======================================================================== Fable 5.1 / Close / Episode 000 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 0, "source_episode_index": 3, "house_index": 13, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 20, "api_calls": 21, "wall_seconds": 218.60138940811157, "usage": { "input_tokens": 44, "cache_creation_input_tokens": 20593, "cache_read_input_tokens": 214176, "output_tokens": 9218 }, "estimated_cost_usd": 0.7722965 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTfmMwMYkybT1XkNbiT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018ht7yKMcgpSzV33SzDZWgu", "name": "move_to", "input": { "targets": { "z": 0.92, "gripper": 0 }, "note": "Drawer appears open in front of the gripper; lowering and closing gripper to prepare pushing the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 388, "output_tokens_details": { "thinking_tokens": 268 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTgQ4ZvvPkqNjCtSRPv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KBFoZSTuNHVD4G1eTBqX75", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 880, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 880, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 413 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTh5BHEGVw3zbRvHkhR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018xAraFUYEugKTtRjYuLP4U", "name": "move_to", "input": { "targets": { "x": 0.2, "z": 1.0, "pitch": 0.0 }, "note": "Gripper seems to be resting on top of drawer front; retract toward robot and raise slightly to get behind the drawer front panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 2658, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 330, "output_tokens_details": { "thinking_tokens": 195 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezThdnb6i5m7EhybY9EC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017Cu49M2K7PxeQYZSMk1VqQ", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Gripper is now behind the drawer front panel (visible in wrist cam). Lower fingers to panel height before pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 820, "cache_read_input_tokens": 3529, "cache_creation": { "ephemeral_5m_input_tokens": 820, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 314, "output_tokens_details": { "thinking_tokens": 197 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTiBdkicoXh7ZT8qf7N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GMhnMuCvd8x4DuShMYDjE7", "name": "move_to", "input": { "targets": { "x": 0.1, "z": 1.0, "pitch": 0.0 }, "note": "Descent blocked again at z≈0.96, so drawer front/handle is still under the fingers. Retract further toward the robot base to clear the panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 804, "cache_read_input_tokens": 4349, "cache_creation": { "ephemeral_5m_input_tokens": 804, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 360, "output_tokens_details": { "thinking_tokens": 219 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTipx5iYv2dGL19Xv8D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Wu3e4erC3F5QcSqFRNmmoa", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Wrist cam shows drawer front panel and handle ahead of the fingers; lower the gripper to panel/handle height so I can push forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 5153, "cache_creation": { "ephemeral_5m_input_tokens": 854, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 269, "output_tokens_details": { "thinking_tokens": 148 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTjj598mz1Pt3TqhzUx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NUwxHD2YFxQ8deQBfDnhgc", "name": "move_to", "input": { "targets": { "x": 0.15, "z": 1.05, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "The drawer front is very close to the robot base and the vertical gripper keeps landing on top of it. Reorient the gripper to point forward so the fingertips can push the panel from a higher wrist position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 759, "cache_read_input_tokens": 6007, "cache_creation": { "ephemeral_5m_input_tokens": 759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1054, "output_tokens_details": { "thinking_tokens": 883 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTm5VFEdSTRd9Zvx3wv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K5Qq1GeyXY34tsAsvCPK8X", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.1, "pitch": -1.0, "roll": 0, "yaw": 0 }, "note": "Previous pose unreachable; first lift and tilt gripper forward at a more reachable position, then approach the panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1544, "cache_read_input_tokens": 6766, "cache_creation": { "ephemeral_5m_input_tokens": 1544, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 177, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTmWqFB7UwrTVtfJdkP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Upgps9tp49cJsq4E4Y8nFA", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "pitch": -1.3 }, "note": "Wrist cam now shows the drawer front panel with handle ahead of the fingertips. Tilt further forward and lower to handle height in preparation for pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 8310, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 514, "output_tokens_details": { "thinking_tokens": 369 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTnFXXHiWWUNxzg38BD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F1m7x65fnWV5WmbnqkmuZ4", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 0.95 }, "note": "Pitch -1.3 unreachable; keep pitch -1.0 and lower to around handle height while staying just behind the panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1002, "cache_read_input_tokens": 8975, "cache_creation": { "ephemeral_5m_input_tokens": 1002, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 143, "output_tokens_details": { "thinking_tokens": 20 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTnayZJM1XTpCURsn87", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QhorovsGEBtgrbUvEaCrw5", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 1.0 }, "note": "Low poses near base are unreachable; instead advance forward and slightly down at current tilt so fingertips approach the drawer front panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 9977, "cache_creation": { "ephemeral_5m_input_tokens": 631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 446, "output_tokens_details": { "thinking_tokens": 320 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezToVcNaUM9ymcNAKity", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012SmKnVuZ3L3PWGevCm7a7C", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.08, "pitch": 0.0 }, "note": "Front panel is too close to the base to reach from behind. New plan: insert vertical gripper into the open drawer and push its rear wall forward. Move above the drawer interior first." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 935, "cache_read_input_tokens": 10608, "cache_creation": { "ephemeral_5m_input_tokens": 935, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1013, "output_tokens_details": { "thinking_tokens": 864 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTpsKNJqLYGtNkQqmaA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AtXrEuHrstUjeoMtST4xg5", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 1.15, "pitch": 0.0 }, "note": "Motion stalled with the gripper touching a wooden surface; lift higher and go further forward to clear the drawer and view it from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1508, "cache_read_input_tokens": 11543, "cache_creation": { "ephemeral_5m_input_tokens": 1508, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 470, "output_tokens_details": { "thinking_tokens": 335 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTr333r6588Di22XnSM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NBJENvwaLVn9giEdzsuyMQ", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Wrist cam shows clear grey surface below at x≈0.49; lower here to probe whether we are inside/beyond the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 961, "cache_read_input_tokens": 13051, "cache_creation": { "ephemeral_5m_input_tokens": 961, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 917, "output_tokens_details": { "thinking_tokens": 798 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTsGFKMo7LP3WUnpvi1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Nmm2YdAqJoXoCXyL8ikuo3", "name": "move_to", "input": { "targets": { "x": 0.12, "z": 1.0, "pitch": 0.0 }, "note": "Counter appears at z≈1.1; the drawer front/handle is near x≈0.2 with top around z≈1.05. Return to the pose behind the panel (x≈0.12, z≈1.0) seen earlier, then push forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1413, "cache_read_input_tokens": 14012, "cache_creation": { "ephemeral_5m_input_tokens": 1413, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 878, "output_tokens_details": { "thinking_tokens": 708 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTtSLKt5gTWh6QbKSk8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UaedgYwS1NKUt1QFxdNACe", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.99 }, "note": "Drawer front panel with handle is directly ahead of the closed fingertips. Push forward (+x) to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1368, "cache_read_input_tokens": 15425, "cache_creation": { "ephemeral_5m_input_tokens": 1368, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 281, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTuP4e8PE9v17tUKgmb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JfjZdTkzjHBB3MzPA16xfa", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.97, "pitch": 0.0 }, "note": "Fingertips are pressing the panel but the wrist tilted back instead of the drawer moving. Straighten the gripper and push again slightly lower to engage the panel face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 16793, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 438, "output_tokens_details": { "thinking_tokens": 290 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTv5QY2Q7RXxxU6DCKz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016d2Dsb6LsAcvdCNoiyxM9D", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.99, "pitch": 0.0 }, "note": "Gripper advanced slightly against the panel; continue pushing forward to close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 933, "cache_read_input_tokens": 17569, "cache_creation": { "ephemeral_5m_input_tokens": 933, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 87 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTvZNHyRDHMZsfS1HYa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0118SPTA6RTDXwUwrxYJn35o", "name": "move_to", "input": { "targets": { "x": 0.12, "z": 0.97, "pitch": 0.0 }, "note": "Pushing only tilts the wrist; retract behind the panel and slightly lower to re-engage the panel face below its top edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 18502, "cache_creation": { "ephemeral_5m_input_tokens": 702, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 272, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTw7PsigXiShoN9RRpu", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D73uKMQ4ujY6EGgyEXVxUS", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.97, "roll": 0.0, "yaw": 0.0 }, "note": "Behind the panel again at lower height; push forward firmly to slide the drawer shut." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 763, "cache_read_input_tokens": 19204, "cache_creation": { "ephemeral_5m_input_tokens": 763, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTwW4tWrmLoxaupodak", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013vquYSdzb9aFHwKnETqRjm", "name": "give_up", "input": { "note": "The drawer front sits very close to the robot base (x≈0.25) and every push attempt stalled with the wrist tilting instead of the drawer sliding; simulated time is nearly exhausted, so the drawer could not be closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 626, "cache_read_input_tokens": 19967, "cache_creation": { "ephemeral_5m_input_tokens": 626, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 179, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00726, -0.77314, -0.00301, -2.28983, 0.06219, 1.47417, -0.04663 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.294, 0.01798, 1.03498 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99756, 0.05502, -0.04294 ], [ 0.05769, -0.9963, 0.06374 ], [ -0.03927, -0.06606, -0.99704 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.207056727260351, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "gripper": 0 }, "note": "Drawer appears open in front of the gripper; lowering and closing gripper to prepare pushing the drawer front." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00941, -0.83429, 0.00396, -2.56245, 0.07353, 1.85861, -0.06229 ], "gripper_open": 0.0006, "tcp_xyz": [ 0.33469, 0.0208, 0.9599 ], "tcp_roll_pitch_yaw": [ 0.00594, -0.17301, -0.00435 ], "tcp_rotation_matrix": [ [ 0.98961, 0.06225, 0.12958 ], [ 0.05362, -0.99617, 0.0691 ], [ 0.13338, -0.06143, -0.98916 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 56 }, "api_seconds": 16.21343770995736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 1.0, "pitch": 0.0 }, "note": "Gripper seems to be resting on top of drawer front; retract toward robot and raise slightly to get behind the drawer front panel." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00968, -1.10257, -0.0016, -2.53399, 0.06997, 1.39161, -0.03221 ], "gripper_open": 0.0, "tcp_xyz": [ 0.2013, 0.0208, 0.99967 ], "tcp_roll_pitch_yaw": [ 0.00596, -0.0019, -0.00436 ], "tcp_rotation_matrix": [ [ 0.99788, 0.05081, -0.04074 ], [ 0.05358, -0.99612, 0.06985 ], [ -0.03703, -0.07189, -0.99673 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 55 }, "api_seconds": 7.005940662696958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Gripper is now behind the drawer front panel (visible in wrist cam). Lower fingers to panel height before pushing forward." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00854, -1.20412, 0.00272, -2.70649, 0.07565, 1.59281, -0.04609 ], "gripper_open": 0.0006, "tcp_xyz": [ 0.2231, 0.02189, 0.95958 ], "tcp_roll_pitch_yaw": [ 0.01057, -0.13254, -0.00415 ], "tcp_rotation_matrix": [ [ 0.99415, 0.06053, 0.08941 ], [ 0.05398, -0.9958, 0.0739 ], [ 0.09351, -0.06864, -0.99325 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 54 }, "api_seconds": 8.20664563961327, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.1, "z": 1.0, "pitch": 0.0 }, "note": "Descent blocked again at z≈0.96, so drawer front/handle is still under the fingers. Retract further toward the robot base to clear the panel." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01056, -1.41473, -0.00429, -2.61085, 0.0778, 1.24898, -0.0126 ], "gripper_open": 0.0, "tcp_xyz": [ 0.12904, 0.02237, 1.00481 ], "tcp_roll_pitch_yaw": [ 0.01536, -0.09338, -0.01154 ], "tcp_rotation_matrix": [ [ 0.9974, 0.05087, 0.05102 ], [ 0.04678, -0.99582, 0.07846 ], [ 0.0548, -0.07587, -0.99561 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 53 }, "api_seconds": 11.608911396935582, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Wrist cam shows drawer front panel and handle ahead of the fingers; lower the gripper to panel/handle height so I can push forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00611, -1.68181, -0.00094, -2.98212, 0.08045, 1.83339, -0.02528 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.23341, 0.0199, 0.9619 ], "tcp_roll_pitch_yaw": [ 0.04754, -0.5718, -0.05848 ], "tcp_rotation_matrix": [ [ 0.86063, 0.04943, 0.50683 ], [ 0.00921, -0.99663, 0.08156 ], [ 0.50915, -0.06553, -0.85818 ] ], "simulated_seconds_remaining": 24.42, "calls_remaining_including_this": 52 }, "api_seconds": 18.216990619897842, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 1.05, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "The drawer front is very close to the robot base and the vertical gripper keeps landing on top of it. Reorient the gripper to point forward so the fingertips can push the panel from a higher wrist position." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00611, -1.68181, -0.00094, -2.98212, 0.08045, 1.83339, -0.02528 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.23341, 0.0199, 0.9619 ], "tcp_roll_pitch_yaw": [ 0.04754, -0.5718, -0.05848 ], "tcp_rotation_matrix": [ [ 0.86063, 0.04943, 0.50683 ], [ 0.00921, -0.99663, 0.08156 ], [ 0.50915, -0.06553, -0.85818 ] ], "simulated_seconds_remaining": 24.42, "calls_remaining_including_this": 51 }, "api_seconds": 5.405572282150388, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.1, "pitch": -1.0, "roll": 0, "yaw": 0 }, "note": "Previous pose unreachable; first lift and tilt gripper forward at a more reachable position, then approach the panel." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.022, -1.55494, 0.01567, -2.86668, 0.0713, 2.26591, -0.07753 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29957, 0.0199, 1.09906 ], "tcp_roll_pitch_yaw": [ 0.00058, -0.99705, -0.00064 ], "tcp_rotation_matrix": [ [ 0.57445, 0.08519, 0.8141 ], [ 0.05735, -0.99631, 0.0638 ], [ 0.81653, 0.01004, -0.57722 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 50 }, "api_seconds": 9.808548087254167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "pitch": -1.3 }, "note": "Wrist cam now shows the drawer front panel with handle ahead of the fingertips. Tilt further forward and lower to handle height in preparation for pushing." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.022, -1.55494, 0.01567, -2.86668, 0.0713, 2.26591, -0.07753 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29957, 0.0199, 1.09906 ], "tcp_roll_pitch_yaw": [ 0.00058, -0.99705, -0.00064 ], "tcp_rotation_matrix": [ [ 0.57445, 0.08519, 0.8141 ], [ 0.05735, -0.99631, 0.0638 ], [ 0.81653, 0.01004, -0.57722 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 49 }, "api_seconds": 4.403743259608746, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.95 }, "note": "Pitch -1.3 unreachable; keep pitch -1.0 and lower to around handle height while staying just behind the panel." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.022, -1.55494, 0.01567, -2.86668, 0.0713, 2.26591, -0.07753 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29957, 0.0199, 1.09906 ], "tcp_roll_pitch_yaw": [ 0.00058, -0.99705, -0.00064 ], "tcp_rotation_matrix": [ [ 0.57445, 0.08519, 0.8141 ], [ 0.05735, -0.99631, 0.0638 ], [ 0.81653, 0.01004, -0.57722 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 48 }, "api_seconds": 11.809476274065673, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 1.0 }, "note": "Low poses near base are unreachable; instead advance forward and slightly down at current tilt so fingertips approach the drawer front panel." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03834, -1.3399, 0.00727, -2.99077, 0.0868, 2.60148, -0.10788 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36447, 0.0206, 1.03667 ], "tcp_roll_pitch_yaw": [ 0.00308, -0.99406, 0.00762 ], "tcp_rotation_matrix": [ [ 0.57627, 0.09553, 0.81165 ], [ 0.06221, -0.99539, 0.07299 ], [ 0.81489, 0.00843, -0.57956 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 47 }, "api_seconds": 17.81359289214015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.08, "pitch": 0.0 }, "note": "Front panel is too close to the base to reach from behind. New plan: insert vertical gripper into the open drawer and push its rear wall forward. Move above the drawer interior first." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02428, -0.2762, -0.01541, -1.79068, 0.06256, 1.02434, -0.04982 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32606, 0.01927, 1.0715 ], "tcp_roll_pitch_yaw": [ 0.00733, 0.4463, 0.03908 ], "tcp_rotation_matrix": [ [ 0.88014, 0.05686, -0.47129 ], [ 0.09244, -0.99432, 0.05267 ], [ -0.46562, -0.08992, -0.8804 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 46 }, "api_seconds": 15.21231990866363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1.15, "pitch": 0.0 }, "note": "Motion stalled with the gripper touching a wooden surface; lift higher and go further forward to clear the drawer and view it from above." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02136, -0.01886, -0.02322, -1.31029, 0.07265, 1.21924, -0.07574 ], "gripper_open": 0.0007, "tcp_xyz": [ 0.49145, 0.01905, 1.14866 ], "tcp_roll_pitch_yaw": [ 0.00793, 0.02762, 0.04085 ], "tcp_rotation_matrix": [ [ 0.99291, 0.09357, -0.07331 ], [ 0.09863, -0.99275, 0.0687 ], [ -0.06635, -0.07545, -0.99494 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 45 }, "api_seconds": 15.815795509144664, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Wrist cam shows clear grey surface below at x≈0.49; lower here to probe whether we are inside/beyond the drawer." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0228, -0.48866, -0.0189, -1.97166, 0.06771, 1.86333, -0.10555 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.47864, 0.0162, 1.1366 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.42582, 0.03286 ], "tcp_rotation_matrix": [ [ 0.92233, 0.1098, 0.37049 ], [ 0.08801, -0.99327, 0.07527 ], [ 0.37626, -0.03681, -0.92578 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 44 }, "api_seconds": 14.61423651035875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "z": 1.0, "pitch": 0.0 }, "note": "Counter appears at z≈1.1; the drawer front/handle is near x≈0.2 with top around z≈1.05. Return to the pose behind the panel (x≈0.12, z≈1.0) seen earlier, then push forward." } } } ] } } ] }, "execution": { "steps": 43, "motion_seconds": 2.838, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0102, -1.35306, -0.00848, -2.5901, 0.058, 1.20761, -0.0611 ], "gripper_open": 0.0, "tcp_xyz": [ 0.12503, 0.01632, 1.00165 ], "tcp_roll_pitch_yaw": [ -0.00059, -0.01451, 0.03249 ], "tcp_rotation_matrix": [ [ 0.99563, 0.0883, -0.03051 ], [ 0.09006, -0.99399, 0.06219 ], [ -0.02483, -0.06466, -0.9976 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 43 }, "api_seconds": 11.609728580340743, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.99 }, "note": "Drawer front panel with handle is directly ahead of the closed fingertips. Push forward (+x) to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 42, "motion_seconds": 2.7720000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01554, -0.27816, -0.01895, -1.89687, 0.05821, 0.85768, -0.09496 ], "gripper_open": 0.0, "tcp_xyz": [ 0.26317, 0.01344, 1.0536 ], "tcp_roll_pitch_yaw": [ 0.05626, 0.71231, 0.10222 ], "tcp_rotation_matrix": [ [ 0.72158, 0.06324, -0.68944 ], [ 0.13414, -0.98972, 0.04961 ], [ -0.67921, -0.12828, -0.72265 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 42 }, "api_seconds": 8.607145242393017, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.97, "pitch": 0.0 }, "note": "Fingertips are pressing the panel but the wrist tilted back instead of the drawer moving. Straighten the gripper and push again slightly lower to engage the panel face." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01122, -0.45979, -0.0415, -2.0778, 0.10254, 1.1797, -0.20332 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29034, 0.01865, 1.02435 ], "tcp_roll_pitch_yaw": [ 0.13203, 0.36889, 0.1769 ], "tcp_rotation_matrix": [ [ 0.89384, 0.15299, -0.42149 ], [ 0.22314, -0.9671, 0.12217 ], [ -0.38893, -0.20325, -0.89857 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 41 }, "api_seconds": 5.804785466752946, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.99, "pitch": 0.0 }, "note": "Gripper advanced slightly against the panel; continue pushing forward to close the drawer." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.009, -0.243, -0.07596, -1.85395, 0.15557, 0.80451, -0.30194 ], "gripper_open": 0.0, "tcp_xyz": [ 0.26483, 0.01884, 1.06525 ], "tcp_roll_pitch_yaw": [ 0.38564, 0.66645, 0.39934 ], "tcp_rotation_matrix": [ [ 0.68752, 0.14079, -0.71239 ], [ 0.36419, -0.91558, 0.17053 ], [ -0.62824, -0.37669, -0.68075 ] ], "simulated_seconds_remaining": 7.986, "calls_remaining_including_this": 40 }, "api_seconds": 6.805885752663016, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "z": 0.97, "pitch": 0.0 }, "note": "Pushing only tilts the wrist; retract behind the panel and slightly lower to re-engage the panel face below its top edge." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.08704, -1.22166, -0.20916, -2.64614, 0.18325, 1.20217, -0.54591 ], "gripper_open": 0.0189, "tcp_xyz": [ 0.13153, 0.01856, 0.97376 ], "tcp_roll_pitch_yaw": [ 0.3717, -0.03241, 0.38437 ], "tcp_rotation_matrix": [ [ 0.89926, 0.40277, -0.17063 ], [ 0.43711, -0.81253, 0.38567 ], [ 0.01669, -0.4214, -0.90672 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 39 }, "api_seconds": 4.20372411981225, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.97, "roll": 0.0, "yaw": 0.0 }, "note": "Behind the panel again at lower height; push forward firmly to slide the drawer shut." } } } ] } } ] }, "execution": { "steps": 42, "motion_seconds": 2.7720000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.10849, -0.34108, 0.09495, -1.97372, -0.02679, 0.91475, -0.07906 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25444, -0.00775, 1.04166 ], "tcp_roll_pitch_yaw": [ -0.11854, 0.67656, -0.03348 ], "tcp_rotation_matrix": [ [ 0.75049, 0.04218, -0.65954 ], [ 0.02753, -0.99909, -0.03256 ], [ -0.66031, 0.00628, -0.75096 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 38 }, "api_seconds": 5.404635824263096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "The drawer front sits very close to the robot base (x≈0.25) and every push attempt stalled with the wrist tilting instead of the drawer sliding; simulated time is nearly exhausted, so the drawer could not be closed." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 001 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 1, "source_episode_index": 37, "house_index": 14, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 12, "api_calls": 12, "wall_seconds": 134.55281019210815, "usage": { "input_tokens": 26, "cache_creation_input_tokens": 13480, "cache_read_input_tokens": 78252, "output_tokens": 6498 }, "estimated_cost_usd": 0.513223 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTfjCDzeeMjQuL4zaj8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AcBp98y7aPuPc2FzxbhEQD", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.3, "z": 0.8 }, "note": "Cabinet appears to the left with an open door; moving arm left/forward to get a better view of the door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 330, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTgHuyJoiaxFUX9s3fd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018M6UVJPcehrB9f3jBt8NfL", "name": "move_to", "input": { "targets": { "roll": 1.3, "z": 0.85 }, "note": "Wrist camera looks down at the table; rotating to look left (+y) toward the cabinet to locate the open door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 824, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 711, "output_tokens_details": { "thinking_tokens": 590 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezThES9UrUg9XyMDWHLL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W885EacaRWNVEFHg5GmyUL", "name": "move_to", "input": { "targets": { "y": 0.5, "x": 0.35 }, "note": "Wrist camera shows the cabinet to the left with a door swung open toward the robot; moving closer to inspect the door edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1205, "cache_read_input_tokens": 2602, "cache_creation": { "ephemeral_5m_input_tokens": 1205, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 383, "output_tokens_details": { "thinking_tokens": 259 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezThrCxPuTkXHj1WHpqr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019HDwqyDxF4HYpH7Je8V8aR", "name": "move_to", "input": { "targets": { "y": 0.7, "x": 0.3, "z": 0.7 }, "note": "Cabinet still appears distant in wrist view; moving further left and lower toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 3807, "cache_creation": { "ephemeral_5m_input_tokens": 878, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 369, "output_tokens_details": { "thinking_tokens": 251 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTiWChtwfxPpymH9dZi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QJ6gDKmwhXPjCJEqebjh49", "name": "move_to", "input": { "targets": { "y": 0.85, "x": 0.2, "z": 0.6 }, "note": "Cabinet still looks far in wrist view; testing by moving further +y to see if it grows." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 4685, "cache_creation": { "ephemeral_5m_input_tokens": 860, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1564, "output_tokens_details": { "thinking_tokens": 1443 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTkNf6TBUzYXbw3dyA7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X6DWQYAihycnQdYhUFWHMe", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.3, "z": 0.7, "roll": 0.0, "pitch": -1.3 }, "note": "The cabinet in wrist view is a far background object. Exterior camera seems to look along -y, so the open-door cabinet is forward (+x). Reorienting the wrist camera to look forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2060, "cache_read_input_tokens": 5545, "cache_creation": { "ephemeral_5m_input_tokens": 2060, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 657, "output_tokens_details": { "thinking_tokens": 485 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTmPYSatKrV98z2yTvq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012MYDv8q263Ej5q7zrZ37qJ", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.2, "z": 0.75, "roll": 0.0 }, "note": "IK failed on combined move; first return toward center with roll reset, then pitch to look forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 7605, "cache_creation": { "ephemeral_5m_input_tokens": 1148, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 148, "output_tokens_details": { "thinking_tokens": 21 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTmomyAywh3yWWqPUc8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017peQ3ZmV3Zp4qvKnCycEjU", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.35, "z": 0.7, "pitch": -0.7 }, "note": "A dark box (likely the small cabinet) is visible at upper-left of wrist view (+x,+y). Tilting camera forward and moving toward it to see its door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 644, "cache_read_input_tokens": 8753, "cache_creation": { "ephemeral_5m_input_tokens": 644, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 588, "output_tokens_details": { "thinking_tokens": 434 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTng2ugt9Q6CX4Rcih9", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014ehXTKr2ZYb6ywVn13XQB3", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.35, "z": 0.7, "pitch": -0.35 }, "note": "Large joint jump; using a smaller pitch change while moving toward the dark box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1077, "cache_read_input_tokens": 9397, "cache_creation": { "ephemeral_5m_input_tokens": 1077, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 126, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTo3G7MVVQPTBjotNWV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EQavQ6Vrea9WAZWVEYsFZf", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.3, "z": 0.8, "pitch": -0.75 }, "note": "Dark box is out of view above; pitching camera further forward and raising to spot it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 622, "cache_read_input_tokens": 10474, "cache_creation": { "ephemeral_5m_input_tokens": 622, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 924, "output_tokens_details": { "thinking_tokens": 797 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTpRHCo97N41qcn7uWu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018YpipZZDAvDd8G1i42gPGy", "name": "move_to", "input": { "targets": { "x": 0.7, "y": 0.15, "z": 0.6 }, "note": "Cabinet with open wooden door appears far forward (+x) in exterior view; moving forward to check whether it's within reach." