01Q1TQPMU9ziN6WN91aGoC8b"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7307, 2.4691, 2.7613, -1.4338, -0.4248, -0.6239, 0.4538, -0.0212, 0.8249, 0.6075, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4531 left_y=-0.3035 left_z=0.1946 left_yaw=0.0158 left_pitch=-0.4053 left_roll=0.0773 left_gripper=0.4538 right_x=0.247 right_y=0.0018 right_z=0.1189 right_yaw=0.001 right_pitch=-0.3131 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -12.3966, 7.9795, 1.2039, -0.4274, 0.0171, 1.033, -0.1846, -1.306, 6.7214, 1.4579, -0.0122, -0.0659, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5077727b5d72474144471d233d409c72a3cf51603f73daef77b4e07177456c07"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0308f266a2d09fd3932dbdcf87997d61d3a03aa7fffc244dd28b643e5c57ba2e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8268b885a4b18101c9bbdc60c385c4049f9fd7f145feb517d3f9c8959fb69311"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 11.97 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]: [-0.6495, 2.2688, 2.5881, -1.3945, -0.4076, -0.5476, 0.4538, -0.0212, 0.823, 0.6075, -0.6762, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4538 left_y=-0.2521 left_z=0.244 left_yaw=0.0224 left_pitch=-0.3681 left_roll=0.0653 left_gripper=0.4538 right_x=0.2477 right_y=0.0018 right_z=0.12 right_yaw=0.0009 right_pitch=-0.3074 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -12.3282, 7.0085, 0.6374, -0.4615, 0.0904, 1.0281, -0.0342, -1.3607, 6.8034, 1.5458, -0.022, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.5, \"left_y\": -0.34, \"left_z\": 0.19, \"left_gripper\": 0.35}, \"note\": \"The wrist camera still shows the bowl slightly right of and beyond the held block; the last move fell short, so I'll push a bit farther forward and right to center over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01YMWNKh1mcQQsAQELDf4BTj",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01YMWNKh1mcQQsAQELDf4BTj"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.725, 2.5034, 2.7911, -1.4139, -0.4232, -0.6334, 0.4537, -0.0212, 0.8249, 0.6075, -0.6834, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4616 left_y=-0.3073 left_z=0.1878 left_yaw=0.0217 left_pitch=-0.3946 left_roll=0.0591 left_gripper=0.4537 right_x=0.2463 right_y=0.0019 right_z=0.1184 right_yaw=0.0013 right_pitch=-0.3165 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -15.1316, 6.694, 1.4042, -0.2759, 0.1538, 1.033, -0.1983, -1.1419, 6.7077, 1.3944, -0.0513, -0.0611, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:df09c22eba3aa465f935a305796a1c84af88008e9c48afce41f65b59593e940d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:249636c20aa04b6223cdf1213308a69c5d4fb9e2932e5e0d81efa6e44d3df4bc"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bdfca1d803516e91a3b384c43fe9c98ef832174a16fc42a7af2e1c7f7bb22b1f"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 27.72 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]: [-0.7307, 2.4691, 2.7613, -1.4338, -0.4248, -0.6239, 0.4538, -0.0212, 0.8249, 0.6075, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4531 left_y=-0.3035 left_z=0.1946 left_yaw=0.0158 left_pitch=-0.4053 left_roll=0.0773 left_gripper=0.4538 right_x=0.247 right_y=0.0018 right_z=0.1189 right_yaw=0.001 right_pitch=-0.3131 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -12.3966, 7.9795, 1.2039, -0.4274, 0.0171, 1.033, -0.1846, -1.306, 6.7214, 1.4579, -0.0122, -0.0659, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.35, \"left_z\": 0.18, \"left_gripper\": 0.35}, \"note\": \"The controller is sagging and only moved ~1cm; the bowl rim shows just beyond and right of the block in the wrist view, so I'll overshoot the target further forward-right to drive the block over the bowl.\"}",
"name": "move_to"
},
"id": "toolu_01Yazwu8tB3UC6LWHVUsG4ER",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01Yazwu8tB3UC6LWHVUsG4ER"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7261, 2.5034, 2.7907, -1.4139, -0.4164, -0.6331, 0.4537, -0.0212, 0.8249, 0.6075, -0.7013, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4607 left_y=-0.3087 left_z=0.1872 left_yaw=0.0155 left_pitch=-0.3991 left_roll=0.0547 left_gripper=0.4537 right_x=0.2428 right_y=0.002 right_z=0.1157 right_yaw=0.0015 right_pitch=-0.3345 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -15.0222, 6.6393, 1.4286, -0.3541, 0.1148, 1.033, -0.0342, -1.1419, 6.8171, 1.5165, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9ae855a205fd495b14864cde62c34d81b64ffb85b7cbab5852b22e0b33700209"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:432398bd4afedd981c92ad14b14c635f05f3676f526a98456cef3b460d75573b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fed7486f5266fa7f9b1de2f356953bc2e407c27a667e1e30a31b94f76c179240"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 5.832 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 53 changed as sent
message 53 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.725, 2.5034, 2.7911, -1.4139, -0.4232, -0.6334, 0.4537, -0.0212, 0.8249, 0.6075, -0.6834, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4616 left_y=-0.3073 left_z=0.1878 left_yaw=0.0217 left_pitch=-0.3946 left_roll=0.0591 left_gripper=0.4537 right_x=0.2463 right_y=0.0019 right_z=0.1184 right_yaw=0.0013 right_pitch=-0.3165 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -15.1316, 6.694, 1.4042, -0.2759, 0.1538, 1.033, -0.1983, -1.1419, 6.7077, 1.3944, -0.0513, -0.0611, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"left_x\": 0.53, \"left_y\": -0.36, \"left_z\": 0.16, \"left_gripper\": 1}, \"note\": \"The wrist camera shows the bowl rim directly behind and around the held block, so the block is at the bowl's near edge; I'll nudge forward-right over the bowl while opening the gripper to release the block inside.\"}",
"name": "move_to"
},
"id": "toolu_01HLezwDD6DK4PjcuGvW4xWz",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01HLezwDD6DK4PjcuGvW4xWz"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the red block from the table and place it inside the bowl.\nstate[joint_pos]: [-0.7116, 2.6751, 2.9005, -1.3693, -0.408, -0.6243, 0.9449, -0.0212, 0.828, 0.6075, -0.7216, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4853 left_y=-0.3212 left_z=0.1327 left_yaw=0.0239 left_pitch=-0.4172 left_roll=0.0665 left_gripper=0.9449 right_x=0.2388 right_y=0.002 right_z=0.112 right_yaw=0.0013 right_pitch=-0.3577 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -15.5556, 6.4615, 1.2088, -0.2759, 0.105, 0.0415, -0.212, -1.3607, 6.6667, 1.5507, -0.0317, -0.0464, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c0c6c6013b27ec240be7bcb633d4a0c42878d605c0a3ed0d539fefba232e117"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5bdb416a4c556f75585d3847f833a944437d85f4de50535df08534e054b5600c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bc98f718949f659f9236dbdeb094d89d2bc706a5190ecc3746d48f62eeb5e116"
},
"type": "image_url"
}
],
"role": "user"
}