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1414, "cache_read_input_tokens": 11096, "cache_creation": { "ephemeral_5m_input_tokens": 1414, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 478, "output_tokens_details": { "thinking_tokens": 347 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTqDfVgiDh4NTFYdJZJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Nx6Jo8LpdwteMEP9bwno29", "name": "give_up", "input": { "note": "After exploring, the only cabinet with an open door (wooden door, white body) appears well beyond the arm's reach in the +x direction; moving the gripper to x=0.7 barely changed its apparent position in the exterior view. With under 10 s of simulated motion remaining and no reachable door found, the closing task cannot be completed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 12510, "cache_creation": { "ephemeral_5m_input_tokens": 970, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 220, "output_tokens_details": { "thinking_tokens": 69 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.00817, -0.74627, -0.04804, -2.45303, 0.06503, 1.503, -0.11364 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27127, 0.00859, 0.95728 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9769, 0.07544, -0.19993 ], [ 0.09735, -0.99, 0.10211 ], [ -0.19023, -0.11921, -0.97447 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.606205882504582, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.3, "z": 0.8 }, "note": "Cabinet appears to the left with an open door; moving arm left/forward to get a better view of the door." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.20733, 0.00012, 0.35258, -2.20473, 0.22204, 2.0764, 0.35178 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39945, 0.29888, 0.80056 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00015, 0.00014 ], "tcp_rotation_matrix": [ [ 0.97686, 0.07557, -0.2001 ], [ 0.09748, -0.99, 0.10201 ], [ -0.19039, -0.11915, -0.97445 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 56 }, "api_seconds": 11.812572839669883, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.3, "z": 0.85 }, "note": "Wrist camera looks down at the table; rotating to look left (+y) toward the cabinet to locate the open door." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05386, 0.074, 0.06388, -2.42852, 1.35352, 1.65728, -0.97353 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39068, 0.29561, 0.843 ], "tcp_roll_pitch_yaw": [ 1.26819, -0.00263, 0.0371 ], "tcp_rotation_matrix": [ [ 0.96832, 0.08469, -0.23492 ], [ 0.24668, -0.17821, 0.95257 ], [ 0.03881, -0.98034, -0.19346 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 55 }, "api_seconds": 7.806932610459626, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.5, "x": 0.35 }, "note": "Wrist camera shows the cabinet to the left with a door swung open toward the robot; moving closer to inspect the door edge." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.31485, 0.16721, 0.30577, -2.31335, 1.71769, 1.9932, -0.94572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35014, 0.49879, 0.84302 ], "tcp_roll_pitch_yaw": [ 1.26825, -0.00265, 0.03743 ], "tcp_rotation_matrix": [ [ 0.96824, 0.08476, -0.23523 ], [ 0.247, -0.17813, 0.9525 ], [ 0.03883, -0.98035, -0.19341 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 54 }, "api_seconds": 8.407461013644934, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.7, "x": 0.3, "z": 0.7 }, "note": "Cabinet still appears distant in wrist view; moving further left and lower toward it." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.62191, 0.76326, 0.39422, -1.81162, 1.95556, 2.30326, -1.17944 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3001, 0.69896, 0.70071 ], "tcp_roll_pitch_yaw": [ 1.26823, -0.00246, 0.03765 ], "tcp_rotation_matrix": [ [ 0.96819, 0.08462, -0.23548 ], [ 0.24722, -0.17814, 0.95244 ], [ 0.03865, -0.98036, -0.19339 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 53 }, "api_seconds": 25.02107429690659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.85, "x": 0.2, "z": 0.6 }, "note": "Cabinet still looks far in wrist view; testing by moving further +y to see if it grows." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.96698, 1.23601, 0.39787, -1.19851, 2.05605, 2.50773, -1.21202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2004, 0.84901, 0.60055 ], "tcp_roll_pitch_yaw": [ 1.26812, -0.00224, 0.03795 ], "tcp_rotation_matrix": [ [ 0.96812, 0.08446, -0.2358 ], [ 0.24751, -0.17822, 0.95235 ], [ 0.03841, -0.98036, -0.19345 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 52 }, "api_seconds": 13.611934413202107, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.3, "z": 0.7, "roll": 0.0, "pitch": -1.3 }, "note": "The cabinet in wrist view is a far background object. Exterior camera seems to look along -y, so the open-door cabinet is forward (+x). Reorienting the wrist camera to look forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.96698, 1.23601, 0.39787, -1.19851, 2.05605, 2.50773, -1.21202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2004, 0.84901, 0.60055 ], "tcp_roll_pitch_yaw": [ 1.26812, -0.00224, 0.03795 ], "tcp_rotation_matrix": [ [ 0.96812, 0.08446, -0.2358 ], [ 0.24751, -0.17822, 0.95235 ], [ 0.03841, -0.98036, -0.19345 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 51 }, "api_seconds": 4.407799609936774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.2, "z": 0.75, "roll": 0.0 }, "note": "IK failed on combined move; first return toward center with roll reset, then pitch to look forward." } } } ] } } ] }, "execution": { "steps": 73, "motion_seconds": 4.8180000000000005, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.41683, -0.17288, 0.02079, -2.54592, 0.22263, 2.21668, 0.16304 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34983, 0.201, 0.74979 ], "tcp_roll_pitch_yaw": [ 0.00212, -0.00231, 0.03778 ], "tcp_rotation_matrix": [ [ 0.97295, 0.11305, -0.20147 ], [ 0.1346, -0.98618, 0.09663 ], [ -0.18777, -0.12114, -0.97472 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 50 }, "api_seconds": 11.409232836216688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.35, "z": 0.7, "pitch": -0.7 }, "note": "A dark box (likely the small cabinet) is visible at upper-left of wrist view (+x,+y). Tilting camera forward and moving toward it to see its door." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.41683, -0.17288, 0.02079, -2.54592, 0.22263, 2.21668, 0.16304 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34983, 0.201, 0.74979 ], "tcp_roll_pitch_yaw": [ 0.00212, -0.00231, 0.03778 ], "tcp_rotation_matrix": [ [ 0.97295, 0.11305, -0.20147 ], [ 0.1346, -0.98618, 0.09663 ], [ -0.18777, -0.12114, -0.97472 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 49 }, "api_seconds": 4.60409374628216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.35, "z": 0.7, "pitch": -0.35 }, "note": "Large joint jump; using a smaller pitch change while moving toward the dark box." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.55928, 0.11388, 0.15545, -2.44624, -0.06673, 2.73631, 0.62713 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39963, 0.34906, 0.70024 ], "tcp_roll_pitch_yaw": [ 0.00185, -0.34766, 0.03805 ], "tcp_rotation_matrix": [ [ 0.97878, 0.14974, 0.13991 ], [ 0.13503, -0.98479, 0.10931 ], [ 0.15415, -0.0881, -0.98411 ] ], "simulated_seconds_remaining": 13.794, "calls_remaining_including_this": 48 }, "api_seconds": 18.614305895753205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.3, "z": 0.8, "pitch": -0.75 }, "note": "Dark box is out of view above; pitching camera further forward and raising to spot it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.428, -0.26503, 0.20578, -2.70057, -0.69959, 2.90031, 1.11984 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40005, 0.30039, 0.79935 ], "tcp_roll_pitch_yaw": [ 0.00209, -0.74703, 0.0378 ], "tcp_rotation_matrix": [ [ 0.84158, 0.17506, 0.51097 ], [ 0.12964, -0.98383, 0.12354 ], [ 0.52434, -0.03772, -0.85067 ] ], "simulated_seconds_remaining": 12.738, "calls_remaining_including_this": 47 }, "api_seconds": 10.007377298548818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": 0.15, "z": 0.6 }, "note": "Cabinet with open wooden door appears far forward (+x) in exterior view; moving forward to check whether it's within reach." } } } ] } } ] }, "execution": { "steps": 44, "motion_seconds": 2.904, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.0679, 0.76459, 0.15459, -1.84434, -1.23148, 3.15162, 1.08332 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.69893, 0.15039, 0.60059 ], "tcp_roll_pitch_yaw": [ 0.00199, -0.74687, 0.03761 ], "tcp_rotation_matrix": [ [ 0.84169, 0.1748, 0.51088 ], [ 0.12947, -0.98388, 0.12334 ], [ 0.5242, -0.03767, -0.85076 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 46 }, "api_seconds": 6.2055757734924555, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "After exploring, the only cabinet with an open door (wooden door, white body) appears well beyond the arm's reach in the +x direction; moving the gripper to x=0.7 barely changed its apparent position in the exterior view. With under 10 s of simulated motion remaining and no reachable door found, the closing task cannot be completed." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 002 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 2, "source_episode_index": 41, "house_index": 15, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 4, "api_calls": 5, "wall_seconds": 48.76769256591797, "usage": { "input_tokens": 12, "cache_creation_input_tokens": 5188, "cache_read_input_tokens": 11224, "output_tokens": 1945 }, "estimated_cost_usd": 0.165026 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTsFHXNGd7pQnK8Vtsz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WTEmy4QaFpXCkKTqU22yzg", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 106, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTsdyHSNCnkvFzEncYG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YC2riUw3TAz2rs8WfoQkXs", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.95 }, "note": "Drawer appears open ahead in the cabinet; moving forward and lower to get a better view of it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 538, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 538, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 301, "output_tokens_details": { "thinking_tokens": 178 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTtD2sLyzrwmRCKq63E", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017YjSfWLQgSZ9PPjV32jVNn", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 0.8 }, "note": "Drawer edge visible on left of wrist view; lowering and shifting left to look at drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 2315, "cache_creation": { "ephemeral_5m_input_tokens": 790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 432, "output_tokens_details": { "thinking_tokens": 309 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTuA7XdCXaXtqmRqWcr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PmemBfJnXxx5raaV8aaokp", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.75 }, "note": "Seems to have contacted drawer top; backing off toward robot and lowering to inspect the drawer front from behind." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 922, "cache_read_input_tokens": 3105, "cache_creation": { "ephemeral_5m_input_tokens": 922, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 668, "output_tokens_details": { "thinking_tokens": 540 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTvCCZhjocpMRs3tA6M", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GUk1vGdUdo5STquGL8RPfw", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.15, "z": 0.75 }, "note": "Drawer visible at lower-left of wrist view; shifting right to learn the camera mapping and find drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1161, "cache_read_input_tokens": 4027, "cache_creation": { "ephemeral_5m_input_tokens": 1161, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 438, "output_tokens_details": { "thinking_tokens": 310 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00738, -0.80955, -0.06861, -2.27167, 0.10293, 1.48808, -0.08932 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29629, 0.00862, 1.057 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99769, 0.06074, 0.03026 ], [ 0.05553, -0.98704, 0.15054 ], [ 0.03901, -0.14851, -0.98814 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.210172276943922, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.95 }, "note": "Drawer appears open ahead in the cabinet; moving forward and lower to get a better view of it." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03196, -0.21654, -0.09447, -2.0774, 0.13905, 1.88003, -0.1602 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49879, 6e-05, 0.95052 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00026, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9977, 0.06071, 0.03 ], [ 0.05554, -0.98704, 0.15055 ], [ 0.03875, -0.14853, -0.98815 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 56 }, "api_seconds": 12.010131428949535, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 0.8 }, "note": "Drawer edge visible on left of wrist view; lowering and shifting left to look at drawer front." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.11943, -0.11855, 0.0146, -2.32084, 0.19507, 2.36417, -0.0401 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.52625, 0.09425, 0.8346 ], "tcp_roll_pitch_yaw": [ 0.00865, -0.12039, -0.0223 ], "tcp_rotation_matrix": [ [ 0.98672, 0.05716, 0.15207 ], [ 0.03319, -0.98724, 0.15573 ], [ 0.15903, -0.14861, -0.97602 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 55 }, "api_seconds": 13.214166671037674, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.75 }, "note": "Seems to have contacted drawer top; backing off toward robot and lowering to inspect the drawer front from behind." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0292, -0.541, -0.11156, -2.94702, 0.195, 2.54252, -0.27013 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35108, 0.00056, 0.75052 ], "tcp_roll_pitch_yaw": [ 0.00867, -0.1203, -0.0224 ], "tcp_rotation_matrix": [ [ 0.98673, 0.05705, 0.15199 ], [ 0.0331, -0.98724, 0.15573 ], [ 0.15893, -0.14864, -0.97604 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 54 }, "api_seconds": 8.807217985391617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.15, "z": 0.75 }, "note": "Drawer visible at lower-left of wrist view; shifting right to learn the camera mapping and find drawer front." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 003 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 3, "source_episode_index": 55, "house_index": 16, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 4, "api_calls": 4, "wall_seconds": 52.57869529724121, "usage": { "input_tokens": 10, "cache_creation_input_tokens": 5265, "cache_read_input_tokens": 8370, "output_tokens": 2399 }, "estimated_cost_usd": 0.187955 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTxZMrCrDD7WHUSZtSi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q86TVhAq7tvdmw98ukiYYe", "name": "move_to", "input": { "targets": { "x": 0.33, "y": -0.03, "z": 0.98, "gripper": 0 }, "note": "Drawer appears open below/in front of gripper; closing gripper and lowering to get a better view of drawer front and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 599, "output_tokens_details": { "thinking_tokens": 461 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTyXx3pyq3ErRzKVpm9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011QRVMuoFdn4ZScT7beAy1H", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.03, "z": 0.9 }, "note": "Still unclear where drawer front is; moving forward and lower to view the drawer from closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1093, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 1093, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 355, "output_tokens_details": { "thinking_tokens": 235 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTzSDHtRnQKwKFnPEDd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018jwgdrxR3xwWhhXE5jXJnK", "name": "move_to", "input": { "targets": { "x": 0.18, "y": -0.03, "z": 0.9 }, "note": "Drawer seems pulled out toward the robot (-x). Retreating to lower x at handle height to get in front of the drawer face before pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 2872, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1056, "output_tokens_details": { "thinking_tokens": 917 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU1qhSvfHkK1gSyGkx9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LXGB49mfTXLaVp5kDxdSGz", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.03, "z": 0.86 }, "note": "Gripper is now in front of the drawer face at about handle height; pushing forward in +x to close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1546, "cache_read_input_tokens": 3719, "cache_creation": { "ephemeral_5m_input_tokens": 1546, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 389, "output_tokens_details": { "thinking_tokens": 263 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.0054, -0.82822, 0.01086, -2.25976, -0.11362, 1.48988, 0.13989 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29476, -0.0286, 1.06798 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98657, -0.15286, 0.05761 ], [ -0.1451, -0.98201, -0.12082 ], [ 0.07505, 0.11084, -0.991 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.0110954772681, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": -0.03, "z": 0.98, "gripper": 0 }, "note": "Drawer appears open below/in front of gripper; closing gripper and lowering to get a better view of drawer front and handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00486, -0.7819, 0.00321, -2.46037, -0.12045, 1.73614, 0.16417 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.32958, -0.03001, 0.98144 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.00045, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98653, -0.15292, 0.05806 ], [ -0.1451, -0.982, -0.12091 ], [ 0.07551, 0.11086, -0.99096 ] ], "simulated_seconds_remaining": 29.106, "calls_remaining_including_this": 56 }, "api_seconds": 11.812092831358314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.03, "z": 0.9 }, "note": "Still unclear where drawer front is; moving forward and lower to view the drawer from closer." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.01372, -0.54555, -0.00406, -2.48329, -0.13637, 2.06002, 0.19707 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.41401, -0.03295, 0.91746 ], "tcp_roll_pitch_yaw": [ 0.00119, -0.06641, -0.00336 ], "tcp_rotation_matrix": [ [ 0.97893, -0.1631, 0.12285 ], [ -0.14848, -0.9816, -0.12006 ], [ 0.14018, 0.09929, -0.98514 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 55 }, "api_seconds": 18.41574983485043, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.18, "y": -0.03, "z": 0.9 }, "note": "Drawer seems pulled out toward the robot (-x). Retreating to lower x at handle height to get in front of the drawer face before pushing forward." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0019, -1.4978, 0.00451, -2.9454, -0.11618, 1.57159, 0.15298 ], "gripper_open": 0.0, "tcp_xyz": [ 0.1814, -0.03002, 0.90018 ], "tcp_roll_pitch_yaw": [ 0.00118, -0.06667, -0.00333 ], "tcp_rotation_matrix": [ [ 0.9789, -0.1631, 0.12312 ], [ -0.14845, -0.9816, -0.12007 ], [ 0.14044, 0.09926, -0.9851 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 54 }, "api_seconds": 8.20740807056427, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.03, "z": 0.86 }, "note": "Gripper is now in front of the drawer face at about handle height; pushing forward in +x to close the drawer." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 004 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 4, "source_episode_index": 78, "house_index": 17, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 14, "api_calls": 15, "wall_seconds": 168.01115798950195, "usage": { "input_tokens": 32, "cache_creation_input_tokens": 15923, "cache_read_input_tokens": 108836, "output_tokens": 7483 }, "estimated_cost_usd": 0.6007165 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTyamiMSuJKccNei7pw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CS8EpSK3FhfqL694wSnMRV", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "gripper": 0 }, "note": "Drawer appears open below the gripper in the wrist view; closing the gripper and moving down/forward to get a better view and prepare to push the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1781, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 418, "output_tokens_details": { "thinking_tokens": 278 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTzETcYDPQGW6joPvE8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YPvBt1k4kcroAgfzc581Yf", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 912, "cache_read_input_tokens": 1781, "cache_creation": { "ephemeral_5m_input_tokens": 912, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 70, "output_tokens_details": { "thinking_tokens": 46 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezTzVqKkabzL1jEzvtCm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DwDGURh7SawXEHyMvhjcFh", "name": "move_to", "input": { "targets": { "x": 0.18, "z": 1.04 }, "note": "Gripper seems blocked on top of the open drawer; the drawer front/handle is closer to the robot. Retreating backward to clear the drawer front before descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 506, "cache_read_input_tokens": 2693, "cache_creation": { "ephemeral_5m_input_tokens": 506, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 342, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU13Y4jH3AKcy6GY2F6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AfKofQPn6MBkyzSYogvEha", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Now behind the drawer front; descending so the closed gripper is at the height of the drawer face/handle to push it forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 3199, "cache_creation": { "ephemeral_5m_input_tokens": 839, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 125, "output_tokens_details": { "thinking_tokens": 14 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU1Vfvtvm9gZyJyKusz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LxCdBqzRedLXkg6fiEhCtX", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 1.0, "pitch": 0.0 }, "note": "Descent failed and orientation drifted; trying a smaller descent step while restoring pitch to see if lower z is reachable." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 616, "cache_read_input_tokens": 4038, "cache_creation": { "ephemeral_5m_input_tokens": 616, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 590, "output_tokens_details": { "thinking_tokens": 457 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU2MkTqhfmDwURHFa5w", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016xU8zcX2i3P6XEbURYezY7", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.3, "z": 0.98, "pitch": 0.0 }, "note": "z is consistently blocked at 1.043 regardless of x, suggesting the gripper rests on the drawer top. The handle in the wrist view appears to the left, so shifting left (+y) to test whether descent is possible beside the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1080, "cache_read_input_tokens": 4654, "cache_creation": { "ephemeral_5m_input_tokens": 1080, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 740, "output_tokens_details": { "thinking_tokens": 562 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU3Uv6yKtwycxVtkBZi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F9QsQn2aYW2XaHJxxiS2R2", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descent works beside the drawer; the drawer with handle is to the right (-y). Going lower to view the drawer front from the side and find its x position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1231, "cache_read_input_tokens": 5734, "cache_creation": { "ephemeral_5m_input_tokens": 1231, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 581, "output_tokens_details": { "thinking_tokens": 460 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU4MUeKCUhez8PVN4EX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WuNkpA26KVFS33WYdvDtEL", "name": "move_to", "input": { "targets": { "y": 0.2, "z": 0.96 }, "note": "The drawer front appears to face +y (handle runs along x on the drawer's left face). Moving toward -y at drawer-front height to contact the front and push it closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1077, "cache_read_input_tokens": 6965, "cache_creation": { "ephemeral_5m_input_tokens": 1077, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 664, "output_tokens_details": { "thinking_tokens": 529 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU5HfykBYB2T9tUzXhe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015zwQ8qvPhd28oNmPyhg2Bw", "name": "move_to", "input": { "targets": { "y": 0.12 }, "note": "No contact yet at y=0.2; drawer still appears to the right in wrist view. Continuing toward -y to find the drawer surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1155, "cache_read_input_tokens": 8042, "cache_creation": { "ephemeral_5m_input_tokens": 1155, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 779, "output_tokens_details": { "thinking_tokens": 660 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU6MQVJwUMPC11qNu1w", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015wjNr1fqTbHknsFiiTnUJQ", "name": "move_to", "input": { "targets": { "y": 0.03 }, "note": "Still no contact; earlier descent was blocked at y≈0.04, so testing whether the drawer top is really there by moving to y=0.03 at z=0.96." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1275, "cache_read_input_tokens": 9197, "cache_creation": { "ephemeral_5m_input_tokens": 1275, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 546, "output_tokens_details": { "thinking_tokens": 418 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU7ERKwu6Bupjxg74UT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DAeJWCP6X6tYpJQqpuvtQX", "name": "move_to", "input": { "targets": { "y": -0.08 }, "note": "Earlier z-block was kinematic, not contact. The drawer with handle is still to the right (-y) in the wrist view; moving further -y to approach it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1037, "cache_read_input_tokens": 10472, "cache_creation": { "ephemeral_5m_input_tokens": 1037, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 140 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU7kueEUmLxzVJkrvtQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BcmhEh3d8QuFoeQq4GzMw8", "name": "move_to", "input": { "targets": { "pitch": 0.5, "z": 1.0 }, "note": "Perspective is confusing; tilting the gripper to look more downward/nearby to locate the drawer relative to the gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 11509, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 584, "output_tokens_details": { "thinking_tokens": 459 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU8j6mx1KfjsrrZh2Zn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M3YkMoYP68grUxo16JxJZX", "name": "move_to", "input": { "targets": { "pitch": -0.6, "y": 0.0, "z": 1.02 }, "note": "Camera looks along gripper +z (down); pitching positive showed the robot base behind. Pitching negative to look forward (+x) toward the cabinet to see the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1076, "cache_read_input_tokens": 12266, "cache_creation": { "ephemeral_5m_input_tokens": 1076, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1112, "output_tokens_details": { "thinking_tokens": 962 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUAF1ddrDLdNcG5cY7j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HxM3KefPc1HP5CeWhNqaXo", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.25, "z": 0.95, "pitch": 0.0 }, "note": "Open drawer appears to protrude on the right (-y) side ahead of the gripper. Positioning the closed gripper in front of the drawer face at y≈-0.25 to push it in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1602, "cache_read_input_tokens": 13342, "cache_creation": { "ephemeral_5m_input_tokens": 1602, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 482, "output_tokens_details": { "thinking_tokens": 319 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUB59a7Rajb9sFZci5V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L9SsYMXVak6bHzCY8y4npx", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Wooden surface ahead; pushing forward in +x at drawer height to close the drawer if the gripper is in front of its face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 979, "cache_read_input_tokens": 14944, "cache_creation": { "ephemeral_5m_input_tokens": 979, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 185, "output_tokens_details": { "thinking_tokens": 69 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00446, -0.78227, 0.05574, -2.25669, 0.0996, 1.45174, 0.13164 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29075, 0.04256, 1.05038 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99587, -0.08696, -0.02599 ], [ -0.08532, -0.99462, 0.05871 ], [ -0.03096, -0.05625, -0.99794 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.410907438024879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "gripper": 0 }, "note": "Drawer appears open below the gripper in the wrist view; closing the gripper and moving down/forward to get a better view and prepare to push the drawer front." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.01209, -0.81793, 0.06398, -2.36621, 0.09778, 1.75894, 0.10958 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34769, 0.04061, 1.04213 ], "tcp_roll_pitch_yaw": [ -0.00145, -0.23405, -0.00155 ], "tcp_rotation_matrix": [ [ 0.97574, -0.07341, 0.20627 ], [ -0.08687, -0.99459, 0.05695 ], [ 0.20097, -0.07349, -0.97684 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 56 }, "api_seconds": 10.40917075239122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.18, "z": 1.04 }, "note": "Gripper seems blocked on top of the open drawer; the drawer front/handle is closer to the robot. Retreating backward to clear the drawer front before descending." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01505, -1.34002, 0.05506, -2.54686, 0.10448, 1.42685, 0.14148 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.18227, 0.0404, 1.04252 ], "tcp_roll_pitch_yaw": [ -0.00125, -0.24245, -0.0022 ], "tcp_rotation_matrix": [ [ 0.97396, -0.07339, 0.2145 ], [ -0.0875, -0.99453, 0.05699 ], [ 0.20914, -0.07428, -0.97506 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 55 }, "api_seconds": 5.404959965497255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Now behind the drawer front; descending so the closed gripper is at the height of the drawer face/handle to push it forward." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03159, -1.55608, 0.07868, -2.88645, 0.12986, 2.09641, 0.13643 ], "gripper_open": 0.0006, "tcp_xyz": [ 0.28199, 0.04322, 1.04311 ], "tcp_roll_pitch_yaw": [ 0.05683, -0.78581, -0.05402 ], "tcp_rotation_matrix": [ [ 0.72362, -0.03524, 0.68929 ], [ -0.12267, -0.98936, 0.0782 ], [ 0.67921, -0.14114, -0.72025 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 54 }, "api_seconds": 11.211834389716387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 1.0, "pitch": 0.0 }, "note": "Descent failed and orientation drifted; trying a smaller descent step while restoring pitch to see if lower z is reachable." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02606, -1.06952, 0.01326, -2.5167, 0.13168, 1.741, 0.18623 ], "gripper_open": 0.0004, "tcp_xyz": [ 0.29203, 0.04295, 1.04283 ], "tcp_roll_pitch_yaw": [ 0.09564, -0.3045, -0.09378 ], "tcp_rotation_matrix": [ [ 0.94984, -0.12974, 0.28456 ], [ -0.17167, -0.97685, 0.12765 ], [ 0.26141, -0.1701, -0.95012 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 53 }, "api_seconds": 14.223308636806905, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.3, "z": 0.98, "pitch": 0.0 }, "note": "z is consistently blocked at 1.043 regardless of x, suggesting the gripper rests on the drawer top. The handle in the wrist view appears to the left, so shifting left (+y) to test whether descent is possible beside the drawer." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.14276, -0.72909, 0.48445, -2.35344, 0.46226, 1.7408, 0.63987 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25021, 0.29873, 0.98028 ], "tcp_roll_pitch_yaw": [ 0.09555, -0.0015, -0.09367 ], "tcp_rotation_matrix": [ [ 0.9839, -0.17845, -0.01003 ], [ -0.17476, -0.97229, 0.15527 ], [ -0.03746, -0.15102, -0.98782 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 52 }, "api_seconds": 11.211574499495327, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descent works beside the drawer; the drawer with handle is to the right (-y). Going lower to view the drawer front from the side and find its x position." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.16119, -0.71872, 0.54695, -2.53838, 0.5205, 1.93499, 0.60389 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25017, 0.29871, 0.90117 ], "tcp_roll_pitch_yaw": [ 0.0954, -0.00128, -0.09365 ], "tcp_rotation_matrix": [ [ 0.98389, -0.17847, -0.01026 ], [ -0.17475, -0.97231, 0.15515 ], [ -0.03767, -0.15085, -0.98784 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 51 }, "api_seconds": 12.21091035567224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "z": 0.96 }, "note": "The drawer front appears to face +y (handle runs along x on the drawer's left face). Moving toward -y at drawer-front height to contact the front and push it closed." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.12808, -0.8897, 0.31204, -2.5369, 0.39511, 1.70437, 0.46539 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25023, 0.20115, 0.95937 ], "tcp_roll_pitch_yaw": [ 0.09553, -0.00141, -0.09376 ], "tcp_rotation_matrix": [ [ 0.98388, -0.17855, -0.01011 ], [ -0.17485, -0.97228, 0.15526 ], [ -0.03755, -0.15099, -0.98782 ] ], "simulated_seconds_remaining": 21.186, "calls_remaining_including_this": 50 }, "api_seconds": 14.216127616353333, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "No contact yet at y=0.2; drawer still appears to the right in wrist view. Continuing toward -y to find the drawer surface." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.07821, -0.97348, 0.15552, -2.59837, 0.28467, 1.6439, 0.32704 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25025, 0.12124, 0.95939 ], "tcp_roll_pitch_yaw": [ 0.0956, -0.00142, -0.0939 ], "tcp_rotation_matrix": [ [ 0.98385, -0.17869, -0.01007 ], [ -0.17499, -0.97224, 0.15533 ], [ -0.03755, -0.15106, -0.98781 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 49 }, "api_seconds": 11.409641463309526, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Still no contact; earlier descent was blocked at y≈0.04, so testing whether the drawer top is really there by moving to y=0.03 at z=0.96." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00039, -1.00302, -0.0234, -2.61422, 0.13627, 1.59904, 0.16218 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25027, 0.0313, 0.95941 ], "tcp_roll_pitch_yaw": [ 0.09572, -0.00144, -0.09398 ], "tcp_rotation_matrix": [ [ 0.98384, -0.17876, -0.01002 ], [ -0.17506, -0.97221, 0.15545 ], [ -0.03753, -0.15118, -0.98779 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 48 }, "api_seconds": 6.60606484580785, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08 }, "note": "Earlier z-block was kinematic, not contact. The drawer with handle is still to the right (-y) in the wrist view; moving further -y to approach it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.08595, -0.93922, -0.23815, -2.55743, -0.04102, 1.5869, -0.04332 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25032, -0.07857, 0.95944 ], "tcp_roll_pitch_yaw": [ 0.09637, -0.00151, -0.09413 ], "tcp_rotation_matrix": [ [ 0.98382, -0.17889, -0.00988 ], [ -0.17519, -0.97208, 0.15609 ], [ -0.03752, -0.15183, -0.98769 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 47 }, "api_seconds": 12.611269938759506, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5, "z": 1.0 }, "note": "Perspective is confusing; tilting the gripper to look more downward/nearby to locate the drawer relative to the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.03875, -0.48502, -0.23597, -2.15654, -0.01853, 1.14697, -0.00266 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25036, -0.07857, 0.9996 ], "tcp_roll_pitch_yaw": [ 0.09636, 0.49587, -0.0941 ], "tcp_rotation_matrix": [ [ 0.84586, -0.24051, -0.4761 ], [ -0.16214, -0.96627, 0.20007 ], [ -0.50816, -0.09204, -0.85633 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 46 }, "api_seconds": 19.81899238564074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6, "y": 0.0, "z": 1.02 }, "note": "Camera looks along gripper +z (down); pitching positive showed the robot base behind. Pitching negative to look forward (+x) toward the cabinet to see the open drawer." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.05715, -1.53133, -0.05737, -2.82796, 0.09207, 1.86574, 0.05438 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25031, -0.00027, 1.01992 ], "tcp_roll_pitch_yaw": [ 0.09629, -0.5957, -0.094 ], "tcp_rotation_matrix": [ [ 0.83481, -0.07938, 0.54479 ], [ -0.16101, -0.98149, 0.1037 ], [ 0.52648, -0.17429, -0.83213 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 45 }, "api_seconds": 10.209059099666774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.25, "z": 0.95, "pitch": 0.0 }, "note": "Open drawer appears to protrude on the right (-y) side ahead of the gripper. Positioning the closed gripper in front of the drawer face at y≈-0.25 to push it in +x." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.03401, -0.55368, -0.58964, -2.26086, -0.16837, 1.69352, -0.33066 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29982, -0.24901, 0.95023 ], "tcp_roll_pitch_yaw": [ 0.09638, -0.00223, -0.09403 ], "tcp_rotation_matrix": [ [ 0.98386, -0.17869, -0.00918 ], [ -0.1751, -0.97211, 0.15602 ], [ -0.0368, -0.1519, -0.98771 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 44 }, "api_seconds": 12.409561357460916, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Wooden surface ahead; pushing forward in +x at drawer height to close the drawer if the gripper is in front of its face." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 005 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 5, "source_episode_index": 98, "house_index": 18, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 18, "api_calls": 18, "wall_seconds": 211.3235912322998, "usage": { "input_tokens": 38, "cache_creation_input_tokens": 19860, "cache_read_input_tokens": 168334, "output_tokens": 10019 }, "estimated_cost_usd": 0.7916635 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU4CQwLXdC2oxJHwJSf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BQr3f8sLKvEk6rCxDx2RZE", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper points down above a wooden cabinet/drawer seen in wrist cam; lowering to get a closer view of the drawer and its front edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 524, "output_tokens_details": { "thinking_tokens": 401 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU4vSHSMTuDn4jHxyFA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YRyqUqQ1NHs5TRpydbF3wa", "name": "move_to", "input": { "targets": { "z": 1.05, "pitch": -1.2 }, "note": "Wrist view only shows wood surface directly below; tilting gripper to look forward/down to locate the drawer front and its open state." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1022, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 1022, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 311 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU5bbEZxGWJH3hScJiR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gky1gqRMz7Lo3JHthJGRTJ", "name": "move_to", "input": { "targets": { "z": 1.05, "pitch": -0.6 }, "note": "Large pitch was unreachable; trying a moderate forward tilt to see the drawer front from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 2800, "cache_creation": { "ephemeral_5m_input_tokens": 928, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 145, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU5wpuw77UK6S9enKsD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VcCCXKCe5NtrbUuBcKLpTC", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 1.15, "pitch": -0.7 }, "note": "Wrist view shows a wooden slab edge and gray surface below; pulling back and up to get a wider view of the cabinet and identify the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 3728, "cache_creation": { "ephemeral_5m_input_tokens": 636, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 443, "output_tokens_details": { "thinking_tokens": 301 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU6doisVxERSHXfePve", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N12o3Q15a7goM8r4LzcAkR", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.35, "pitch": 0.0 }, "note": "Still ambiguous; going high with gripper pointing straight down for a top-down overview of the cabinet and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 937, "cache_read_input_tokens": 4364, "cache_creation": { "ephemeral_5m_input_tokens": 937, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1041, "output_tokens_details": { "thinking_tokens": 910 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU7zYvGzR23zjK74YUb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0146H2FzRaXNq7rv44re14qh", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.2, "pitch": 0.0 }, "note": "z=1.35 out of bounds; trying z=1.2 top-down view instead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1527, "cache_read_input_tokens": 5301, "cache_creation": { "ephemeral_5m_input_tokens": 1527, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 206, "output_tokens_details": { "thinking_tokens": 86 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU8cYsTBfLT7iiBuSKu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0168KndtkV7nbKcwZ5GkXfM1", "name": "move_to", "input": { "targets": { "x": 0.12, "z": 1.0, "pitch": -0.8 }, "note": "Top view suggests the cabinet front (with a small yellow handle) faces the robot; moving back and lower, tilting forward to view the cabinet face and drawer state." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 6828, "cache_creation": { "ephemeral_5m_input_tokens": 696, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 722, "output_tokens_details": { "thinking_tokens": 575 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU9dxEB8MiC3xGDkTKr", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TrcoKZxS9W79mMgDP5QKAx", "name": "move_to", "input": { "targets": { "x": 0.2, "z": 1.05, "pitch": -0.7 }, "note": "Previous pose unreachable; trying a slightly nearer/higher pose with forward tilt to inspect the cabinet face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1212, "cache_read_input_tokens": 7524, "cache_creation": { "ephemeral_5m_input_tokens": 1212, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 133, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezU9xbABNyr47VbofZKR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WZh9mQUHXwiJXRidv44szx", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 1.15, "pitch": -0.7 }, "note": "Returning to the previously reachable tilted pose to re-examine the cabinet front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 623, "cache_read_input_tokens": 8736, "cache_creation": { "ephemeral_5m_input_tokens": 623, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 184, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUAaSBkN4QJbDpMCmnz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HyMkYZ2yeTWrzry84fX4io", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.2, "z": 1.15, "pitch": 0.0 }, "note": "Geometry still unclear; taking a top-down view offset to the right (-y) to map the cabinet extent and find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 9359, "cache_creation": { "ephemeral_5m_input_tokens": 674, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1506, "output_tokens_details": { "thinking_tokens": 1363 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUCXTtimPUDhfnDWr2A", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011ZYm2oiLJC69iedSGXQJNh", "name": "move_to", "input": { "targets": { "x": 0.33, "y": -0.4, "z": 1.0, "gripper": 0.0 }, "note": "Drawer front with yellow handle faces -y (robot's right), pulled out sideways. Closing gripper and moving to the -y side of the drawer front to prepare a push toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2001, "cache_read_input_tokens": 10033, "cache_creation": { "ephemeral_5m_input_tokens": 2001, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1026, "output_tokens_details": { "thinking_tokens": 865 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUDthNRQbShQ5dbtLcu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XbcztthZimhCcUERcnV68g", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Handle visible just below the closed gripper in wrist cam; lowering to handle height to check alignment before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1515, "cache_read_input_tokens": 12034, "cache_creation": { "ephemeral_5m_input_tokens": 1515, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 378, "output_tokens_details": { "thinking_tokens": 266 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUEUbYtXorSbKHiiAV5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019vv4nWpTMv3o6GPNJ8xUq5", "name": "move_to", "input": { "targets": { "z": 1.05, "roll": 0.7 }, "note": "View under gripper is a dark green surface; raising and rolling to look toward +y to see the drawer front face side-on and confirm its position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 867, "cache_read_input_tokens": 13549, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 439, "output_tokens_details": { "thinking_tokens": 312 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUFDymByYmo1KDryvH6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013QXczB5a8MCih5qDe52LkW", "name": "move_to", "input": { "targets": { "y": -0.62, "z": 1.0, "roll": 0.0 }, "note": "Dark green earlier was likely the open drawer interior; drawer front should be further out at y≈-0.5. Moving beyond it to y=-0.62 with gripper vertical to prepare the push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 929, "cache_read_input_tokens": 14416, "cache_creation": { "ephemeral_5m_input_tokens": 929, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 663, "output_tokens_details": { "thinking_tokens": 507 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUG8hHm4yesyH8dcC5W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015LQoqpLXW5RTBYkHap1hoR", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Lowering closed gripper to drawer-front height on the outer (-y) side, ready to push the drawer toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1153, "cache_read_input_tokens": 15345, "cache_creation": { "ephemeral_5m_input_tokens": 1153, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 698, "output_tokens_details": { "thinking_tokens": 584 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUHRV7TbQQ6zACoqMMr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014N9KnixKSsF6Mj8RJF31Ta", "name": "move_to", "input": { "targets": { "y": -0.3 }, "note": "Gripper at drawer-front height on the outer side; pushing toward +y to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1192, "cache_read_input_tokens": 16498, "cache_creation": { "ephemeral_5m_input_tokens": 1192, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 172, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUHrYzdQeYc4VSEdoJR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C79URrPgZiVDkayTv5EuCm", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Pushing in +y changed nothing, so the drawer likely slides along x with the front wall on the +x side of the gripper (seen at image right); pushing toward +x from inside the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 17690, "cache_creation": { "ephemeral_5m_input_tokens": 661, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1020, "output_tokens_details": { "thinking_tokens": 884 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUKHj64aQStaEkaXkRg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VDnzi5x8yRaev2CVsegAeH", "name": "move_to", "input": { "targets": { "x": 0.62 }, "note": "Wood front got closer in wrist view but hasn't moved yet; continuing to push in +x to contact and close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1509, "cache_read_input_tokens": 18351, "cache_creation": { "ephemeral_5m_input_tokens": 1509, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 282, "output_tokens_details": { "thinking_tokens": 167 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02146, -0.82096, -0.01086, -2.27319, 0.1073, 1.69518, -0.10624 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.34441, 0.03015, 1.08456 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96254, 0.12943, 0.23824 ], [ 0.10378, -0.98766, 0.11729 ], [ 0.25048, -0.08817, -0.9641 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.408305832184851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper points down above a wooden cabinet/drawer seen in wrist cam; lowering to get a closer view of the drawer and its front edge." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02121, -0.8994, -0.00534, -2.65904, 0.12018, 2.00077, -0.13855 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34438, 0.03016, 0.95125 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00028, 2e-05 ], "tcp_rotation_matrix": [ [ 0.96261, 0.12943, 0.23797 ], [ 0.1038, -0.98766, 0.11729 ], [ 0.25021, -0.0882, -0.96417 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 9.207921477034688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "pitch": -1.2 }, "note": "Wrist view only shows wood surface directly below; tilting gripper to look forward/down to locate the drawer front and its open state." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02121, -0.8994, -0.00534, -2.65904, 0.12018, 2.00077, -0.13855 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34438, 0.03016, 0.95125 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00028, 2e-05 ], "tcp_rotation_matrix": [ [ 0.96261, 0.12943, 0.23797 ], [ 0.1038, -0.98766, 0.11729 ], [ 0.25021, -0.0882, -0.96417 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 55 }, "api_seconds": 4.203426982276142, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "pitch": -0.6 }, "note": "Large pitch was unreachable; trying a moderate forward tilt to see the drawer front from above." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03415, -1.34448, 0.00928, -2.88446, 0.13977, 2.37642, -0.17476 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34439, 0.03017, 1.04932 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59583, 6e-05 ], "tcp_rotation_matrix": [ [ 0.65611, 0.15666, 0.73823 ], [ 0.10383, -0.98765, 0.11732 ], [ 0.74749, -0.00032, -0.66427 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 54 }, "api_seconds": 9.00824130512774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 1.15, "pitch": -0.7 }, "note": "Wrist view shows a wooden slab edge and gray surface below; pulling back and up to get a wider view of the cabinet and identify the open drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01922, -1.68736, 0.00786, -2.70036, 0.11583, 1.95422, -0.13104 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22101, 0.03017, 1.1493 ], "tcp_roll_pitch_yaw": [ 0.0, -0.69944, 6e-05 ], "tcp_rotation_matrix": [ [ 0.57528, 0.15587, 0.80297 ], [ 0.10381, -0.98765, 0.11734 ], [ 0.81134, 0.01586, -0.58435 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 53 }, "api_seconds": 18.01484678685665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.35, "pitch": 0.0 }, "note": "Still ambiguous; going high with gripper pointing straight down for a top-down overview of the cabinet and drawer." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01922, -1.68736, 0.00786, -2.70036, 0.11583, 1.95422, -0.13104 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22101, 0.03017, 1.1493 ], "tcp_roll_pitch_yaw": [ 0.0, -0.69944, 6e-05 ], "tcp_rotation_matrix": [ [ 0.57528, 0.15587, 0.80297 ], [ 0.10381, -0.98765, 0.11734 ], [ 0.81134, 0.01586, -0.58435 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 52 }, "api_seconds": 8.407574599608779, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.2, "pitch": 0.0 }, "note": "z=1.35 out of bounds; trying z=1.2 top-down view instead." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03117, -0.78143, -0.01746, -1.92298, 0.10278, 1.39065, -0.07095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29961, 0.03017, 1.19965 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.00411, 3e-05 ], "tcp_rotation_matrix": [ [ 0.9615, 0.12983, 0.24219 ], [ 0.1038, -0.98765, 0.11736 ], [ 0.25444, -0.0877, -0.9631 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 51 }, "api_seconds": 13.616175928153098, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "z": 1.0, "pitch": -0.8 }, "note": "Top view suggests the cabinet front (with a small yellow handle) faces the robot; moving back and lower, tilting forward to view the cabinet face and drawer state." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03117, -0.78143, -0.01746, -1.92298, 0.10278, 1.39065, -0.07095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29961, 0.03017, 1.19965 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.00411, 3e-05 ], "tcp_rotation_matrix": [ [ 0.9615, 0.12983, 0.24219 ], [ 0.1038, -0.98765, 0.11736 ], [ 0.25444, -0.0877, -0.9631 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 50 }, "api_seconds": 4.203987687826157, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 1.05, "pitch": -0.7 }, "note": "Previous pose unreachable; trying a slightly nearer/higher pose with forward tilt to inspect the cabinet face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03117, -0.78143, -0.01746, -1.92298, 0.10278, 1.39065, -0.07095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29961, 0.03017, 1.19965 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.00411, 3e-05 ], "tcp_rotation_matrix": [ [ 0.9615, 0.12983, 0.24219 ], [ 0.1038, -0.98765, 0.11736 ], [ 0.25444, -0.0877, -0.9631 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 49 }, "api_seconds": 8.007091321982443, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 1.15, "pitch": -0.7 }, "note": "Returning to the previously reachable tilted pose to re-examine the cabinet front." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01916, -1.68306, 0.00767, -2.69408, 0.11557, 1.94874, -0.13048 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22037, 0.03018, 1.15034 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.69585, 8e-05 ], "tcp_rotation_matrix": [ [ 0.57818, 0.15596, 0.80087 ], [ 0.10382, -0.98764, 0.11739 ], [ 0.80928, 0.01528, -0.58723 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 48 }, "api_seconds": 25.824525580741465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.2, "z": 1.15, "pitch": 0.0 }, "note": "Geometry still unclear; taking a top-down view offset to the right (-y) to map the cabinet extent and find the open drawer." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.10867, -0.74609, -0.47875, -1.93294, -0.13687, 1.45377, -0.4377 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29972, -0.19904, 1.14994 ], "tcp_roll_pitch_yaw": [ 0.00012, -0.00284, 8e-05 ], "tcp_rotation_matrix": [ [ 0.96182, 0.12977, 0.24096 ], [ 0.10383, -0.98764, 0.11742 ], [ 0.25322, -0.08792, -0.9634 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 47 }, "api_seconds": 17.815536190755665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": -0.4, "z": 1.0, "gripper": 0.0 }, "note": "Drawer front with yellow handle faces -y (robot's right), pulled out sideways. Closing gripper and moving to the -y side of the drawer front to prepare a push toward +y." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.28043, -0.45465, -1.0651, -1.93252, -0.14443, 1.79796, -0.85117 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32982, -0.39891, 1.00074 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.00271, 1e-05 ], "tcp_rotation_matrix": [ [ 0.96186, 0.12968, 0.24085 ], [ 0.10372, -0.98764, 0.11755 ], [ 0.25312, -0.08809, -0.96342 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 46 }, "api_seconds": 7.605594198219478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Handle visible just below the closed gripper in wrist cam; lowering to handle height to check alignment before pushing." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.31653, -0.4249, -1.19669, -2.1892, -0.15182, 2.09209, -0.90933 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3298, -0.39887, 0.88123 ], "tcp_roll_pitch_yaw": [ 0.00042, -0.00253, 5e-05 ], "tcp_rotation_matrix": [ [ 0.9619, 0.1297, 0.24067 ], [ 0.10372, -0.98762, 0.1177 ], [ 0.25296, -0.08826, -0.96344 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 45 }, "api_seconds": 9.607588925398886, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "roll": 0.7 }, "note": "View under gripper is a dark green surface; raising and rolling to look toward +y to see the drawer front face side-on and confirm its position." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.11193, -0.68039, -1.81823, -1.27286, 0.14365, 1.14104, -0.64892 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32985, -0.39895, 1.04922 ], "tcp_roll_pitch_yaw": [ 0.69646, -0.00298, -0.00031 ], "tcp_rotation_matrix": [ [ 0.96174, 0.13131, 0.24044 ], [ -0.08137, -0.70113, 0.70838 ], [ 0.26159, -0.70084, -0.66362 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 44 }, "api_seconds": 11.810978111810982, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.62, "z": 1.0, "roll": 0.0 }, "note": "Dark green earlier was likely the open drawer interior; drawer front should be further out at y≈-0.5. Moving beyond it to y=-0.62 with gripper vertical to prepare the push." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.4283, -0.78781, -2.04089, -0.88572, -0.42933, 1.42647, -1.00374 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.32984, -0.61913, 1.00011 ], "tcp_roll_pitch_yaw": [ 0.00291, -0.00298, -0.00038 ], "tcp_rotation_matrix": [ [ 0.96183, 0.12933, 0.24116 ], [ 0.10268, -0.98745, 0.12001 ], [ 0.25365, -0.09066, -0.96304 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 43 }, "api_seconds": 16.617016365751624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Lowering closed gripper to drawer-front height on the outer (-y) side, ready to push the drawer toward +y." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.21866, -0.81123, -2.03547, -1.3946, -0.45233, 1.8442, -0.98976 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32978, -0.61911, 0.84117 ], "tcp_roll_pitch_yaw": [ 0.00318, -0.00285, -0.0004 ], "tcp_rotation_matrix": [ [ 0.96187, 0.1293, 0.24103 ], [ 0.1026, -0.98743, 0.12026 ], [ 0.25355, -0.09095, -0.96304 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 42 }, "api_seconds": 5.4044709503650665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.3 }, "note": "Gripper at drawer-front height on the outer side; pushing toward +y to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.22008, -0.64213, -1.01619, -2.49424, -0.35177, 2.20206, -0.64299 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32982, -0.30129, 0.84115 ], "tcp_roll_pitch_yaw": [ 0.00326, -0.00283, -0.0002 ], "tcp_rotation_matrix": [ [ 0.96185, 0.1295, 0.24099 ], [ 0.10277, -0.98739, 0.12038 ], [ 0.25354, -0.09102, -0.96303 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 41 }, "api_seconds": 19.01687858439982, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Pushing in +y changed nothing, so the drawer likely slides along x with the front wall on the +x side of the gripper (seen at image right); pushing toward +x from inside the drawer." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.1214, -0.2535, -1.68753, -2.11531, -0.02073, 2.28367, -0.69371 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4987, -0.30124, 0.84112 ], "tcp_roll_pitch_yaw": [ 0.00337, -0.00282, -6e-05 ], "tcp_rotation_matrix": [ [ 0.96184, 0.12963, 0.24097 ], [ 0.10288, -0.98737, 0.12052 ], [ 0.25355, -0.09113, -0.96302 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 40 }, "api_seconds": 6.805813561193645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Wood front got closer in wrist view but hasn't moved yet; continuing to push in +x to contact and close the drawer." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 006 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 6, "source_episode_index": 112, "house_index": 19, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 4, "api_calls": 4, "wall_seconds": 32.82306456565857, "usage": { "input_tokens": 10, "cache_creation_input_tokens": 4107, "cache_read_input_tokens": 7821, "output_tokens": 987 }, "estimated_cost_usd": 0.10274275 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUDcsMxDkACoQsQcedW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RPXHjQQ7v5otM5gjFzXknG", "name": "move_to", "input": { "targets": { "z": 0.85, "x": 0.35 }, "note": "Drawer cabinet visible below/ahead in exterior view; lowering gripper to locate drawer front in wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 182 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUEBq1H8mWggq6WknPM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019FYCUZKFrPpCfzvQ9Rzpi3", "name": "move_to", "input": { "targets": { "z": 0.75, "x": 0.25 }, "note": "Wrist camera shows dark drawer interior below; moving back and lower to find the drawer front edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 398, "output_tokens_details": { "thinking_tokens": 282 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUEntPmTMwEdRU9Sw5S", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013pXKEd2YvbmshU5EiT3F2o", "name": "move_to", "input": { "targets": { "pitch": -0.8, "z": 0.9, "x": 0.3 }, "note": "IK failed for close/low target. Tilting wrist to look forward to see the cabinet and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 2577, "cache_creation": { "ephemeral_5m_input_tokens": 888, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 152, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUFRihFu5eeWmxAaunS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019mrsvoFyL3cswE4517Q1jX", "name": "move_to", "input": { "targets": { "pitch": 0.8 }, "note": "Trying opposite pitch sign to tilt camera forward and view the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 3465, "cache_creation": { "ephemeral_5m_input_tokens": 642, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 131, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.01217, -0.81972, -0.03452, -2.34162, -0.01814, 1.52322, -0.0903 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29274, -0.01819, 1.02803 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99856, 0.05367, 0.00126 ], [ 0.05366, -0.99853, 0.00707 ], [ 0.00164, -0.00699, -0.99997 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.406464678235352, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "x": 0.35 }, "note": "Drawer cabinet visible below/ahead in exterior view; lowering gripper to locate drawer front in wrist camera." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00911, -0.62115, -0.0442, -2.67331, -0.021, 2.0531, -0.08902 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34951, -0.01819, 0.85121 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00038, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.05367, 0.00088 ], [ 0.05367, -0.99853, 0.00708 ], [ 0.00126, -0.00702, -0.99997 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 8.206789617426693, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75, "x": 0.25 }, "note": "Wrist camera shows dark drawer interior below; moving back and lower to find the drawer front edge." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00911, -0.62115, -0.0442, -2.67331, -0.021, 2.0531, -0.08902 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34951, -0.01819, 0.85121 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00038, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.05367, 0.00088 ], [ 0.05367, -0.99853, 0.00708 ], [ 0.00126, -0.00702, -0.99997 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 8.420168356969953, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "z": 0.9, "x": 0.3 }, "note": "IK failed for close/low target. Tilting wrist to look forward to see the cabinet and drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00911, -0.62115, -0.0442, -2.67331, -0.021, 2.0531, -0.08902 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34951, -0.01819, 0.85121 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00038, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.05367, 0.00088 ], [ 0.05367, -0.99853, 0.00708 ], [ 0.00126, -0.00702, -0.99997 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 54 }, "api_seconds": 8.406745460815728, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.8 }, "note": "Trying opposite pitch sign to tilt camera forward and view the drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 007 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 7, "source_episode_index": 117, "house_index": 20, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 18, "api_calls": 18, "wall_seconds": 200.342209815979, "usage": { "input_tokens": 38, "cache_creation_input_tokens": 18477, "cache_read_input_tokens": 150036, "output_tokens": 8461 }, "estimated_cost_usd": 0.6919015 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUHngppFKaHi9TsqyY6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014Jc76NaeJ6zRzzhh1CQejf", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.85, "pitch": 0.5 }, "note": "Orange drawer appears open below the counter; lower the gripper and tilt to view the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 187 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUJLXFR73x1cyAqQP2v", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012EvaWJ8cHN5T9ks2GxU6Z3", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.9, "pitch": -0.7 }, "note": "Camera pointed backward; pitch the other way to look forward at the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 819, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 358, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUJvUfDDJyu9wnVW1D1", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0192XdWYGGgMNfPLkjWTnr6v", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.3 }, "note": "Previous pose unreachable; try a smaller forward pitch to view the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 2597, "cache_creation": { "ephemeral_5m_input_tokens": 850, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 127, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUKJJ5XMBneQAXnmdmj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JGKrcUSCmwN5S3sJbbYFCj", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.87, "gripper": 0 }, "note": "Wrist view shows orange drawer front with a handle bar ahead; close gripper and advance forward to contact the drawer front and push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 618, "cache_read_input_tokens": 3447, "cache_creation": { "ephemeral_5m_input_tokens": 618, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 395, "output_tokens_details": { "thinking_tokens": 253 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezULJLae6RiVYm6dA5oc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019kPrrKaXr879HtnDfCoYK6", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.0, "z": 0.87 }, "note": "Drawer front still ahead in wrist view; keep pushing forward in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 4065, "cache_creation": { "ephemeral_5m_input_tokens": 883, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 167, "output_tokens_details": { "thinking_tokens": 50 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezULhx9mxJYoufwBrvXb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DQvEfufRfQfN9eyXLT6W8n", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.0, "z": 0.8, "pitch": 0.0 }, "note": "Motion stalled at x=0.49, possibly wrist hitting counter edge; lower the gripper, make it vertical, and push further forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 656, "cache_read_input_tokens": 4948, "cache_creation": { "ephemeral_5m_input_tokens": 656, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 290 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUMRppQK9Bq73D6BjpV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RCNrFd7wv6jGLVAs4am4i8", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 0.78, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Arm got deflected; reset to a vertical gripper at lower height in front of the drawer before pushing again." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 5604, "cache_creation": { "ephemeral_5m_input_tokens": 932, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 790, "output_tokens_details": { "thinking_tokens": 635 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUNXUfkYuBFbNLUuv2p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y8LHYrcFa5mHA8cpCyQqVa", "name": "move_to", "input": { "targets": { "x": 0.52, "z": 0.85 }, "note": "Gripper is right in front of the drawer handle; push forward a small step and check whether x advances." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1281, "cache_read_input_tokens": 6536, "cache_creation": { "ephemeral_5m_input_tokens": 1281, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 374, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUPFfw5M6xjGA9zgaZS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A2o2d22CV47ZdDZCaSZwZ8", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "pitch": -1.3, "roll": 0.0, "yaw": 0.0 }, "note": "Arm seems blocked by counter edge at x~0.49 when gripper points down; retract and reorient gripper to point forward so it can reach under the counter to push the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 864, "cache_read_input_tokens": 7817, "cache_creation": { "ephemeral_5m_input_tokens": 864, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 565, "output_tokens_details": { "thinking_tokens": 389 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUQ1YeECiiGtkjK9cwZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GegjW8Ch1z289JBByuERAE", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.9, "roll": 0.0, "yaw": 0.0 }, "note": "Full forward pitch unreachable; try an intermediate forward pitch after retracting." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1055, "cache_read_input_tokens": 8681, "cache_creation": { "ephemeral_5m_input_tokens": 1055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 304, "output_tokens_details": { "thinking_tokens": 156 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUQdoUREt32dJZepk4U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BQidErCoh8wgfetS9BPQtT", "name": "move_to", "input": { "targets": { "x": 0.38, "y": 0.0, "z": 0.9, "pitch": -0.6, "roll": 0.0, "yaw": 0.0 }, "note": "Try smaller forward pitch that IK may accept; goal is to angle the gripper under the counter edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 9736, "cache_creation": { "ephemeral_5m_input_tokens": 794, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 356, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezURHNgatgNH8eFnWmT5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TuwFP5nV9jmeLzjJJihGAz", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Retract to a neutral pose first, then attempt reorientation from there." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 846, "cache_read_input_tokens": 10530, "cache_creation": { "ephemeral_5m_input_tokens": 846, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 469, "output_tokens_details": { "thinking_tokens": 326 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUSD9DM25kLmZmR4XUm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YM33Y7JtVDnyaZtjpxZCeE", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": -0.6 }, "note": "From neutral pose, pitch gripper forward to get a clearer look at the drawer front and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 965, "cache_read_input_tokens": 11376, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 527, "output_tokens_details": { "thinking_tokens": 394 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUT8q341TX9LC6rxTuq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DfT2GVJSiTeCjGHXtqHSvr", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.25, "z": 0.9, "pitch": -0.4 }, "note": "Unsure where the drawer front is; shift left and lower to view the lighter orange panel seen in the exterior image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1017, "cache_read_input_tokens": 12341, "cache_creation": { "ephemeral_5m_input_tokens": 1017, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 735, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUUGc86ptvhpM75Dwbf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VzfgCfXkDkQS3w9prTxi7D", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.25, "z": 0.88 }, "note": "Drawer front/handle appears ahead; push forward at this lateral position and check how far x advances." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1225, "cache_read_input_tokens": 13358, "cache_creation": { "ephemeral_5m_input_tokens": 1225, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 270, "output_tokens_details": { "thinking_tokens": 148 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUVQxwUtiRNnja3B5sc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BdKtQgun6J4XcYxxN5YYot", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.15, "z": 1.0, "pitch": -0.4, "roll": 0.0, "yaw": 0.0 }, "note": "Collisions on the left; the dark box with light rim in the exterior view may be the open drawer to the robot's right. Move up and right to inspect." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 764, "cache_read_input_tokens": 14583, "cache_creation": { "ephemeral_5m_input_tokens": 764, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1454, "output_tokens_details": { "thinking_tokens": 1288 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUXGRJVb77gpg3GpQix", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FW2poNk45mnTvErEZy1M64", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.1, "z": 0.82, "pitch": 0.0 }, "note": "Handle bar visible ahead on orange drawer front; position vertical gripper below handle height, ready to push the front panel forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1945, "cache_read_input_tokens": 15347, "cache_creation": { "ephemeral_5m_input_tokens": 1945, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 689, "output_tokens_details": { "thinking_tokens": 547 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUYGBgu6hVi9xA6ofye", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FsT5xdM1ZtGuGU6NMcUF4K", "name": "move_to", "input": { "targets": { "x": 0.7, "y": -0.1, "z": 0.82 }, "note": "Reached the pre-push pose cleanly; now push straight forward in +x against the drawer front to close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1185, "cache_read_input_tokens": 17292, "cache_creation": { "ephemeral_5m_input_tokens": 1185, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 124, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02327, -0.80254, -0.00382, -2.28387, 0.03373, 1.64211, -0.14437 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33373, 0.01507, 1.06402 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97329, 0.16536, 0.15925 ], [ 0.16106, -0.98615, 0.03964 ], [ 0.1636, -0.01293, -0.98644 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.006469340994954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.85, "pitch": 0.5 }, "note": "Orange drawer appears open below the counter; lower the gripper and tilt to view the drawer front." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02202, -0.3412, -0.02373, -2.37852, 0.02379, 1.75323, -0.18005 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36314, 0.00602, 0.86327 ], "tcp_roll_pitch_yaw": [ -0.00418, 0.44368, 0.01569 ], "tcp_rotation_matrix": [ [ 0.94634, 0.16103, -0.28021 ], [ 0.17661, -0.98379, 0.03112 ], [ -0.27065, -0.07893, -0.95944 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 56 }, "api_seconds": 7.814834475517273, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.9, "pitch": -0.7 }, "note": "Camera pointed backward; pitch the other way to look forward at the drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02202, -0.3412, -0.02373, -2.37852, 0.02379, 1.75323, -0.18005 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36314, 0.00602, 0.86327 ], "tcp_roll_pitch_yaw": [ -0.00418, 0.44368, 0.01569 ], "tcp_rotation_matrix": [ [ 0.94634, 0.16103, -0.28021 ], [ 0.17661, -0.98379, 0.03112 ], [ -0.27065, -0.07893, -0.95944 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 55 }, "api_seconds": 4.40418110601604, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.3 }, "note": "Previous pose unreachable; try a smaller forward pitch to view the drawer." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00904, -1.05585, -0.03798, -2.95033, 0.02385, 2.34906, -0.21662 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35004, 3e-05, 0.89978 ], "tcp_roll_pitch_yaw": [ -0.00417, -0.2957, 0.01569 ], "tcp_rotation_matrix": [ [ 0.88092, 0.17621, 0.43923 ], [ 0.17559, -0.98355, 0.04242 ], [ 0.43948, 0.03976, -0.89737 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 54 }, "api_seconds": 13.010920782573521, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.87, "gripper": 0 }, "note": "Wrist view shows orange drawer front with a handle bar ahead; close gripper and advance forward to contact the drawer front and push." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03756, -0.58764, -0.05361, -2.77422, 0.03931, 2.64122, -0.23057 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4487, 0.0, 0.87035 ], "tcp_roll_pitch_yaw": [ -0.00415, -0.29552, 0.01569 ], "tcp_rotation_matrix": [ [ 0.881, 0.17622, 0.43907 ], [ 0.17558, -0.98355, 0.04244 ], [ 0.43932, 0.03971, -0.89745 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 53 }, "api_seconds": 4.806702028028667, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.0, "z": 0.87 }, "note": "Drawer front still ahead in wrist view; keep pushing forward in +x." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.08351, -0.3559, -0.04066, -2.4934, 0.06794, 2.39894, -0.2501 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48747, 0.03037, 0.87125 ], "tcp_roll_pitch_yaw": [ 0.01036, -0.10442, 0.08272 ], "tcp_rotation_matrix": [ [ 0.93435, 0.24777, 0.25614 ], [ 0.23737, -0.9688, 0.07126 ], [ 0.2658, -0.00578, -0.96401 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 52 }, "api_seconds": 9.213880518451333, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.0, "z": 0.8, "pitch": 0.0 }, "note": "Motion stalled at x=0.49, possibly wrist hitting counter edge; lower the gripper, make it vertical, and push further forward." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.06563, -0.23236, -0.08151, -2.11239, 0.11084, 1.50991, -0.33963 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38656, 0.02397, 0.92696 ], "tcp_roll_pitch_yaw": [ 0.17071, 0.49867, 0.21653 ], "tcp_rotation_matrix": [ [ 0.89476, 0.26595, -0.35872 ], [ 0.33089, -0.9343, 0.13267 ], [ -0.29986, -0.2374, -0.92397 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 51 }, "api_seconds": 14.010285855270922, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 0.78, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Arm got deflected; reset to a vertical gripper at lower height in front of the drawer before pushing again." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02811, -0.5078, -0.01254, -2.76135, 0.04613, 2.6778, -0.21947 ], "gripper_open": 0.0132, "tcp_xyz": [ 0.45622, 0.00994, 0.84845 ], "tcp_roll_pitch_yaw": [ -0.01852, -0.26427, 0.02893 ], "tcp_rotation_matrix": [ [ 0.89243, 0.18669, 0.41074 ], [ 0.18996, -0.98123, 0.03326 ], [ 0.40924, 0.04835, -0.91114 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 50 }, "api_seconds": 9.40799002815038, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 0.85 }, "note": "Gripper is right in front of the drawer handle; push forward a small step and check whether x advances." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05586, -0.34453, 0.01276, -2.57751, 0.05043, 2.56437, -0.22482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49164, 0.03664, 0.84819 ], "tcp_roll_pitch_yaw": [ -0.02284, -0.17233, 0.08735 ], "tcp_rotation_matrix": [ [ 0.91353, 0.24669, 0.32342 ], [ 0.24539, -0.96836, 0.04549 ], [ 0.32441, 0.03781, -0.94516 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 49 }, "api_seconds": 10.209068600088358, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "pitch": -1.3, "roll": 0.0, "yaw": 0.0 }, "note": "Arm seems blocked by counter edge at x~0.49 when gripper points down; retract and reorient gripper to point forward so it can reach under the counter to push the drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05586, -0.34453, 0.01276, -2.57751, 0.05043, 2.56437, -0.22482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49164, 0.03664, 0.84819 ], "tcp_roll_pitch_yaw": [ -0.02284, -0.17233, 0.08735 ], "tcp_rotation_matrix": [ [ 0.91353, 0.24669, 0.32342 ], [ 0.24539, -0.96836, 0.04549 ], [ 0.32441, 0.03781, -0.94516 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 48 }, "api_seconds": 8.407106355763972, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.9, "roll": 0.0, "yaw": 0.0 }, "note": "Full forward pitch unreachable; try an intermediate forward pitch after retracting." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05586, -0.34453, 0.01276, -2.57751, 0.05043, 2.56437, -0.22482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49164, 0.03664, 0.84819 ], "tcp_roll_pitch_yaw": [ -0.02284, -0.17233, 0.08735 ], "tcp_rotation_matrix": [ [ 0.91353, 0.24669, 0.32342 ], [ 0.24539, -0.96836, 0.04549 ], [ 0.32441, 0.03781, -0.94516 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 47 }, "api_seconds": 8.605785127729177, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.0, "z": 0.9, "pitch": -0.6, "roll": 0.0, "yaw": 0.0 }, "note": "Try smaller forward pitch that IK may accept; goal is to angle the gripper under the counter edge." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05586, -0.34453, 0.01276, -2.57751, 0.05043, 2.56437, -0.22482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49164, 0.03664, 0.84819 ], "tcp_roll_pitch_yaw": [ -0.02284, -0.17233, 0.08735 ], "tcp_rotation_matrix": [ [ 0.91353, 0.24669, 0.32342 ], [ 0.24539, -0.96836, 0.04549 ], [ 0.32441, 0.03781, -0.94516 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 46 }, "api_seconds": 11.609658865258098, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Retract to a neutral pose first, then attempt reorientation from there." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ -8e-05, -0.96111, -0.02282, -2.53298, 0.0236, 1.73271, -0.18215 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30114, 0.0002, 0.99926 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.00136, 0.00046 ], "tcp_rotation_matrix": [ [ 0.97299, 0.16583, 0.16057 ], [ 0.16152, -0.98607, 0.03964 ], [ 0.16491, -0.01263, -0.98623 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 45 }, "api_seconds": 12.009590236470103, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": -0.6 }, "note": "From neutral pose, pitch gripper forward to get a clearer look at the drawer front and handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00694, -1.5532, -0.02886, -3.00015, 0.02971, 2.20167, -0.20499 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29996, 0.0, 0.99995 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.59572, 0.00047 ], "tcp_rotation_matrix": [ [ 0.71377, 0.14455, 0.6853 ], [ 0.16141, -0.98608, 0.03988 ], [ 0.68153, 0.08215, -0.72716 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 44 }, "api_seconds": 14.21197684854269, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.25, "z": 0.9, "pitch": -0.4 }, "note": "Unsure where the drawer front is; shift left and lower to view the lighter orange panel seen in the exterior image." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.19981, -1.02505, 0.67947, -2.84736, 0.34892, 2.40328, 0.35876 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30002, 0.24874, 0.90051 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.40098, 0.00056 ], "tcp_rotation_matrix": [ [ 0.83215, 0.15776, 0.53163 ], [ 0.16156, -0.98606, 0.03972 ], [ 0.53049, 0.05284, -0.84604 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 43 }, "api_seconds": 14.612265658564866, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.25, "z": 0.88 }, "note": "Drawer front/handle appears ahead; push forward at this lateral position and check how far x advances." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.38041, -0.68953, 0.99183, -2.35102, -0.09303, 1.56722, 0.39558 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.29871, 0.12911, 0.91762 ], "tcp_roll_pitch_yaw": [ -0.77476, 0.04771, -0.2457 ], "tcp_rotation_matrix": [ [ 0.99901, 0.01809, -0.04056 ], [ -0.01387, -0.74037, -0.67206 ], [ -0.04219, 0.67196, -0.73939 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 42 }, "api_seconds": 23.820667516440153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.15, "z": 1.0, "pitch": -0.4, "roll": 0.0, "yaw": 0.0 }, "note": "Collisions on the left; the dark box with light rim in the exterior view may be the open drawer to the robot's right. Move up and right to inspect." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.16795, -1.19316, -0.36246, -2.73916, -0.10887, 2.08577, -0.5398 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30002, -0.14916, 0.99984 ], "tcp_roll_pitch_yaw": [ -0.00206, -0.39849, -0.0004 ], "tcp_rotation_matrix": [ [ 0.83374, 0.15625, 0.52958 ], [ 0.16107, -0.98623, 0.0374 ], [ 0.52814, 0.05412, -0.84743 ] ], "simulated_seconds_remaining": 12.408, "calls_remaining_including_this": 41 }, "api_seconds": 12.612527075223625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.1, "z": 0.82, "pitch": 0.0 }, "note": "Handle bar visible ahead on orange drawer front; position vertical gripper below handle height, ready to push the front panel forward." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00656, -0.48747, -0.27769, -2.68648, -0.0719, 2.36077, -0.38034 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3995, -0.1002, 0.82081 ], "tcp_roll_pitch_yaw": [ -0.00203, -0.00169, -0.0003 ], "tcp_rotation_matrix": [ [ 0.97306, 0.16509, 0.16093 ], [ 0.1611, -0.98622, 0.03759 ], [ 0.16492, -0.01065, -0.98625 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 40 }, "api_seconds": 4.2038903925567865, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": -0.1, "z": 0.82 }, "note": "Reached the pre-push pose cleanly; now push straight forward in +x against the drawer front to close it." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 008 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 8, "source_episode_index": 119, "house_index": 21, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 16, "api_calls": 16, "wall_seconds": 167.17512965202332, "usage": { "input_tokens": 34, "cache_creation_input_tokens": 16304, "cache_read_input_tokens": 126681, "output_tokens": 7319 }, "estimated_cost_usd": 0.60176025 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUMSU1yGrd4FTq8iGpk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P4rzVA4i9J1D8igA5ddioC", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 1.1, "pitch": -1.0 }, "note": "Gripper points down; tilting it forward to view the cabinet/drawer ahead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 600, "output_tokens_details": { "thinking_tokens": 479 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUNGK7382Q16AvTQcow", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0111CP97L1RGmyVhAGcb7yAS", "name": "move_to", "input": { "targets": { "x": 0.55, "z": 1.05 }, "note": "Wrist view shows a cabinet with a protruding (open) drawer with yellow handle ahead; moving closer to inspect." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1098, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 1098, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 285, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUNmzHhrAfhk39F37im", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019uxehrA9J9jvKV81qN9gsg", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.95, "pitch": -0.7 }, "note": "Counter edge fills the view; lowering and tilting down to see the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 775, "cache_read_input_tokens": 2877, "cache_creation": { "ephemeral_5m_input_tokens": 775, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 298, "output_tokens_details": { "thinking_tokens": 179 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUPYH4TyN1kT7XgxMxP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0157X72JaoAAZMujuJMuZLSj", "name": "move_to", "input": { "targets": { "x": 0.38, "z": 0.9, "pitch": -0.9 }, "note": "Motion stopped early, possibly contacting the open drawer/counter; backing off and lowering to view the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 787, "cache_read_input_tokens": 3652, "cache_creation": { "ephemeral_5m_input_tokens": 787, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 291, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUQ3SzQo3pKfU6W8DzZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018Rs6aN2QWunAj8iTdZgsrn", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95, "pitch": -0.5 }, "note": "Previous target unreachable; trying a less forward tilt and nearer position to view the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 780, "cache_read_input_tokens": 4439, "cache_creation": { "ephemeral_5m_input_tokens": 780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 257, "output_tokens_details": { "thinking_tokens": 134 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUQeKEq6KkjuzW2QJdU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018LqH5gHVGuunX2BCCzvYdS", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.92 }, "note": "Gripper seems blocked by the counter/drawer top; retreating backward and down to get in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 747, "cache_read_input_tokens": 5219, "cache_creation": { "ephemeral_5m_input_tokens": 747, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 744, "output_tokens_details": { "thinking_tokens": 624 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezURdjHH1y3H9vbWMYwq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XBSPQgHjFmky3Zb8h25Qad", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "pitch": 0.0 }, "note": "IK failed for tilted pose; returning to the downward orientation while retreating and lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1234, "cache_read_input_tokens": 5966, "cache_creation": { "ephemeral_5m_input_tokens": 1234, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 260, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUS8qkUgDsppWSk4Hst", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LtLF583tGKKxnzHwerK2ZH", "name": "move_to", "input": { "targets": { "x": 0.27, "z": 0.95, "pitch": 0.0, "gripper": 0 }, "note": "Fingers seem to contact the open drawer's top; closing the gripper and retreating behind the drawer front to prepare a push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 750, "cache_read_input_tokens": 7200, "cache_creation": { "ephemeral_5m_input_tokens": 750, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 633, "output_tokens_details": { "thinking_tokens": 491 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUT57nYWrC2rumVuvQi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TckCJcyQrp3xeT2hmbsRVN", "name": "move_to", "input": { "targets": { "x": 0.27, "z": 0.9 }, "note": "Drawer is open toward the robot; lowering the closed gripper to the drawer-front height in front of it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1122, "cache_read_input_tokens": 7950, "cache_creation": { "ephemeral_5m_input_tokens": 1122, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 499, "output_tokens_details": { "thinking_tokens": 382 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUTpxXKKF6x2ZVB8mzz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LK7Anjc7veKGJWmd6M4CrB", "name": "move_to", "input": { "targets": { "x": 0.31, "z": 0.93, "pitch": 0.0 }, "note": "IK drifted; taking a smaller step to lower the closed gripper just below the drawer top edge, pointing down." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 994, "cache_read_input_tokens": 9072, "cache_creation": { "ephemeral_5m_input_tokens": 994, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 777, "output_tokens_details": { "thinking_tokens": 647 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUUsweFAZ6jWG5GKCzJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q4dfejcvgTjxQmm5YRVbdm", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.06, "pitch": 0.0, "gripper": 1 }, "note": "Fingertips appear to rest on the drawer top edge at z~0.96; lifting up and opening to look down and localize the drawer front edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1269, "cache_read_input_tokens": 10066, "cache_creation": { "ephemeral_5m_input_tokens": 1269, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 779, "output_tokens_details": { "thinking_tokens": 632 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUWDNhsyCr2ASi44daC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QgcK3SUmg6GvVTWt6iHeM9", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.02, "yaw": 1.57 }, "note": "Drawer front top edge appears at about x=0.35 under the gripper; rotating so fingers open along x to straddle the front panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1271, "cache_read_input_tokens": 11335, "cache_creation": { "ephemeral_5m_input_tokens": 1271, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1018, "output_tokens_details": { "thinking_tokens": 874 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUXVuuuntNaHF1ZXdgA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011aXc8r99ogWTPYaQepkRpF", "name": "move_to", "input": { "targets": { "z": 0.94 }, "note": "Fingers now open along x; descending to straddle the drawer front panel top edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1508, "cache_read_input_tokens": 12606, "cache_creation": { "ephemeral_5m_input_tokens": 1508, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 141 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUXygFMEExDGYohrhXj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CHtPyu42m6rih2B437YgJ8", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.95 }, "note": "Gripper lowered around the drawer front's top edge; pushing forward in +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 737, "cache_read_input_tokens": 14114, "cache_creation": { "ephemeral_5m_input_tokens": 737, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 214, "output_tokens_details": { "thinking_tokens": 95 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUYQXzBrdG1n6xeSTG6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Civgsxcg2315CmBs1PDPUY", "name": "move_to", "input": { "targets": { "x": 0.57, "z": 0.95 }, "note": "Drawer appears mostly closed in exterior view; pushing slightly further to ensure it is fully shut." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 14851, "cache_creation": { "ephemeral_5m_input_tokens": 704, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 259, "output_tokens_details": { "thinking_tokens": 141 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUZA7qcpWgLuTfgRrPf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LAMYLbR3y3Ziqm2ULzCAB6", "name": "done", "input": { "note": "The drawer front is now flush with the cabinet face in the exterior view; the drawer has been pushed closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 15555, "cache_creation": { "ephemeral_5m_input_tokens": 749, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 163, "output_tokens_details": { "thinking_tokens": 85 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.0132, -0.75464, 0.03863, -2.28193, 0.10704, 1.57301, -0.13196 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32304, 0.03622, 1.04173 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9876, 0.15076, 0.04388 ], [ 0.14688, -0.98582, 0.08119 ], [ 0.05549, -0.07374, -0.99573 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.008450283668935, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 1.1, "pitch": -1.0 }, "note": "Gripper points down; tilting it forward to view the cabinet/drawer ahead." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.02443, -1.17452, 0.06538, -2.83962, 0.16334, 2.70426, -0.21883 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39971, 0.03626, 1.09954 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.99509, 0.00014 ], "tcp_rotation_matrix": [ [ 0.49111, 0.14404, 0.85911 ], [ 0.14696, -0.9858, 0.08127 ], [ 0.85861, 0.08634, -0.5053 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 6.005544499494135, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 1.05 }, "note": "Wrist view shows a cabinet with a protruding (open) drawer with yellow handle ahead; moving closer to inspect." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.08851, -0.55041, 0.00499, -2.63639, 0.18051, 3.12656, -0.27919 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54869, 0.03625, 1.05035 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.99484, 9e-05 ], "tcp_rotation_matrix": [ [ 0.49133, 0.14407, 0.85898 ], [ 0.14693, -0.9858, 0.0813 ], [ 0.85849, 0.08627, -0.50552 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 9.607774307020009, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.95, "pitch": -0.7 }, "note": "Counter edge fills the view; lowering and tilting down to see the drawer front." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05092, -0.59893, 0.03754, -2.72439, 0.17166, 3.16771, -0.24211 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52914, 0.02971, 1.03123 ], "tcp_roll_pitch_yaw": [ 0.00418, -0.99558, -0.03464 ], "tcp_rotation_matrix": [ [ 0.49498, 0.11313, 0.86151 ], [ 0.12959, -0.99001, 0.05555 ], [ 0.85919, 0.08415, -0.50469 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 54 }, "api_seconds": 6.606069858185947, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.9, "pitch": -0.9 }, "note": "Motion stopped early, possibly contacting the open drawer/counter; backing off and lowering to view the drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.05092, -0.59893, 0.03754, -2.72439, 0.17166, 3.16771, -0.24211 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52914, 0.02971, 1.03123 ], "tcp_roll_pitch_yaw": [ 0.00418, -0.99558, -0.03464 ], "tcp_rotation_matrix": [ [ 0.49498, 0.11313, 0.86151 ], [ 0.12959, -0.99001, 0.05555 ], [ 0.85919, 0.08415, -0.50469 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 53 }, "api_seconds": 7.406714512035251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95, "pitch": -0.5 }, "note": "Previous target unreachable; trying a less forward tilt and nearer position to view the drawer." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00697, -0.7228, 0.06569, -2.6882, 0.14664, 2.77595, -0.1814 ], "gripper_open": 1.0, "tcp_xyz": [ 0.48901, 0.02686, 1.01574 ], "tcp_roll_pitch_yaw": [ 0.01593, -0.76354, -0.06092 ], "tcp_rotation_matrix": [ [ 0.68109, 0.11049, 0.72382 ], [ 0.10471, -0.99309, 0.05307 ], [ 0.72468, 0.03964, -0.68795 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 52 }, "api_seconds": 13.412340416572988, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.92 }, "note": "Gripper seems blocked by the counter/drawer top; retreating backward and down to get in front of the drawer face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00697, -0.7228, 0.06569, -2.6882, 0.14664, 2.77595, -0.1814 ], "gripper_open": 1.0, "tcp_xyz": [ 0.48901, 0.02686, 1.01574 ], "tcp_roll_pitch_yaw": [ 0.01593, -0.76354, -0.06092 ], "tcp_rotation_matrix": [ [ 0.68109, 0.11049, 0.72382 ], [ 0.10471, -0.99309, 0.05307 ], [ 0.72468, 0.03964, -0.68795 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 51 }, "api_seconds": 6.205683572217822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "pitch": 0.0 }, "note": "IK failed for tilted pose; returning to the downward orientation while retreating and lowering." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02573, -0.71678, 0.03334, -2.48322, 0.12391, 2.09072, -0.11827 ], "gripper_open": 1.0, "tcp_xyz": [ 0.41452, 0.0242, 0.99216 ], "tcp_roll_pitch_yaw": [ 0.03306, -0.27417, -0.08756 ], "tcp_rotation_matrix": [ [ 0.94348, 0.0873, 0.31974 ], [ 0.06271, -0.99428, 0.08643 ], [ 0.32545, -0.06149, -0.94356 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 50 }, "api_seconds": 12.210937021300197, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "z": 0.95, "pitch": 0.0, "gripper": 0 }, "note": "Fingers seem to contact the open drawer's top; closing the gripper and retreating behind the drawer front to prepare a push." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02766, -0.99582, 0.00838, -2.64515, 0.1195, 1.85444, -0.09384 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30917, 0.02031, 0.96903 ], "tcp_roll_pitch_yaw": [ 0.04373, -0.15283, -0.10854 ], "tcp_rotation_matrix": [ [ 0.97661, 0.05946, 0.20662 ], [ 0.03875, -0.99394, 0.10286 ], [ 0.21148, -0.09245, -0.973 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 49 }, "api_seconds": 10.008595124818385, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "z": 0.9 }, "note": "Drawer is open toward the robot; lowering the closed gripper to the drawer-front height in front of it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02911, -1.188, 0.00792, -2.87792, 0.12473, 2.21951, -0.10173 ], "gripper_open": 0.0044, "tcp_xyz": [ 0.33761, 0.0109, 0.96324 ], "tcp_roll_pitch_yaw": [ 0.07781, -0.47406, -0.15759 ], "tcp_rotation_matrix": [ [ 0.86001, 0.04682, 0.50812 ], [ 0.00725, -0.9968, 0.07958 ], [ 0.51022, -0.06476, -0.8576 ] ], "simulated_seconds_remaining": 21.45, "calls_remaining_including_this": 48 }, "api_seconds": 13.811554164625704, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.31, "z": 0.93, "pitch": 0.0 }, "note": "IK drifted; taking a smaller step to lower the closed gripper just below the drawer top edge, pointing down." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.03455, -0.87976, -0.04406, -2.62402, 0.12335, 1.9908, -0.07834 ], "gripper_open": 0.0094, "tcp_xyz": [ 0.35189, 0.00133, 0.96253 ], "tcp_roll_pitch_yaw": [ 0.09437, -0.18557, -0.18898 ], "tcp_rotation_matrix": [ [ 0.96733, -0.00739, 0.25342 ], [ -0.04145, -0.99073, 0.12935 ], [ 0.25012, -0.13563, -0.95867 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 47 }, "api_seconds": 18.017579189501703, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.06, "pitch": 0.0, "gripper": 1 }, "note": "Fingertips appear to rest on the drawer top edge at z~0.96; lifting up and opening to look down and localize the drawer front edge." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02384, -0.68433, -0.06505, -2.2053, 0.12812, 1.58823, -0.03241 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.3501, 0.00132, 1.05903 ], "tcp_roll_pitch_yaw": [ 0.09445, -0.00226, -0.18902 ], "tcp_rotation_matrix": [ [ 0.99634, -0.03466, 0.07811 ], [ -0.04705, -0.98551, 0.16296 ], [ 0.07133, -0.16604, -0.98354 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 46 }, "api_seconds": 16.616465437225997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.02, "yaw": 1.57 }, "note": "Drawer front top edge appears at about x=0.35 under the gripper; rotating so fingers open along x to straddle the front panel." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.40589, -0.53341, -0.32468, -2.11738, -0.09323, 1.43884, -1.58023 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35, 2e-05, 1.02008 ], "tcp_roll_pitch_yaw": [ 0.09447, -0.0022, 1.5654 ], "tcp_rotation_matrix": [ [ -0.13566, 0.97527, -0.1745 ], [ 0.98819, 0.14587, 0.04698 ], [ 0.07127, -0.16606, -0.98354 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 45 }, "api_seconds": 6.205606843344867, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.94 }, "note": "Fingers now open along x; descending to straddle the drawer front panel top edge." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.39222, -0.56193, -0.34468, -2.31345, -0.11448, 1.63804, -1.58306 ], "gripper_open": 1.0, "tcp_xyz": [ 0.35534, -0.00237, 0.95236 ], "tcp_roll_pitch_yaw": [ 0.06416, -0.00587, 1.55999 ], "tcp_rotation_matrix": [ [ -0.13235, 0.98064, -0.14432 ], [ 0.98869, 0.14097, 0.05123 ], [ 0.07059, -0.1359, -0.9882 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 44 }, "api_seconds": 5.405808959156275, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.95 }, "note": "Gripper lowered around the drawer front's top edge; pushing forward in +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.43062, -0.09187, -0.4466, -1.89201, 0.00983, 1.66856, -1.7158 ], "gripper_open": 0.9971, "tcp_xyz": [ 0.49905, -0.00625, 0.9526 ], "tcp_roll_pitch_yaw": [ 0.05945, -0.00482, 1.55386 ], "tcp_rotation_matrix": [ [ -0.12659, 0.98212, -0.13936 ], [ 0.98956, 0.13479, 0.051 ], [ 0.06888, -0.13145, -0.98893 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 43 }, "api_seconds": 10.009152476675808, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "z": 0.95 }, "note": "Drawer appears mostly closed in exterior view; pushing slightly further to ensure it is fully shut." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.39831, 0.1468, -0.47127, -1.62032, 0.11067, 1.5874, -1.78679 ], "gripper_open": 1.0, "tcp_xyz": [ 0.56085, -0.00688, 0.95444 ], "tcp_roll_pitch_yaw": [ 0.07899, -0.00949, 1.55308 ], "tcp_rotation_matrix": [ [ -0.12454, 0.97947, -0.15853 ], [ 0.98928, 0.13486, 0.05605 ], [ 0.07628, -0.14985, -0.98576 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 42 }, "api_seconds": 8.407885420136154, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "done", "args": { "note": "The drawer front is now flush with the cabinet face in the exterior view; the drawer has been pushed closed." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 009 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 9, "source_episode_index": 255, "house_index": 22, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 9.960262060165405, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "output_tokens": 540 }, "estimated_cost_usd": 0.04929 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUaGLuvGpJcFTLz6Zt5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WPCgLgJpf8MMx5awcdfmcC", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95, "gripper": 0 }, "note": "Drawer with handle visible below in wrist cam; closing gripper and moving forward/down to get a better view before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 540, "output_tokens_details": { "thinking_tokens": 410 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02313, -0.75931, 0.0405, -2.26563, -0.06194, 1.71893, 0.11813 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.36158, -0.00863, 1.06922 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97093, -0.11295, 0.21103 ], [ -0.09642, -0.99152, -0.08708 ], [ 0.21908, 0.0642, -0.97359 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.214137415401638, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95, "gripper": 0 }, "note": "Drawer with handle visible below in wrist cam; closing gripper and moving forward/down to get a better view before pushing." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 010 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 10, "source_episode_index": 377, "house_index": 24, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 15, "api_calls": 16, "wall_seconds": 191.60965275764465, "usage": { "input_tokens": 34, "cache_creation_input_tokens": 16894, "cache_read_input_tokens": 129538, "output_tokens": 7980 }, "estimated_cost_usd": 0.6428995 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUbX8T1fsZzVSvAog5W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DJMsGYHCUmmZHSKPzv6a1m", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1781, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 179, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUc7ApR6jFvypaPKvy4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TXsVGZpoAFJazFW1TVEw1y", "name": "move_to", "input": { "targets": { "z": 1.2, "pitch": -1.0 }, "note": "Gripper points down; raising and tilting to look forward to locate the open cabinet door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 1781, "cache_creation": { "ephemeral_5m_input_tokens": 615, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 790, "output_tokens_details": { "thinking_tokens": 677 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUdDCk4H7N8QSZsiAyu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013BxtRJtoFfKNreBKXA8Y3L", "name": "move_to", "input": { "targets": { "yaw": -0.9 }, "note": "Wooden cabinet face fills wrist view directly ahead; dark region on right may be the open door. Yawing right to inspect." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1288, "cache_read_input_tokens": 2396, "cache_creation": { "ephemeral_5m_input_tokens": 1288, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 447, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUduwwq3CN5gdPLm9bP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MJrhWpbAyykjySmMgqQ4YD", "name": "move_to", "input": { "targets": { "z": 1.45, "pitch": 0.0, "yaw": 0.0, "x": 0.3 }, "note": "Views are confusing; raising the wrist camera high looking straight down to get an overhead map of cabinet and door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 941, "cache_read_input_tokens": 3684, "cache_creation": { "ephemeral_5m_input_tokens": 941, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 466, "output_tokens_details": { "thinking_tokens": 327 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUegNQNxJrEtgwWerGW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018ZX22KjxDbB69EWoVbsDvD", "name": "move_to", "input": { "targets": { "z": 1.18, "pitch": 0.0, "yaw": 0.0, "x": 0.3 }, "note": "z=1.45 out of bounds; look straight down from current height to map the scene." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 957, "cache_read_input_tokens": 4625, "cache_creation": { "ephemeral_5m_input_tokens": 957, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 187, "output_tokens_details": { "thinking_tokens": 59 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUf7EdDaBqwGer4e3hi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HDDcCakoR5E8XVNCrabB9J", "name": "move_to", "input": { "targets": { "z": 0.95, "pitch": -1.3, "x": 0.2 }, "note": "Overhead view unclear. Lowering and looking forward horizontally to see the cabinet front and door at chest height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 5582, "cache_creation": { "ephemeral_5m_input_tokens": 686, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 674, "output_tokens_details": { "thinking_tokens": 544 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUg3wxqKCNDE7DcwSEL", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AYuqSfrSXUoTXin3bPj5d7", "name": "move_to", "input": { "targets": { "z": 1.0, "pitch": -1.1, "x": 0.3 }, "note": "Previous pose unreachable; try a nearer forward-looking pose at z=1.0." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1168, "cache_read_input_tokens": 6268, "cache_creation": { "ephemeral_5m_input_tokens": 1168, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 121, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUgSJN9QVdheGeBbTub", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gfr7vxshWbdPpg6BMZ6cEK", "name": "move_to", "input": { "targets": { "x": 0.285, "y": -0.01, "z": 1.2, "roll": 0.0, "pitch": -1.0, "yaw": 0.0 }, "note": "Return to the earlier reachable forward-looking pose to re-establish a view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 7436, "cache_creation": { "ephemeral_5m_input_tokens": 615, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 254, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUguWj1HReKu6qXBMaa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TgoWcsw6kLKUXwKHMbaERf", "name": "move_to", "input": { "targets": { "yaw": 0.9 }, "note": "Wood panel very close ahead; yaw left to see whether the cabinet body/opening is on the left." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 747, "cache_read_input_tokens": 8051, "cache_creation": { "ephemeral_5m_input_tokens": 747, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 601, "output_tokens_details": { "thinking_tokens": 491 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUhmjSLZrmX72HGyPQG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JAC1qkV5KQdvXX7Rhn1tQg", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.2, "z": 1.15, "pitch": 0.0, "yaw": 0.0 }, "note": "Dark box seen ahead, wood on left. Move right and look down to find the door edge before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1092, "cache_read_input_tokens": 8798, "cache_creation": { "ephemeral_5m_input_tokens": 1092, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1329, "output_tokens_details": { "thinking_tokens": 1186 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUjek4CZYzYwotQAgtS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S7JrL8nnrcm3Lj7pVUQRr3", "name": "move_to", "input": { "targets": { "x": 0.2, "y": 0.1, "z": 1.0, "gripper": 0.0 }, "note": "Dark door with grey handle is at front-left below. Position closed gripper behind the door (robot side) to push it forward toward the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1826, "cache_read_input_tokens": 9890, "cache_creation": { "ephemeral_5m_input_tokens": 1826, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1138, "output_tokens_details": { "thinking_tokens": 992 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUmHJmo2p9Z3XXM2GE4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MY28KxBjn32SFqEXPJtfC3", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.2, "z": 0.93 }, "note": "Door (dark with grey handle) is just left/below the gripper. Sweep forward at y=0.2 to push the door toward the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1629, "cache_read_input_tokens": 11716, "cache_creation": { "ephemeral_5m_input_tokens": 1629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 299, "output_tokens_details": { "thinking_tokens": 162 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUmxDqijyxV7u9kzRWG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019nKsvZA6As1KqaMBboma7d", "name": "move_to", "input": { "targets": { "x": 0.15, "y": 0.0, "z": 1.02 }, "note": "Sweep passed above the door without moving it; retreat back toward the robot at safe height to reposition lower behind the door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 13345, "cache_creation": { "ephemeral_5m_input_tokens": 795, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 904, "output_tokens_details": { "thinking_tokens": 775 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUoi9K98K5KFCAmduzp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A6VWneyN6CTjNPSc57YA8s", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Lower the closed gripper to door-center height behind the door before pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1400, "cache_read_input_tokens": 14140, "cache_creation": { "ephemeral_5m_input_tokens": 1400, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUpFBMcg3dyFuPqjm5g", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MCAC1QoYLsDsXrvWgkjL6H", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 0.82 }, "note": "z=0.78 at x=0.15 unreachable (too close to base); lower at x=0.25 instead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 746, "cache_read_input_tokens": 15540, "cache_creation": { "ephemeral_5m_input_tokens": 746, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 117, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUpdbFHesQz9Nu5ZNmd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013bgU1rt7tLJrCVBUoRF89k", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.0, "z": 0.9 }, "note": "Gripper is just behind the door top edge at center; push forward to swing the door closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 16286, "cache_creation": { "ephemeral_5m_input_tokens": 608, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 101 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.0109, -0.77641, -0.00638, -2.31902, -0.01487, 1.46095, -0.06724 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28518, -0.00891, 1.02125 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99534, 0.05112, -0.08173 ], [ 0.05055, -0.99868, -0.00906 ], [ -0.08209, 0.00489, -0.99661 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 22.419852598570287, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2, "pitch": -1.0 }, "note": "Gripper points down; raising and tilting to look forward to locate the open cabinet door." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.00998, -1.36768, -0.01345, -2.51812, -0.00801, 2.06445, -0.06496 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28518, -0.00891, 1.19924 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.9957, 1e-05 ], "tcp_rotation_matrix": [ [ 0.61026, 0.0237, 0.79184 ], [ 0.05055, -0.99868, -0.00906 ], [ 0.79058, 0.04556, -0.61066 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 8.8077336512506, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.9 }, "note": "Wooden cabinet face fills wrist view directly ahead; dark region on right may be the open door. Yawing right to inspect." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.55845, -1.30692, 0.44617, -2.33915, -0.07649, 1.84363, 0.58692 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2852, -0.00889, 1.19924 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.9957, -0.8953 ], "tcp_rotation_matrix": [ [ 0.42102, -0.76477, 0.48772 ], [ -0.44468, -0.64268, -0.62388 ], [ 0.79057, 0.04579, -0.61066 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 55 }, "api_seconds": 10.40850231423974, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.45, "pitch": 0.0, "yaw": 0.0, "x": 0.3 }, "note": "Views are confusing; raising the wrist camera high looking straight down to get an overhead map of cabinet and door." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.55845, -1.30692, 0.44617, -2.33915, -0.07649, 1.84363, 0.58692 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2852, -0.00889, 1.19924 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.9957, -0.8953 ], "tcp_rotation_matrix": [ [ 0.42102, -0.76477, 0.48772 ], [ -0.44468, -0.64268, -0.62388 ], [ 0.79057, 0.04579, -0.61066 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 54 }, "api_seconds": 4.805221913382411, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.18, "pitch": 0.0, "yaw": 0.0, "x": 0.3 }, "note": "z=1.45 out of bounds; look straight down from current height to map the scene." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.25828, -0.86788, 0.20123, -1.93376, 0.05565, 1.0959, -0.17379 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.21206, 0.02865, 1.17183 ], "tcp_roll_pitch_yaw": [ -0.09661, -0.08503, 0.0315 ], "tcp_rotation_matrix": [ [ 0.99727, 0.07361, 0.00605 ], [ 0.07384, -0.99173, -0.10501 ], [ -0.00173, 0.10517, -0.99445 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 53 }, "api_seconds": 12.41077665798366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "pitch": -1.3, "x": 0.2 }, "note": "Overhead view unclear. Lowering and looking forward horizontally to see the cabinet front and door at chest height." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.25828, -0.86788, 0.20123, -1.93376, 0.05565, 1.0959, -0.17379 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.21206, 0.02865, 1.17183 ], "tcp_roll_pitch_yaw": [ -0.09661, -0.08503, 0.0315 ], "tcp_rotation_matrix": [ [ 0.99727, 0.07361, 0.00605 ], [ 0.07384, -0.99173, -0.10501 ], [ -0.00173, 0.10517, -0.99445 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 52 }, "api_seconds": 5.205172383226454, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0, "pitch": -1.1, "x": 0.3 }, "note": "Previous pose unreachable; try a nearer forward-looking pose at z=1.0." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.25828, -0.86788, 0.20123, -1.93376, 0.05565, 1.0959, -0.17379 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.21206, 0.02865, 1.17183 ], "tcp_roll_pitch_yaw": [ -0.09661, -0.08503, 0.0315 ], "tcp_rotation_matrix": [ [ 0.99727, 0.07361, 0.00605 ], [ 0.07384, -0.99173, -0.10501 ], [ -0.00173, 0.10517, -0.99445 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 51 }, "api_seconds": 5.6054583210498095, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.285, "y": -0.01, "z": 1.2, "roll": 0.0, "pitch": -1.0, "yaw": 0.0 }, "note": "Return to the earlier reachable forward-looking pose to re-establish a view." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.21997, -1.36916, 0.0393, -2.51169, 0.20463, 2.04311, -0.2449 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28465, -0.00979, 1.19975 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.99532, 0.00068 ], "tcp_rotation_matrix": [ [ 0.61056, 0.02375, 0.79161 ], [ 0.0509, -0.99866, -0.0093 ], [ 0.79033, 0.04597, -0.61095 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 50 }, "api_seconds": 11.009096103720367, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.9 }, "note": "Wood panel very close ahead; yaw left to see whether the cabinet body/opening is on the left." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.32443, -1.21097, -0.42691, -2.31449, 0.25193, 1.79077, -0.88686 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28467, -0.00981, 1.19975 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.99533, 0.8953 ], "tcp_rotation_matrix": [ [ 0.34236, 0.794, 0.50234 ], [ 0.50808, -0.60619, 0.61188 ], [ 0.79035, 0.04575, -0.61095 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 49 }, "api_seconds": 24.420327241532505, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.2, "z": 1.15, "pitch": 0.0, "yaw": 0.0 }, "note": "Dark box seen ahead, wood on left. Move right and look down to find the door edge before pushing." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.03002, -0.4856, -0.37239, -1.7288, -0.21595, 1.20536, -0.42081 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30003, -0.19935, 1.15006 ], "tcp_roll_pitch_yaw": [ 0.00116, -0.00286, 0.00283 ], "tcp_rotation_matrix": [ [ 0.99543, 0.05393, -0.07886 ], [ 0.05346, -0.99854, -0.00813 ], [ -0.07918, 0.00388, -0.99685 ] ], "simulated_seconds_remaining": 19.734, "calls_remaining_including_this": 48 }, "api_seconds": 20.63079582620412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.1, "z": 1.0, "gripper": 0.0 }, "note": "Dark door with grey handle is at front-left below. Position closed gripper behind the door (robot side) to push it forward toward the cabinet." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.10916, -1.01891, 0.17476, -2.47816, 0.15849, 1.38842, 0.16437 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20038, 0.09886, 1.00058 ], "tcp_roll_pitch_yaw": [ 0.00106, -0.00286, 0.00298 ], "tcp_rotation_matrix": [ [ 0.99542, 0.05409, -0.07886 ], [ 0.0536, -0.99853, -0.00825 ], [ -0.07919, 0.00398, -0.99685 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 47 }, "api_seconds": 7.606677028350532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.2, "z": 0.93 }, "note": "Door (dark with grey handle) is just left/below the gripper. Sweep forward at y=0.2 to push the door toward the cabinet." } } } ] } } ] }, "execution": { "steps": 42, "motion_seconds": 2.7720000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.03447, 0.14111, 0.32943, -1.69162, -0.02559, 1.74818, 0.31416 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54871, 0.1996, 0.93017 ], "tcp_roll_pitch_yaw": [ 0.00104, -0.00265, 0.00295 ], "tcp_rotation_matrix": [ [ 0.9954, 0.05405, -0.07906 ], [ 0.05357, -0.99853, -0.00826 ], [ -0.07939, 0.00399, -0.99684 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 46 }, "api_seconds": 22.017932262271643, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": 0.0, "z": 1.02 }, "note": "Sweep passed above the door without moving it; retreat back toward the robot at safe height to reposition lower behind the door." } } } ] } } ] }, "execution": { "steps": 50, "motion_seconds": 3.3000000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.00179, -1.19539, 0.0062, -2.49514, -0.00231, 1.22084, -0.05077 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15123, 0.0006, 1.0198 ], "tcp_roll_pitch_yaw": [ 0.00106, -0.00292, 0.00292 ], "tcp_rotation_matrix": [ [ 0.99543, 0.05402, -0.0788 ], [ 0.05354, -0.99853, -0.00824 ], [ -0.07913, 0.00398, -0.99686 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 45 }, "api_seconds": 7.006145164370537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Lower the closed gripper to door-center height behind the door before pushing forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.00179, -1.19539, 0.0062, -2.49514, -0.00231, 1.22084, -0.05077 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15123, 0.0006, 1.0198 ], "tcp_roll_pitch_yaw": [ 0.00106, -0.00292, 0.00292 ], "tcp_rotation_matrix": [ [ 0.99543, 0.05402, -0.0788 ], [ 0.05354, -0.99853, -0.00824 ], [ -0.07913, 0.00398, -0.99686 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 44 }, "api_seconds": 4.404052576981485, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 0.82 }, "note": "z=0.78 at x=0.15 unreachable (too close to base); lower at x=0.25 instead." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.01389, -1.33275, 0.02993, -2.88747, 2e-05, 1.9211, -0.0499 ], "gripper_open": 0.0, "tcp_xyz": [ 0.27092, 0.00656, 0.94322 ], "tcp_roll_pitch_yaw": [ -0.02259, -0.44789, 0.03335 ], "tcp_rotation_matrix": [ [ 0.93106, 0.06746, 0.35859 ], [ 0.07977, -0.99662, -0.01963 ], [ 0.35605, 0.04688, -0.93329 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 43 }, "api_seconds": 14.01058033015579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.0, "z": 0.9 }, "note": "Gripper is just behind the door top edge at center; push forward to swing the door closed." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 011 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 11, "source_episode_index": 142, "house_index": 213, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 7, "api_calls": 7, "wall_seconds": 78.92070627212524, "usage": { "input_tokens": 16, "cache_creation_input_tokens": 8320, "cache_read_input_tokens": 25872, "output_tokens": 3974 }, "estimated_cost_usd": 0.309328 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUcb3cSH5H899Jri9ZL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S3fgjLZWwtLVazyhAZ9LKa", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.25, "pitch": -0.9 }, "note": "Wrist cam is too close to wood surface to see; raising and tilting camera forward to survey the dresser and find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 508, "output_tokens_details": { "thinking_tokens": 365 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUdHZBPAvyTbQP7AzTN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rt727fr4tiyNa3dHNYvh6y", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.15, "pitch": -0.9 }, "note": "Previous z exceeded bounds; raising to z=1.15 and tilting camera forward to survey the dresser." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 995, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 995, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 174, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUdeDPqEjM33M9Y9Q8q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015uB8szFsuA5rpEtCmhsAiY", "name": "move_to", "input": { "targets": { "x": 0.15, "y": 0.0, "z": 1.15, "pitch": -0.4 }, "note": "Wrist view shows a wooden panel edge ahead; pulling back and looking more downward to see the drawer/dresser layout near the robot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 2774, "cache_creation": { "ephemeral_5m_input_tokens": 664, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 685, "output_tokens_details": { "thinking_tokens": 538 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUeaVBzaJnBYVGq5Dz8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UuE7h4ffAWwX8AEUeQdB3L", "name": "move_to", "input": { "targets": { "x": 0.08, "y": 0.0, "z": 1.0, "pitch": -1.2, "gripper": 0 }, "note": "Wrist view shows an open drawer front with handle facing the robot, just ahead. Lowering, closing the gripper and tilting to face forward to prepare to push the drawer front closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1174, "cache_read_input_tokens": 3438, "cache_creation": { "ephemeral_5m_input_tokens": 1174, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1027, "output_tokens_details": { "thinking_tokens": 858 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUft7N77tPQ3sQrLHjn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sb2GH4FJnDEkEW69LAjQzD", "name": "move_to", "input": { "targets": { "x": 0.15, "y": 0.0, "z": 1.0, "pitch": -0.2, "gripper": 0 }, "note": "x=0.08 was unreachable. Lowering at x=0.15 with gripper mostly vertical and closed to see where the drawer front edge is relative to the gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1516, "cache_read_input_tokens": 4612, "cache_creation": { "ephemeral_5m_input_tokens": 1516, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 523, "output_tokens_details": { "thinking_tokens": 359 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUghTgjyQz1NCRdvUpW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WWNaEHhXL2FWw2yphQb8tm", "name": "move_to", "input": { "targets": { "x": 0.18, "y": 0.0, "z": 0.9, "pitch": 0.0, "gripper": 0 }, "note": "Motion stopped short near the drawer top edge. Trying to bring a vertical closed gripper down in front of the drawer face at x=0.18, z=0.9 so I can push it in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1013, "cache_read_input_tokens": 6128, "cache_creation": { "ephemeral_5m_input_tokens": 1013, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 688, "output_tokens_details": { "thinking_tokens": 517 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUhsBs82n36enRgpN8P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0198Ztw6GpBV4PRtj3N1zzsW", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.9, "pitch": 0.0, "gripper": 0 }, "note": "Gripper is now vertical and closed in front of the drawer at x=0.18. Pushing forward in +x to press the drawer front closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1179, "cache_read_input_tokens": 7141, "cache_creation": { "ephemeral_5m_input_tokens": 1179, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 369, "output_tokens_details": { "thinking_tokens": 215 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02168, -0.82451, 0.02932, -2.39214, 0.05573, 1.54333, -0.13116 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28842, 0.02878, 1.00778 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98476, 0.17198, -0.02591 ], [ 0.17279, -0.9844, 0.03313 ], [ -0.01981, -0.03711, -0.99912 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.607607211917639, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.25, "pitch": -0.9 }, "note": "Wrist cam is too close to wood surface to see; raising and tilting camera forward to survey the dresser and find the open drawer." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02168, -0.82451, 0.02932, -2.39214, 0.05573, 1.54333, -0.13116 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28842, 0.02878, 1.00778 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98476, 0.17198, -0.02591 ], [ 0.17279, -0.9844, 0.03313 ], [ -0.01981, -0.03711, -0.99912 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 4.404760016128421, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.15, "pitch": -0.9 }, "note": "Previous z exceeded bounds; raising to z=1.15 and tilting camera forward to survey the dresser." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00872, -1.53931, -0.02085, -2.64593, 0.01475, 1.97641, -0.19029 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25017, 0.00013, 1.14937 ], "tcp_roll_pitch_yaw": [ 5e-05, -0.89585, -3e-05 ], "tcp_rotation_matrix": [ [ 0.6308, 0.13644, 0.76386 ], [ 0.17277, -0.9844, 0.03316 ], [ 0.75647, 0.11106, -0.64453 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 12.212776735424995, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": 0.0, "z": 1.15, "pitch": -0.4 }, "note": "Wrist view shows a wooden panel edge ahead; pulling back and looking more downward to see the drawer/dresser layout near the robot." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00884, -1.33549, -0.01977, -2.27194, 0.01422, 1.31491, -0.1733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.15094, 0.0, 1.15003 ], "tcp_roll_pitch_yaw": [ 7e-05, -0.40442, -4e-05 ], "tcp_rotation_matrix": [ [ 0.91312, 0.17269, 0.36932 ], [ 0.17275, -0.98441, 0.03318 ], [ 0.36929, 0.0335, -0.92871 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 17.613648667931557, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.08, "y": 0.0, "z": 1.0, "pitch": -1.2, "gripper": 0 }, "note": "Wrist view shows an open drawer front with handle facing the robot, just ahead. Lowering, closing the gripper and tilting to face forward to prepare to push the drawer front closed." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00884, -1.33549, -0.01977, -2.27194, 0.01422, 1.31491, -0.1733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.15094, 0.0, 1.15003 ], "tcp_roll_pitch_yaw": [ 7e-05, -0.40442, -4e-05 ], "tcp_rotation_matrix": [ [ 0.91312, 0.17269, 0.36932 ], [ 0.17275, -0.98441, 0.03318 ], [ 0.36929, 0.0335, -0.92871 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 53 }, "api_seconds": 10.608479555696249, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": 0.0, "z": 1.0, "pitch": -0.2, "gripper": 0 }, "note": "x=0.08 was unreachable. Lowering at x=0.15 with gripper mostly vertical and closed to see where the drawer front edge is relative to the gripper." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00349, -1.48498, -0.02494, -2.66085, 0.01017, 1.90567, -0.17613 ], "gripper_open": 0.0027, "tcp_xyz": [ 0.2552, -0.00232, 1.10958 ], "tcp_roll_pitch_yaw": [ 0.01093, -0.75538, -0.02256 ], "tcp_rotation_matrix": [ [ 0.73291, 0.13579, 0.66663 ], [ 0.1565, -0.98725, 0.02903 ], [ 0.66208, 0.08306, -0.74482 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 52 }, "api_seconds": 15.211903180927038, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.18, "y": 0.0, "z": 0.9, "pitch": 0.0, "gripper": 0 }, "note": "Motion stopped short near the drawer top edge. Trying to bring a vertical closed gripper down in front of the drawer face at x=0.18, z=0.9 so I can push it in +x." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00424, -1.3097, -0.03778, -2.86011, 0.00778, 1.52775, -0.16431 ], "gripper_open": 0.0, "tcp_xyz": [ 0.18031, -1e-05, 0.90073 ], "tcp_roll_pitch_yaw": [ 0.01093, -0.00275, -0.02255 ], "tcp_rotation_matrix": [ [ 0.98846, 0.14988, -0.02217 ], [ 0.15074, -0.98757, 0.04456 ], [ -0.01521, -0.04739, -0.99876 ] ], "simulated_seconds_remaining": 24.42, "calls_remaining_including_this": 51 }, "api_seconds": 7.405831224285066, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.9, "pitch": 0.0, "gripper": 0 }, "note": "Gripper is now vertical and closed in front of the drawer at x=0.18. Pushing forward in +x to press the drawer front closed." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 012 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 12, "source_episode_index": 148, "house_index": 216, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 12, "api_calls": 13, "wall_seconds": 132.60425066947937, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 13860, "cache_read_input_tokens": 81857, "output_tokens": 7040 }, "estimated_cost_usd": 0.54599425 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUk2V1Vmh7LZbomER5s", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B722WjdMqDrX85jfUX6eDz", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 139, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUkJDoUNgdmGiFcBU7N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015c6zSjyt3BDtSA35XP1pCq", "name": "move_to", "input": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Drawer front with knob visible below gripper; closing gripper and lowering to get in front of the drawer face before pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 571, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 571, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 557, "output_tokens_details": { "thinking_tokens": 433 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUm4jUhfjzq65xzQtj4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011AxVpmjircuVEAkRgARsPV", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Drawer face and knobs visible below; lowering further to reach drawer front height before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1046, "cache_read_input_tokens": 2348, "cache_creation": { "ephemeral_5m_input_tokens": 1046, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 528, "output_tokens_details": { "thinking_tokens": 423 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUmnbu15rgHnbHX9Kxm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DqeS1CMJn6vaWNBJqh7hy7", "name": "move_to", "input": { "targets": { "x": 0.15, "z": 0.88, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Descent was blocked (likely resting on drawer top edge). Retreating up and backward toward robot to get in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1016, "cache_read_input_tokens": 3394, "cache_creation": { "ephemeral_5m_input_tokens": 1016, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 526, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUnyncc5Hwo4wjZAuUQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LGnAzDvjDu5Pd6z5kydm8j", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Now back from the drawer; lowering to drawer-face height so I can push it forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1015, "cache_read_input_tokens": 4410, "cache_creation": { "ephemeral_5m_input_tokens": 1015, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 352, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUoRaAFQYNyoAihaEMq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Azpyfidq7pVpZchfbkNN6B", "name": "move_to", "input": { "targets": { "x": 0.2, "z": 0.8, "pitch": -1.0 }, "note": "Vertical gripper unreachable low near base; tilting gripper to point forward-down and lowering to drawer face level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 5425, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 306 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUp1wsUhE97VnKAmgNQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PR8XUae4qRj79teF7dKLH5", "name": "move_to", "input": { "targets": { "pitch": -0.5 }, "note": "IK failed; try smaller change first — tilt the gripper forward while staying at the current position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 926, "cache_read_input_tokens": 6266, "cache_creation": { "ephemeral_5m_input_tokens": 926, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 349, "output_tokens_details": { "thinking_tokens": 243 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUpXHV3Zj7QFLhZLHQ7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NdQtoTsxGCwRnKYML3rj8b", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.92 }, "note": "Arm is cramped near joint limits; move forward and up to a less constrained pose before re-orienting." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 838, "cache_read_input_tokens": 7192, "cache_creation": { "ephemeral_5m_input_tokens": 838, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 165, "output_tokens_details": { "thinking_tokens": 49 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUpomRocuqAh9oYtuF5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017b3QBpRbwswhZYXuvbwdav", "name": "move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Reorient gripper to point forward-down so I can view the drawer face from the front and push it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 653, "cache_read_input_tokens": 8030, "cache_creation": { "ephemeral_5m_input_tokens": 653, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 431, "output_tokens_details": { "thinking_tokens": 325 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUqQUywoHdUKd9xKjc7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PRc56ryhUg1ucNTFf92Ehc", "name": "move_to", "input": { "targets": { "z": 1.08, "pitch": 0 }, "note": "The scene appears to be a table lying on its back with drawers facing up. Raising the gripper to get an overview of which drawer protrudes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 919, "cache_read_input_tokens": 8683, "cache_creation": { "ephemeral_5m_input_tokens": 919, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1566, "output_tokens_details": { "thinking_tokens": 1439 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUsDSG4PaG2svmXCs7p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Te9B86PdBTg9cgpd86nBFJ", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.86 }, "note": "Yellow handle of the protruding drawer is directly under the gripper; descend to just above it to press the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2060, "cache_read_input_tokens": 9602, "cache_creation": { "ephemeral_5m_input_tokens": 2060, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 916, "output_tokens_details": { "thinking_tokens": 795 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUtPKrb1YhgD18GJNVq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LkxG3dKdhih6ZkQNu7hvRE", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Testing whether pushing down here moves the drawer; watching for z progress and contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1406, "cache_read_input_tokens": 11662, "cache_creation": { "ephemeral_5m_input_tokens": 1406, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 299, "output_tokens_details": { "thinking_tokens": 197 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUtrfAk9kf23wMfFgwe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FRrNBM94afdAeXmGhxLm1d", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.15, "z": 0.95, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Blocked again at z≈0.84 on a rigid surface. Shifting to the right side to inspect the dark panel and identify the raised drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 792, "cache_read_input_tokens": 13068, "cache_creation": { "ephemeral_5m_input_tokens": 792, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 775, "output_tokens_details": { "thinking_tokens": 613 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.018, -0.7546, 0.06852, -2.45221, -0.1155, 1.49318, 0.06849 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26958, -0.01037, 0.96145 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9813, 0.01456, -0.19195 ], [ -0.01939, -0.98459, -0.17381 ], [ -0.19152, 0.17428, -0.96589 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 14.216531520709395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Drawer front with knob visible below gripper; closing gripper and lowering to get in front of the drawer face before pushing forward." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.01999, -0.73807, 0.0689, -2.70703, -0.11833, 1.7839, 0.11096 ], "gripper_open": 0.0, "tcp_xyz": [ 0.2747, -0.01114, 0.85829 ], "tcp_roll_pitch_yaw": [ 0.00011, -0.02266, -0.00393 ], "tcp_rotation_matrix": [ [ 0.9853, 0.00675, -0.1707 ], [ -0.02324, -0.98464, -0.17304 ], [ -0.16925, 0.17446, -0.97001 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 56 }, "api_seconds": 9.208527469076216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Drawer face and knobs visible below; lowering further to reach drawer front height before pushing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ 0.00303, -0.77966, 0.07069, -2.85718, -0.14098, 2.21117, 0.25482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.33614, -0.00807, 0.83571 ], "tcp_roll_pitch_yaw": [ 0.03603, -0.35644, -0.09825 ], "tcp_rotation_matrix": [ [ 0.98067, -0.13171, 0.14473 ], [ -0.1092, -0.98204, -0.15384 ], [ 0.16239, 0.13506, -0.97744 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 55 }, "api_seconds": 15.8138073887676, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 0.88, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Descent was blocked (likely resting on drawer top edge). Retreating up and backward toward robot to get in front of the drawer face." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.09861, -1.23421, 0.06758, -2.87202, -0.08856, 1.42718, 0.11387 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15106, -0.00805, 0.87979 ], "tcp_roll_pitch_yaw": [ 0.00011, -0.00219, -0.00045 ], "tcp_rotation_matrix": [ [ 0.9817, 0.01374, -0.18991 ], [ -0.0198, -0.98461, -0.17362 ], [ -0.18938, 0.1742, -0.96633 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 54 }, "api_seconds": 5.805493824183941, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Now back from the drawer; lowering to drawer-face height so I can push it forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.09861, -1.23421, 0.06758, -2.87202, -0.08856, 1.42718, 0.11387 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15106, -0.00805, 0.87979 ], "tcp_roll_pitch_yaw": [ 0.00011, -0.00219, -0.00045 ], "tcp_rotation_matrix": [ [ 0.9817, 0.01374, -0.18991 ], [ -0.0198, -0.98461, -0.17362 ], [ -0.18938, 0.1742, -0.96633 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 53 }, "api_seconds": 8.007069640792906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.8, "pitch": -1.0 }, "note": "Vertical gripper unreachable low near base; tilting gripper to point forward-down and lowering to drawer face level." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ 0.09861, -1.23421, 0.06758, -2.87202, -0.08856, 1.42718, 0.11387 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15106, -0.00805, 0.87979 ], "tcp_roll_pitch_yaw": [ 0.00011, -0.00219, -0.00045 ], "tcp_rotation_matrix": [ [ 0.9817, 0.01374, -0.18991 ], [ -0.0198, -0.98461, -0.17362 ], [ -0.18938, 0.1742, -0.96633 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 52 }, "api_seconds": 6.606347699649632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "IK failed; try smaller change first — tilt the gripper forward while staying at the current position." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ 0.09861, -1.23421, 0.06758, -2.87202, -0.08856, 1.42718, 0.11387 ], "gripper_open": 0.0, "tcp_xyz": [ 0.15106, -0.00805, 0.87979 ], "tcp_roll_pitch_yaw": [ 0.00011, -0.00219, -0.00045 ], "tcp_rotation_matrix": [ [ 0.9817, 0.01374, -0.18991 ], [ -0.0198, -0.98461, -0.17362 ], [ -0.18938, 0.1742, -0.96633 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 51 }, "api_seconds": 3.603619322180748, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.92 }, "note": "Arm is cramped near joint limits; move forward and up to a less constrained pose before re-orienting." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ 0.0485, -0.65803, 0.0454, -2.497, -0.1307, 1.6318, 0.10624 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29869, -0.00805, 0.91965 ], "tcp_roll_pitch_yaw": [ 0.00013, -0.00215, -0.00047 ], "tcp_rotation_matrix": [ [ 0.9817, 0.01373, -0.18996 ], [ -0.01982, -0.98462, -0.1736 ], [ -0.18942, 0.17419, -0.96632 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 50 }, "api_seconds": 7.806485189124942, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Reorient gripper to point forward-down so I can view the drawer face from the front and push it." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ 0.05884, -1.24306, 0.06268, -2.93938, -0.17131, 2.07225, 0.19998 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29864, -0.00806, 0.91964 ], "tcp_roll_pitch_yaw": [ 5e-05, -0.59577, -0.00044 ], "tcp_rotation_matrix": [ [ 0.9197, -0.08615, 0.38305 ], [ -0.01978, -0.98456, -0.17393 ], [ 0.39212, 0.15239, -0.9072 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 49 }, "api_seconds": 24.024890329688787, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08, "pitch": 0 }, "note": "The scene appears to be a table lying on its back with drawers facing up. Raising the gripper to get an overview of which drawer protrudes." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ 0.03408, -0.59072, 0.05597, -2.03924, -0.13518, 1.24676, 0.05048 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29873, -0.00807, 1.07915 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.0034, -0.00042 ], "tcp_rotation_matrix": [ [ 0.98193, 0.01356, -0.18874 ], [ -0.01979, -0.9846, -0.1737 ], [ -0.18818, 0.1743, -0.96654 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 48 }, "api_seconds": 15.415401103906333, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.86 }, "note": "Yellow handle of the protruding drawer is directly under the gripper; descend to just above it to press the drawer closed." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.04363, -0.62637, 0.04868, -2.62507, -0.13344, 1.79136, 0.12614 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29994, -0.00808, 0.86126 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00309, -0.00044 ], "tcp_rotation_matrix": [ [ 0.98187, 0.0136, -0.18904 ], [ -0.01982, -0.98459, -0.17374 ], [ -0.18849, 0.17434, -0.96648 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 47 }, "api_seconds": 6.205922125838697, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Testing whether pushing down here moves the drawer; watching for z progress and contact." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ 0.03028, -0.66265, 0.04385, -2.74534, -0.15281, 2.10816, 0.19075 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34264, -0.0072, 0.83947 ], "tcp_roll_pitch_yaw": [ 0.02056, -0.24065, -0.02967 ], "tcp_rotation_matrix": [ [ 0.99785, -0.05186, 0.04001 ], [ -0.04507, -0.98686, -0.15517 ], [ 0.04753, 0.15304, -0.98708 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 46 }, "api_seconds": 12.813790446147323, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.15, "z": 0.95, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Blocked again at z≈0.84 on a rigid surface. Shifting to the right side to inspect the dark panel and identify the raised drawer." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 013 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 13, "source_episode_index": 197, "house_index": 217, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 3, "api_calls": 3, "wall_seconds": 20.206417083740234, "usage": { "input_tokens": 8, "cache_creation_input_tokens": 3577, "cache_read_input_tokens": 4413, "output_tokens": 939 }, "estimated_cost_usd": 0.09284575 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUsQSJbytN4VUrcGUdw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0114xE6o7MsJdwGKvBpDsY7R", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.85 }, "note": "Initial view unclear; the dresser appears below/forward. Move forward and down to get a better look at the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 360, "output_tokens_details": { "thinking_tokens": 233 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUsya7rD2BG6j2J1aLQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NsswpyjjVdJHjAoyAvLBne", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.95, "pitch": -1.0 }, "note": "Can't locate the dresser clearly; tilt the wrist camera to look forward to survey the scene." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 853, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 453, "output_tokens_details": { "thinking_tokens": 319 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUtdPhPGAgXhcxbWxXB", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BedY7QEmYUVuQvpkGUXgFW", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 0.9, "pitch": 0.6 }, "note": "Pitch -1.0 unreachable; try tilting the other way to look forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 944, "cache_read_input_tokens": 2633, "cache_creation": { "ephemeral_5m_input_tokens": 944, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 126, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01329, -0.79374, -0.03085, -2.27305, 0.10982, 1.48699, 0.14051 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.2975, 0.0239, 1.05147 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99035, -0.13835, 0.00798 ], [ -0.13819, -0.9817, 0.13099 ], [ -0.01029, -0.13083, -0.99135 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.206144163385034, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.85 }, "note": "Initial view unclear; the dresser appears below/forward. Move forward and down to get a better look at the drawer." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01634, -0.2893, -0.07352, -2.40275, 0.12914, 2.11109, 0.01857 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44912, 0.00011, 0.851 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.0003, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99034, -0.13842, 0.00769 ], [ -0.13823, -0.9817, 0.13102 ], [ -0.01059, -0.13082, -0.99135 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 56 }, "api_seconds": 8.809112029150128, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.95, "pitch": -1.0 }, "note": "Can't locate the dresser clearly; tilt the wrist camera to look forward to survey the scene." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01634, -0.2893, -0.07352, -2.40275, 0.12914, 2.11109, 0.01857 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44912, 0.00011, 0.851 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.0003, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99034, -0.13842, 0.00769 ], [ -0.13823, -0.9817, 0.13102 ], [ -0.01059, -0.13082, -0.99135 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 55 }, "api_seconds": 3.8037970177829266, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 0.9, "pitch": 0.6 }, "note": "Pitch -1.0 unreachable; try tilting the other way to look forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 014 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 14, "source_episode_index": 222, "house_index": 218, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 8, "api_calls": 8, "wall_seconds": 51.51968431472778, "usage": { "input_tokens": 18, "cache_creation_input_tokens": 7237, "cache_read_input_tokens": 30571, "output_tokens": 2127 }, "estimated_cost_usd": 0.20463525 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUvfBAXvGiGcR7MesVk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AxSCKxFsJ2PUWL1CT9HFSE", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.05, "pitch": -1.3 }, "note": "Gripper points down; tilting it forward to view the dresser and locate the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 654, "output_tokens_details": { "thinking_tokens": 525 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUwVFtFuBo7w8a52ra7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hcxd42173wdnHG4tu2PHBY", "name": "move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Full tilt was unreachable; try a smaller forward tilt to see the dresser." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1143, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 1143, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 116, "output_tokens_details": { "thinking_tokens": 13 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUwoRY9uwWYSxZ7YXsk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EVpxpocLRyFpGq7YVCwWYo", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.1, "z": 1.0, "pitch": -1.1 }, "note": "Wrist view shows dresser side at left; move forward and tilt more to see the drawer fronts." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 2921, "cache_creation": { "ephemeral_5m_input_tokens": 607, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 414, "output_tokens_details": { "thinking_tokens": 281 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUxRuzhNwSdpLKnucgN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LZr3iciV8V8WpqzmSGZK16", "name": "move_to", "input": { "targets": { "gripper": 0, "x": 0.5 }, "note": "Wrist view shows the open drawer front directly ahead; close gripper to push with it and advance a bit." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 905, "cache_read_input_tokens": 3528, "cache_creation": { "ephemeral_5m_input_tokens": 905, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 414, "output_tokens_details": { "thinking_tokens": 297 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUy6DMeCHAJBmhCa2gZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XtoDsPNJt9m5rTpokWy8Dy", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Gripper closed and near the drawer front; push forward along +x to close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 905, "cache_read_input_tokens": 4433, "cache_creation": { "ephemeral_5m_input_tokens": 905, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 140, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUyTfwCXwuQjZuBVwnL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019dcCXbvpLUJoCnHXXEqpiK", "name": "move_to", "input": { "targets": { "x": 0.7 }, "note": "Drawer appears to be moving in; keep pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 5338, "cache_creation": { "ephemeral_5m_input_tokens": 631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 144, "output_tokens_details": { "thinking_tokens": 49 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUyrCX8L3BxvCQHdXGj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rr2gWxjkoUxyP2M9f6StYY", "name": "move_to", "input": { "targets": { "x": 0.78 }, "note": "Drawer looks nearly flush; push a little further to ensure it's fully closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 5969, "cache_creation": { "ephemeral_5m_input_tokens": 635, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 144, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUzBgnYMZtydEGBntm6", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JJ2EU7vTGdWLz9msZ9gt91", "name": "move_to", "input": { "targets": { "x": 0.74 }, "note": "Large jump rejected; take a smaller forward step to finish pushing the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 6604, "cache_creation": { "ephemeral_5m_input_tokens": 633, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 101, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.0016, -0.76516, 0.07388, -2.31201, 0.1179, 1.60127, 0.04151 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32228, 0.05443, 1.03255 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99866, 0.01601, 0.04913 ], [ 0.01257, -0.9975, 0.06952 ], [ 0.05012, -0.06881, -0.99637 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.210153685882688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.05, "pitch": -1.3 }, "note": "Gripper points down; tilting it forward to view the dresser and locate the open drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.0016, -0.76516, 0.07388, -2.31201, 0.1179, 1.60127, 0.04151 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32228, 0.05443, 1.03255 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99866, 0.01601, 0.04913 ], [ 0.01257, -0.9975, 0.06952 ], [ 0.05012, -0.06881, -0.99637 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.6036159861832857, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Full tilt was unreachable; try a smaller forward tilt to see the dresser." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.03419, -1.3785, 0.11734, -2.87101, 0.14748, 2.24128, 0.01567 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32224, 0.05445, 1.03248 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.6956, 0.0001 ], "tcp_rotation_matrix": [ [ 0.73453, 0.05643, 0.67623 ], [ 0.01264, -0.9975, 0.06951 ], [ 0.67846, -0.04251, -0.7334 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 8.008790108375251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.1, "z": 1.0, "pitch": -1.1 }, "note": "Wrist view shows dresser side at left; move forward and tilt more to see the drawer fronts." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00531, -0.83653, 0.33607, -3.0086, 0.21618, 3.32606, 0.09659 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44914, 0.09961, 0.99998 ], "tcp_roll_pitch_yaw": [ -0.00065, -1.09628, 0.00038 ], "tcp_rotation_matrix": [ [ 0.41172, 0.06832, 0.90875 ], [ 0.01275, -0.99752, 0.06922 ], [ 0.91122, -0.01691, -0.41157 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 8.607952321879566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "x": 0.5 }, "note": "Wrist view shows the open drawer front directly ahead; close gripper to push with it and advance a bit." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.05583, -0.61584, 0.33751, -2.88113, 0.18975, 3.4233, 0.07222 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49891, 0.0996, 0.99996 ], "tcp_roll_pitch_yaw": [ -0.0006, -1.09622, 0.0003 ], "tcp_rotation_matrix": [ [ 0.41178, 0.06829, 0.90872 ], [ 0.01272, -0.99752, 0.0692 ], [ 0.91119, -0.01693, -0.41163 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 53 }, "api_seconds": 4.406793746165931, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Gripper closed and near the drawer front; push forward along +x to close the drawer." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.23581, -0.2732, 0.45354, -2.59673, 0.1948, 3.48968, -0.00422 ], "gripper_open": 0.0, "tcp_xyz": [ 0.59872, 0.09957, 0.99995 ], "tcp_roll_pitch_yaw": [ -0.00063, -1.09615, 0.00026 ], "tcp_rotation_matrix": [ [ 0.41184, 0.06822, 0.9087 ], [ 0.0127, -0.99753, 0.06913 ], [ 0.91117, -0.01693, -0.41169 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 52 }, "api_seconds": 4.804510796442628, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7 }, "note": "Drawer appears to be moving in; keep pushing forward." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.44299, 0.07355, 0.76417, -2.20044, 0.77019, 3.49445, -0.66511 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.69879, 0.09963, 1.00011 ], "tcp_roll_pitch_yaw": [ 0.00014, -1.09649, -0.00043 ], "tcp_rotation_matrix": [ [ 0.41153, 0.06822, 0.90884 ], [ 0.01238, -0.99752, 0.06927 ], [ 0.91131, -0.01725, -0.41135 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 51 }, "api_seconds": 4.404233769513667, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.78 }, "note": "Drawer looks nearly flush; push a little further to ensure it's fully closed." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.44299, 0.07355, 0.76417, -2.20044, 0.77019, 3.49445, -0.66511 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.69879, 0.09963, 1.00011 ], "tcp_roll_pitch_yaw": [ 0.00014, -1.09649, -0.00043 ], "tcp_rotation_matrix": [ [ 0.41153, 0.06822, 0.90884 ], [ 0.01238, -0.99752, 0.06927 ], [ 0.91131, -0.01725, -0.41135 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 50 }, "api_seconds": 4.003353800624609, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.74 }, "note": "Large jump rejected; take a smaller forward step to finish pushing the drawer." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 015 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 15, "source_episode_index": 239, "house_index": 219, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 9, "api_calls": 9, "wall_seconds": 73.67213463783264, "usage": { "input_tokens": 20, "cache_creation_input_tokens": 8739, "cache_read_input_tokens": 38615, "output_tokens": 3209 }, "estimated_cost_usd": 0.27954125 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUwQFm51rgWxWABW4co", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019dssgz5VMG9oCeSUUxagms", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 0.9, "gripper": 0 }, "note": "Drawer appears pulled out below the gripper; move lower and forward to get a better view, closing gripper to use as a pusher." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 431, "output_tokens_details": { "thinking_tokens": 299 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUx8eBbTtRDtH5poS42", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HKLXoqtrByouNuhK3J2X4h", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 0.75 }, "note": "Drawer front with handles visible below gripper; move back and down to position closed gripper in front of the drawer face to push it in." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 925, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 925, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 475, "output_tokens_details": { "thinking_tokens": 353 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUxneg875XmSdUvw2mu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BvELgxnpCKebiZcFdYdoPV", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.8 }, "note": "Previous target unreachable; try a slightly less extreme pose in front of and below the drawer top edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 967, "cache_read_input_tokens": 2705, "cache_creation": { "ephemeral_5m_input_tokens": 967, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 195, "output_tokens_details": { "thinking_tokens": 79 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUyFHZW1iWU1nGhmC1h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K8jb3aqt2A7REzBgsyRZS6", "name": "move_to", "input": { "targets": { "x": 0.28, "z": 0.8, "pitch": -1.0 }, "note": "Gripper seems to be resting on the drawer top edge; tilt fingers forward and pull back so the fingertips can push the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 3672, "cache_creation": { "ephemeral_5m_input_tokens": 686, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 484, "output_tokens_details": { "thinking_tokens": 346 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUyv6vmmXD4hESjxrDp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DEHWNhyDxKHe1hHJA4fR5E", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 0.85, "pitch": -0.7 }, "note": "IK failed for large change; make an intermediate move tilting the fingers forward while lifting slightly off the drawer edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 975, "cache_read_input_tokens": 4358, "cache_creation": { "ephemeral_5m_input_tokens": 975, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 110 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUzRTX8S596NTr6eJDY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UERoyY9gKRoh5iBe87XR2n", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "pitch": 0.0 }, "note": "Reachability is tight low near base; first lift and retract above the drawer, then plan a descent in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 5333, "cache_creation": { "ephemeral_5m_input_tokens": 733, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 271, "output_tokens_details": { "thinking_tokens": 140 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezUzx9EiXND63EBghnGq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NLZUi8FNQKG5LifvzYL4u8", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.85 }, "note": "Above and behind the drawer face now; descend straight down to get the gripper in front of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 6066, "cache_creation": { "ephemeral_5m_input_tokens": 768, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 541, "output_tokens_details": { "thinking_tokens": 426 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV1ptT7Xbqd4xTjRxHk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011LTZAHauMMn69mBuPRD3a1", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Drawer front still below the fingertips in both views; continue descending in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1033, "cache_read_input_tokens": 6834, "cache_creation": { "ephemeral_5m_input_tokens": 1033, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 380, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV2Tv9pPdDXsWFDGS7v", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JLCQwdzy8djme115k5ahRy", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Gripper now at drawer-face height in front of the open drawer; push forward in +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 872, "cache_read_input_tokens": 7867, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 190, "output_tokens_details": { "thinking_tokens": 78 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.0231, -0.76184, -0.02225, -2.28698, 0.04608, 1.46825, 0.13685 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29429, 0.01265, 1.03238 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99021, -0.12719, -0.05746 ], [ -0.1237, -0.99046, 0.06073 ], [ -0.06463, -0.05303, -0.9965 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.408724981360137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.9, "gripper": 0 }, "note": "Drawer appears pulled out below the gripper; move lower and forward to get a better view, closing gripper to use as a pusher." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.0269, -0.44254, -0.02688, -2.39489, 0.05212, 1.89503, 0.11089 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39925, 0.01266, 0.90122 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.00033, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99024, -0.12716, -0.05713 ], [ -0.12369, -0.99046, 0.0607 ], [ -0.0643, -0.05305, -0.99652 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 8.809594013728201, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 0.75 }, "note": "Drawer front with handles visible below gripper; move back and down to position closed gripper in front of the drawer face to push it in." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.0269, -0.44254, -0.02688, -2.39489, 0.05212, 1.89503, 0.11089 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39925, 0.01266, 0.90122 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.00033, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99024, -0.12716, -0.05713 ], [ -0.12369, -0.99046, 0.0607 ], [ -0.0643, -0.05305, -0.99652 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 55 }, "api_seconds": 5.605156593956053, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.8 }, "note": "Previous target unreachable; try a slightly less extreme pose in front of and below the drawer top edge." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02585, -0.69784, -0.01854, -2.83205, 0.04976, 2.37008, 0.10046 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37563, 0.01121, 0.83879 ], "tcp_roll_pitch_yaw": [ -0.01114, -0.29338, -0.00279 ], "tcp_rotation_matrix": [ [ 0.96584, -0.11238, 0.23349 ], [ -0.12711, -0.99068, 0.04898 ], [ 0.22581, -0.07698, -0.97112 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 54 }, "api_seconds": 9.008177635259926, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "z": 0.8, "pitch": -1.0 }, "note": "Gripper seems to be resting on the drawer top edge; tilt fingers forward and pull back so the fingertips can push the drawer face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02585, -0.69784, -0.01854, -2.83205, 0.04976, 2.37008, 0.10046 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37563, 0.01121, 0.83879 ], "tcp_roll_pitch_yaw": [ -0.01114, -0.29338, -0.00279 ], "tcp_rotation_matrix": [ [ 0.96584, -0.11238, 0.23349 ], [ -0.12711, -0.99068, 0.04898 ], [ 0.22581, -0.07698, -0.97112 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 53 }, "api_seconds": 6.8060439471155405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.85, "pitch": -0.7 }, "note": "IK failed for large change; make an intermediate move tilting the fingers forward while lifting slightly off the drawer edge." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02585, -0.69784, -0.01854, -2.83205, 0.04976, 2.37008, 0.10046 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37563, 0.01121, 0.83879 ], "tcp_roll_pitch_yaw": [ -0.01114, -0.29338, -0.00279 ], "tcp_rotation_matrix": [ [ 0.96584, -0.11238, 0.23349 ], [ -0.12711, -0.99068, 0.04898 ], [ 0.22581, -0.07698, -0.97112 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 52 }, "api_seconds": 6.606691672466695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "pitch": 0.0 }, "note": "Reachability is tight low near base; first lift and retract above the drawer, then plan a descent in front of the drawer face." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01892, -0.78544, -0.01719, -2.51542, 0.03826, 1.67554, 0.13112 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30069, 0.01121, 0.94923 ], "tcp_roll_pitch_yaw": [ -0.01112, -0.00265, -0.00281 ], "tcp_rotation_matrix": [ [ 0.99002, -0.12986, -0.05467 ], [ -0.12719, -0.99063, 0.0498 ], [ -0.06062, -0.04235, -0.99726 ] ], "simulated_seconds_remaining": 26.136, "calls_remaining_including_this": 51 }, "api_seconds": 11.610873134806752, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.85 }, "note": "Above and behind the drawer face now; descend straight down to get the gripper in front of the drawer front." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01873, -0.75938, -0.01763, -2.75114, 0.04072, 1.93683, 0.11971 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29995, 0.01121, 0.85119 ], "tcp_roll_pitch_yaw": [ -0.01112, -0.00236, -0.0028 ], "tcp_rotation_matrix": [ [ 0.99001, -0.12987, -0.05497 ], [ -0.12718, -0.99063, 0.0498 ], [ -0.06092, -0.04231, -0.99725 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 50 }, "api_seconds": 8.207617927342653, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Drawer front still below the fingertips in both views; continue descending in front of the drawer face." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02438, -0.59763, -0.02108, -2.92374, 0.05016, 2.27054, 0.10297 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29987, 0.01121, 0.7512 ], "tcp_roll_pitch_yaw": [ -0.01112, -0.00198, -0.00278 ], "tcp_rotation_matrix": [ [ 0.98999, -0.12987, -0.05534 ], [ -0.12717, -0.99063, 0.0498 ], [ -0.06129, -0.04226, -0.99722 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 49 }, "api_seconds": 5.2048409730196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Gripper now at drawer-face height in front of the open drawer; push forward in +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 016 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 16, "source_episode_index": 306, "house_index": 220, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 2, "wall_seconds": 21.158891677856445, "usage": { "input_tokens": 6, "cache_creation_input_tokens": 2653, "cache_read_input_tokens": 1779, "output_tokens": 727 }, "estimated_cost_usd": 0.07001725 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV29Rv6fK62S7uGy1nQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tn5UUSDjHt5DYC4oqppf1Q", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Open drawer visible below gripper in wrist cam; lowering to get closer view of drawer front and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 382, "output_tokens_details": { "thinking_tokens": 272 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV2nDVeVdDZnyvrrCVz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VDfv8Te5NZiKANmwp6HoBc", "name": "move_to", "input": { "targets": { "z": 0.7, "x": 0.4 }, "note": "Wrist view shows drawer edge below; moving lower and slightly forward to locate the drawer front relative to gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 874, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 874, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 345, "output_tokens_details": { "thinking_tokens": 223 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.01714, -0.73634, -0.00087, -2.37236, -0.03327, 1.64941, -0.05244 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32877, -0.01436, 0.99917 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99924, 0.03682, 0.01284 ], [ 0.03723, -0.99877, -0.03281 ], [ 0.01161, 0.03326, -0.99938 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.60694394633174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Open drawer visible below gripper in wrist cam; lowering to get closer view of drawer front and handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.0184, -0.71119, -0.0035, -2.73612, -0.03901, 2.03784, -0.04077 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32872, -0.01436, 0.85122 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00032, -0.0 ], "tcp_rotation_matrix": [ [ 0.99924, 0.03683, 0.01252 ], [ 0.03723, -0.99877, -0.03281 ], [ 0.01129, 0.03326, -0.99938 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 12.613748032599688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "x": 0.4 }, "note": "Wrist view shows drawer edge below; moving lower and slightly forward to locate the drawer front relative to gripper." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 017 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 17, "source_episode_index": 331, "house_index": 221, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 11, "api_calls": 11, "wall_seconds": 82.3620057106018, "usage": { "input_tokens": 24, "cache_creation_input_tokens": 10284, "cache_read_input_tokens": 56619, "output_tokens": 3809 }, "estimated_cost_usd": 0.33339475 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV4WAeShmsRhUZdXqkB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EHgfG3bwRiTQefdGTd2ZkK", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.5 }, "note": "Black table visible ahead; raising gripper and tilting to get a clearer view of the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 313, "output_tokens_details": { "thinking_tokens": 181 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV53ZHfs8BQXChuA7d9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UWdEbcT8a94NujLbdJuu6F", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.15, "pitch": -1.1 }, "note": "Wrist view shows a black surface close by, probably the table top/drawer; tilting camera more horizontal to see the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 811, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 811, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 629, "output_tokens_details": { "thinking_tokens": 486 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV5rK8vz3KwpF3jZ4sX", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ToxmqwMGmVp5qEkeyYaedg", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.9 }, "note": "Previous pose unreachable; try a smaller pitch change at the current position to look forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1120, "cache_read_input_tokens": 2589, "cache_creation": { "ephemeral_5m_input_tokens": 1120, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV6BNruM5yqHp8hpxBw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Dp6XeKD59vrKy41NamKQjn", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.0, "pitch": -0.9 }, "note": "Wrist view shows black top with grey below very close; lowering to see the drawer front area from a different height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 624, "cache_read_input_tokens": 3709, "cache_creation": { "ephemeral_5m_input_tokens": 624, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 366, "output_tokens_details": { "thinking_tokens": 233 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV6nirvWJpZJkrygbYM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018BMUBW381YrTb83ybF3HXn", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.0, "pitch": -0.5 }, "note": "IK failed; try a less extreme pitch while lowering to inspect drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 857, "cache_read_input_tokens": 4333, "cache_creation": { "ephemeral_5m_input_tokens": 857, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 163, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV79SJrbRkcUjBsoESD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rz8QtzhTs7dA64K9nhscX9", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.85, "pitch": -0.2 }, "note": "Wrist view shows what looks like the open drawer (black frame, grey bottom) below; lowering and looking more downward to locate its front edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 5190, "cache_creation": { "ephemeral_5m_input_tokens": 658, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 666, "output_tokens_details": { "thinking_tokens": 519 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV89XnH5iqbRhZbrHCm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CduFzK85iQznfTe8XVQAk4", "name": "move_to", "input": { "targets": { "x": 0.28, "y": 0.0, "z": 0.78, "pitch": 0.0, "gripper": 0.0 }, "note": "Drawer front appears just below the fingers; closing gripper and lowering behind the front panel to push it in the +x direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1156, "cache_read_input_tokens": 5848, "cache_creation": { "ephemeral_5m_input_tokens": 1156, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 560, "output_tokens_details": { "thinking_tokens": 410 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV8tbtVTnJQ7sMopYbK", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FkkUDtMN3syZyN2ghnR8c8", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.78, "pitch": -0.2, "gripper": 0.0 }, "note": "Reaching back to x=0.28 was unreachable; instead lower straight down at x=0.35 with gripper closed to check contact with the drawer top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1050, "cache_read_input_tokens": 7004, "cache_creation": { "ephemeral_5m_input_tokens": 1050, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV9DXg5QZPBdE4PB1Y7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FZV3prFQ7K3hQbF67ScsnF", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.82, "pitch": -0.2, "gripper": 0.0 }, "note": "Low z near the base is unreachable; extend farther forward at a slightly higher z with gripper closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 8054, "cache_creation": { "ephemeral_5m_input_tokens": 649, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 75 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV9ehztp6NbHQ2SR3ik", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CViHyDbja7JPBMbQWYsPik", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.0, "z": 0.72, "pitch": -0.2 }, "note": "Gripper appears near the top edge of the drawer front; lower to place closed fingers in front of the drawer face before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 708, "cache_read_input_tokens": 8703, "cache_creation": { "ephemeral_5m_input_tokens": 708, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 385, "output_tokens_details": { "thinking_tokens": 244 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVAD8tTjJaC8WNv2f9k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019jEHTLcJz1Jh7HqoS65G3U", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.0, "z": 0.72, "pitch": -0.2 }, "note": "Fingers appear positioned at the drawer front; pushing forward (+x) to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 873, "cache_read_input_tokens": 9411, "cache_creation": { "ephemeral_5m_input_tokens": 873, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 221, "output_tokens_details": { "thinking_tokens": 85 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.02491, -0.77848, -0.0329, -2.31328, 0.01497, 1.6461, 0.1663 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33387, -0.01531, 1.04157 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97091, -0.21138, 0.1125 ], [ -0.21621, -0.97581, 0.03248 ], [ 0.10291, -0.05586, -0.99312 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.005631738342345, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.5 }, "note": "Black table visible ahead; raising gripper and tilting to get a clearer view of the drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ -0.0193, -1.08328, -0.00978, -2.24146, 0.03983, 1.76704, 0.18573 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3002, -9e-05, 1.19912 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.49714, 2e-05 ], "tcp_rotation_matrix": [ [ 0.8043, -0.15915, 0.57251 ], [ -0.2162, -0.97581, 0.03247 ], [ 0.55349, -0.1499, -0.81925 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 10.809005921706557, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.15, "pitch": -1.1 }, "note": "Wrist view shows a black surface close by, probably the table top/drawer; tilting camera more horizontal to see the drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ -0.0193, -1.08328, -0.00978, -2.24146, 0.03983, 1.76704, 0.18573 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3002, -9e-05, 1.19912 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.49714, 2e-05 ], "tcp_rotation_matrix": [ [ 0.8043, -0.15915, 0.57251 ], [ -0.2162, -0.97581, 0.03247 ], [ 0.55349, -0.1499, -0.81925 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 4.203527973033488, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.9 }, "note": "Previous pose unreachable; try a smaller pitch change at the current position to look forward." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ -0.01695, -1.39493, -0.01008, -2.59588, 0.05357, 2.20808, 0.16773 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29998, 1e-05, 1.19993 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.89574, 6e-05 ], "tcp_rotation_matrix": [ [ 0.52643, -0.08846, 0.8456 ], [ -0.21618, -0.97581, 0.0325 ], [ 0.82228, -0.19991, -0.53282 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 54 }, "api_seconds": 8.206564000807703, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.0, "pitch": -0.9 }, "note": "Wrist view shows black top with grey below very close; lowering to see the drawer front area from a different height." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ -0.01695, -1.39493, -0.01008, -2.59588, 0.05357, 2.20808, 0.16773 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29998, 1e-05, 1.19993 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.89574, 6e-05 ], "tcp_rotation_matrix": [ [ 0.52643, -0.08846, 0.8456 ], [ -0.21618, -0.97581, 0.0325 ], [ 0.82228, -0.19991, -0.53282 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 53 }, "api_seconds": 4.403695409186184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.0, "pitch": -0.5 }, "note": "IK failed; try a less extreme pitch while lowering to inspect drawer." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.01819, -1.18531, -0.00579, -2.82456, 0.05132, 2.25237, 0.1659 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34977, -0.0, 1.00091 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.50176, 6e-05 ], "tcp_rotation_matrix": [ [ 0.80175, -0.15841, 0.57629 ], [ -0.21616, -0.97582, 0.03249 ], [ 0.55721, -0.15062, -0.8166 ] ], "simulated_seconds_remaining": 26.136, "calls_remaining_including_this": 52 }, "api_seconds": 13.410183327272534, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.85, "pitch": -0.2 }, "note": "Wrist view shows what looks like the open drawer (black frame, grey bottom) below; lowering and looking more downward to locate its front edge." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ -0.01661, -0.88978, -0.00261, -2.93799, 0.05147, 2.36145, 0.16339 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34998, 0.0, 0.85091 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.20177, 6e-05 ], "tcp_rotation_matrix": [ [ 0.9306, -0.19584, 0.30924 ], [ -0.21615, -0.97582, 0.03247 ], [ 0.2954, -0.09706, -0.95043 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 51 }, "api_seconds": 9.808207210153341, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "y": 0.0, "z": 0.78, "pitch": 0.0, "gripper": 0.0 }, "note": "Drawer front appears just below the fingers; closing gripper and lowering behind the front panel to push it in the +x direction." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.01661, -0.88978, -0.00261, -2.93799, 0.05147, 2.36145, 0.16339 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34998, 0.0, 0.85091 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.20177, 6e-05 ], "tcp_rotation_matrix": [ [ 0.9306, -0.19584, 0.30924 ], [ -0.21615, -0.97582, 0.03247 ], [ 0.2954, -0.09706, -0.95043 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 50 }, "api_seconds": 4.411067557521164, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.78, "pitch": -0.2, "gripper": 0.0 }, "note": "Reaching back to x=0.28 was unreachable; instead lower straight down at x=0.35 with gripper closed to check contact with the drawer top." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ -0.01661, -0.88978, -0.00261, -2.93799, 0.05147, 2.36145, 0.16339 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34998, 0.0, 0.85091 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.20177, 6e-05 ], "tcp_rotation_matrix": [ [ 0.9306, -0.19584, 0.30924 ], [ -0.21615, -0.97582, 0.03247 ], [ 0.2954, -0.09706, -0.95043 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 49 }, "api_seconds": 5.605046384036541, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.82, "pitch": -0.2, "gripper": 0.0 }, "note": "Low z near the base is unreachable; extend farther forward at a slightly higher z with gripper closed." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ -0.00314, -0.43491, -0.00646, -2.7269, 0.0638, 2.6037, 0.15397 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44874, -5e-05, 0.82047 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.20012, -0.00013 ], "tcp_rotation_matrix": [ [ 0.93105, -0.19618, 0.30767 ], [ -0.21634, -0.97578, 0.03248 ], [ 0.29385, -0.09681, -0.95094 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 48 }, "api_seconds": 7.407125795260072, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.0, "z": 0.72, "pitch": -0.2 }, "note": "Gripper appears near the top edge of the drawer front; lower to place closed fingers in front of the drawer face before pushing." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.03955, -0.26128, -0.03516, -2.89653, 0.11478, 2.94665, 0.10808 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42027, 2e-05, 0.72115 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.19961, -0.00012 ], "tcp_rotation_matrix": [ [ 0.9312, -0.19621, 0.30719 ], [ -0.21633, -0.97578, 0.03254 ], [ 0.29336, -0.09676, -0.95109 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 47 }, "api_seconds": 5.0040924195200205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.0, "z": 0.72, "pitch": -0.2 }, "note": "Fingers appear positioned at the drawer front; pushing forward (+x) to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 018 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 18, "source_episode_index": 341, "house_index": 222, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 2, "wall_seconds": 12.735445499420166, "usage": { "input_tokens": 6, "cache_creation_input_tokens": 2350, "cache_read_input_tokens": 1776, "output_tokens": 477 }, "estimated_cost_usd": 0.053729 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV5MUYzmmkEMXcsw6Pe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Pd57h8HKr73eNzhvYAUd9b", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1776, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 143, "output_tokens_details": { "thinking_tokens": 119 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV5iaYdmRGrboPY7zrM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KKhASWt7PGrz2s6rXP7bsY", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper points down above wooden drawer; lowering to inspect the drawer and its front edge more closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 574, "cache_read_input_tokens": 1776, "cache_creation": { "ephemeral_5m_input_tokens": 574, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 334, "output_tokens_details": { "thinking_tokens": 225 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.01553, -0.83183, -0.048, -2.28232, -0.04247, 1.48686, 0.02646 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29051, -0.02136, 1.05576 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9982, -0.0483, 0.03556 ], [ -0.04806, -0.99882, -0.00747 ], [ 0.03588, 0.00575, -0.99934 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.009897883050144, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper points down above wooden drawer; lowering to inspect the drawer and its front edge more closely." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 019 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 19, "source_episode_index": 361, "house_index": 224, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 3, "wall_seconds": 18.0267436504364, "usage": { "input_tokens": 8, "cache_creation_input_tokens": 3097, "cache_read_input_tokens": 4119, "output_tokens": 708 }, "estimated_cost_usd": 0.07522225 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV7wef5RbqTfhEf2WM7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LYqrg8koxbDUrxKM2egRdA", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 133, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV8JtMgk6Pmkrk1X3Vh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0164io9hTAGjZKhfmXhBcRCH", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.05, "z": 0.8 }, "note": "Scene unclear; gripper is high pointing down. Move forward and lower to get a better view of the table/drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 565, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 565, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 266, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezV8pUqiaLz5vQ5c64GZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XkJg5GLGB8TqKXCZdJbMaG", "name": "move_to", "input": { "targets": { "pitch": 1.0 }, "note": "Wrist cam looks straight down at floor; tilt gripper to look forward and find the table drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 755, "cache_read_input_tokens": 2342, "cache_creation": { "ephemeral_5m_input_tokens": 755, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 309, "output_tokens_details": { "thinking_tokens": 199 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.01894, -0.83087, -0.0412, -2.38429, -0.10864, 1.44738, -0.16632 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26425, -0.03458, 1.00685 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98224, 0.15408, -0.10704 ], [ 0.14637, -0.98626, -0.07654 ], [ -0.11736, 0.05951, -0.9913 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.41000855434686, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.05, "z": 0.8 }, "note": "Scene unclear; gripper is high pointing down. Move forward and lower to get a better view of the table/drawer." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.02343, -0.14692, -0.09365, -2.36957, -0.11422, 2.11794, -0.15536 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44905, -0.04992, 0.80092 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00028, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98221, 0.15409, -0.10732 ], [ 0.14637, -0.98627, -0.07653 ], [ -0.11763, 0.05946, -0.99127 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 56 }, "api_seconds": 6.211188283748925, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.0 }, "note": "Wrist cam looks straight down at floor; tilt gripper to look forward and find the table drawer." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 020 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 20, "source_episode_index": 393, "house_index": 313, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 6, "api_calls": 7, "wall_seconds": 51.54595613479614, "usage": { "input_tokens": 16, "cache_creation_input_tokens": 6369, "cache_read_input_tokens": 21871, "output_tokens": 1925 }, "estimated_cost_usd": 0.18149025 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVAq76XHy1nQiWeyF3a", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018CpfrtUm2Qq8GsXCjYUru8", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 274, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVBS9W2gWnnybe2AZ7i", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NRiz4uxVuMqTnrwzysiMEC", "name": "move_to", "input": { "targets": { "z": 1.3, "x": 0.25 }, "note": "Scene unclear; raising gripper to get a wider wrist view of the desk and its open part." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 707, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 707, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 246, "output_tokens_details": { "thinking_tokens": 133 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVByyuzdzvgjRrYXLPL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JycgNXPsZxZmKAEP1EqnFf", "name": "move_to", "input": { "targets": { "z": 1.19, "x": 0.25 }, "note": "z=1.3 exceeded workspace bound; raise to z=1.19 instead for a wider view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 730, "cache_read_input_tokens": 2485, "cache_creation": { "ephemeral_5m_input_tokens": 730, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 158, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVCUNxyRpaAwDifZE8d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LPdM248wnbkhQsYQy8F71r", "name": "move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Wrist view looks straight down; tilt gripper to look forward to see the desk drawer geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 654, "cache_read_input_tokens": 3215, "cache_creation": { "ephemeral_5m_input_tokens": 654, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 398, "output_tokens_details": { "thinking_tokens": 288 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVDAGKq4MbU2vyYGfnG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A7b8qUfZr2LFVSyuY5hQxN", "name": "move_to", "input": { "targets": { "x": 0.15, "z": 1.0 }, "note": "View is dark and close; back up and lower to see the drawer front and its extent." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 889, "cache_read_input_tokens": 3869, "cache_creation": { "ephemeral_5m_input_tokens": 889, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 517, "output_tokens_details": { "thinking_tokens": 410 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVDvMSYKM7B1jKiG3Ci", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F2gu3aQAUkAJ2iQ9JSUty7", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 1.0 }, "note": "Previous pose unreachable; just lower to z=1.0 at current x to see the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1008, "cache_read_input_tokens": 4758, "cache_creation": { "ephemeral_5m_input_tokens": 1008, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 112, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVEEQtoxdFXzBBb4V6x", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JHaYdMusb973UsEjejcs1S", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.0, "pitch": -0.3 }, "note": "Reduce tilt and lower toward the drawer front to inspect it more closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 603, "cache_read_input_tokens": 5766, "cache_creation": { "ephemeral_5m_input_tokens": 603, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 220, "output_tokens_details": { "thinking_tokens": 101 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00277, -0.8281, -0.0167, -2.25868, -0.09896, 1.65837, 0.10262 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3362, -0.03005, 1.08836 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96685, -0.12198, 0.22433 ], [ -0.10446, -0.99059, -0.0884 ], [ 0.23301, 0.06204, -0.97049 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 15.615140123292804, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.3, "x": 0.25 }, "note": "Scene unclear; raising gripper to get a wider wrist view of the desk and its open part." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00277, -0.8281, -0.0167, -2.25868, -0.09896, 1.65837, 0.10262 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3362, -0.03005, 1.08836 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96685, -0.12198, 0.22433 ], [ -0.10446, -0.99059, -0.0884 ], [ 0.23301, 0.06204, -0.97049 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 6.406769385561347, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.19, "x": 0.25 }, "note": "z=1.3 exceeded workspace bound; raise to z=1.19 instead for a wider view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the desk.", "joint_positions": [ -0.00205, -0.9022, -0.00827, -1.99579, -0.09617, 1.32294, 0.07291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25087, -0.03005, 1.18908 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00032, 1e-05 ], "tcp_rotation_matrix": [ [ 0.96677, -0.12199, 0.22465 ], [ -0.10446, -0.99059, -0.08841 ], [ 0.23332, 0.062, -0.97042 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 55 }, "api_seconds": 9.00814756192267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Wrist view looks straight down; tilt gripper to look forward to see the desk drawer geometry." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00257, -1.40643, -0.02204, -2.47852, -0.10822, 1.89491, 0.12294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25081, -0.03007, 1.18906 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.59573, -3e-05 ], "tcp_rotation_matrix": [ [ 0.66955, -0.13581, 0.73024 ], [ -0.10448, -0.99059, -0.08844 ], [ 0.73538, -0.01708, -0.67744 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 54 }, "api_seconds": 10.20934207830578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 1.0 }, "note": "View is dark and close; back up and lower to see the drawer front and its extent." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00257, -1.40643, -0.02204, -2.47852, -0.10822, 1.89491, 0.12294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25081, -0.03007, 1.18906 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.59573, -3e-05 ], "tcp_rotation_matrix": [ [ 0.66955, -0.13581, 0.73024 ], [ -0.10448, -0.99059, -0.08844 ], [ 0.73538, -0.01708, -0.67744 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 53 }, "api_seconds": 4.003819844685495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 1.0 }, "note": "Previous pose unreachable; just lower to z=1.0 at current x to see the drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00257, -1.40643, -0.02204, -2.47852, -0.10822, 1.89491, 0.12294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25081, -0.03007, 1.18906 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.59573, -3e-05 ], "tcp_rotation_matrix": [ [ 0.66955, -0.13581, 0.73024 ], [ -0.10448, -0.99059, -0.08844 ], [ 0.73538, -0.01708, -0.67744 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 52 }, "api_seconds": 5.604711776599288, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.0, "pitch": -0.3 }, "note": "Reduce tilt and lower toward the drawer front to inspect it more closely." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 021 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 21, "source_episode_index": 409, "house_index": 314, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 11.51504111289978, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "output_tokens": 640 }, "estimated_cost_usd": 0.054265 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVCEVJ5JcHYwDtpVpPE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sx6oSfmGt6XfsB4QSJS5HV", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.8 }, "note": "Drawer appears open ahead of the robot; moving forward and lower to get a better view of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 640, "output_tokens_details": { "thinking_tokens": 523 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the desk.", "joint_positions": [ 0.00754, -0.76035, 0.0656, -2.40573, 0.02962, 1.4894, 0.04898 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27637, 0.02621, 0.97939 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98786, 0.00447, -0.15531 ], [ 0.00079, -0.99972, -0.0237 ], [ -0.15537, 0.02329, -0.98758 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.809709477238357, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.8 }, "note": "Drawer appears open ahead of the robot; moving forward and lower to get a better view of the drawer front." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 022 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 22, "source_episode_index": 422, "house_index": 315, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 15, "api_calls": 15, "wall_seconds": 203.25794458389282, "usage": { "input_tokens": 32, "cache_creation_input_tokens": 17850, "cache_read_input_tokens": 127871, "output_tokens": 9326 }, "estimated_cost_usd": 0.72171275 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVEiJvoKiNbwqCCHw7g", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CoVwC6YC5xzbThMq1AuePh", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.8, "pitch": 0.6 }, "note": "Dresser appears on the left in exterior view; wrist view shows dark drawer face below. Move forward/down and tilt to get a clearer view of the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1781, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 328, "output_tokens_details": { "thinking_tokens": 175 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVFMGAu8FVukbPSonbz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NRhDMzxb6ahDkHTDAQs5xd", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.9, "pitch": -0.9 }, "note": "Wrist view shows dark drawer face with knob below; camera currently tilts backward. Tilt gripper to look forward/down to understand drawer geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 820, "cache_read_input_tokens": 1781, "cache_creation": { "ephemeral_5m_input_tokens": 820, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 751, "output_tokens_details": { "thinking_tokens": 599 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVGHwH7BAnnWNwfLXwJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PtnLRksZHfXiiK33rsH7BW", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.95, "pitch": -0.4 }, "note": "Previous pose unreachable; try milder forward tilt and higher position to survey the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1241, "cache_read_input_tokens": 2601, "cache_creation": { "ephemeral_5m_input_tokens": 1241, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 152, "output_tokens_details": { "thinking_tokens": 21 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVGfQMizpdLoxUfYxxC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ELdZ4bT1kmu8fepmZXqgvU", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.0, "z": 0.85, "pitch": 0.0 }, "note": "Drawer with knob appeared below/behind the earlier pose; look straight down near the base to locate it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 3842, "cache_creation": { "ephemeral_5m_input_tokens": 649, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 526, "output_tokens_details": { "thinking_tokens": 392 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVHS4xAeXr6aBhxoShC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GnpFNb7Le2D7vp1sAuqxGH", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.0, "z": 0.72 }, "note": "Drawer face with knob is directly below. Descend to inspect closer and judge its orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1023, "cache_read_input_tokens": 4491, "cache_creation": { "ephemeral_5m_input_tokens": 1023, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 494, "output_tokens_details": { "thinking_tokens": 373 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVJBvw9VX4Uz8CBWfxY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RMvqbZ8aVz96xjH94Fa5vc", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.28, "z": 0.8, "roll": -0.7 }, "note": "Panel orientation unclear from above; move to the left side and tilt camera toward -y to see the panel from the side." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 991, "cache_read_input_tokens": 5514, "cache_creation": { "ephemeral_5m_input_tokens": 991, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 619, "output_tokens_details": { "thinking_tokens": 483 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVK6n94J8MLyJFHbMRb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WMzheXD6KfTbKXPjiWWfzA", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.3, "z": 0.6, "roll": -1.3 }, "note": "Panel looks like a vertical dark block with knob near top. Lower and look more horizontally toward -y to see its full shape and the dresser body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1112, "cache_read_input_tokens": 6505, "cache_creation": { "ephemeral_5m_input_tokens": 1112, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1171, "output_tokens_details": { "thinking_tokens": 1025 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVM97qbnsWF9sF68nzc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017NsE1Q7iRr5a9qxTCVAJBK", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.0, "z": 0.75, "roll": 0.0, "pitch": 0.0, "gripper": 0.0 }, "note": "Panel with knob seems to face upward (dresser lying with drawer front up). Return above it with gripper closed to push down on it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1668, "cache_read_input_tokens": 7617, "cache_creation": { "ephemeral_5m_input_tokens": 1668, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2395, "output_tokens_details": { "thinking_tokens": 2234 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVQUXV1xHqFVtg1Z4BU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FvXHr2bCeRoPnFKm5qzWgC", "name": "move_to", "input": { "targets": { "z": 0.55 }, "note": "Gripper closed above the knob panel; descend to make contact and push the panel down/inward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2887, "cache_read_input_tokens": 9285, "cache_creation": { "ephemeral_5m_input_tokens": 2887, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVREjYHFNQsgoR3L5mj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gd1VBGttqZD8Sq3w6675Gu", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.62 }, "note": "Too close to base for IK; shift forward slightly and descend to contact the panel." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 12172, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 173, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVRgLfUYL51StVD9abx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RTo9UV5LysVbdBHAd32oYz", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.62 }, "note": "Panel moved out from under the gripper and exterior view changed, suggesting the drawer slid forward. Continue pushing in +x to close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 12970, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 603, "output_tokens_details": { "thinking_tokens": 474 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVSXiH1ssjskTfNeVUo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UyKMZoX7C8nPgwGMSgwgq4", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Orientation drifted; rise and look down to check where the drawer panel is now." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1099, "cache_read_input_tokens": 13635, "cache_creation": { "ephemeral_5m_input_tokens": 1099, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 376, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVTCebXt74CEJMSkmTc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016PciBRaD8a1bbC18i96chq", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.65, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Arm got deflected; the exterior camera occlusion suggests the panel moved toward +x. Reposition beyond the panel to push it back in -x toward the dresser." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 14734, "cache_creation": { "ephemeral_5m_input_tokens": 869, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1025, "output_tokens_details": { "thinking_tokens": 850 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVUiWj5KAuTvhugKouD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P8qbG4wpWCd5K5cYu8nqTd", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.8, "pitch": 0.3 }, "note": "Arm is not reaching targets, likely obstructed. Try a modest nearby pose to free the arm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1518, "cache_read_input_tokens": 15603, "cache_creation": { "ephemeral_5m_input_tokens": 1518, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 238, "output_tokens_details": { "thinking_tokens": 103 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVVLt18oR6Nu3U5QZMR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FVsZLAV1CPqvNBHrUGZeRy", "name": "give_up", "input": { "note": "Could not determine the drawer geometry reliably; arm became obstructed after a push attempt and the exterior view is occluded, with insufficient simulated time left to recover and close the dresser." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 17121, "cache_creation": { "ephemeral_5m_input_tokens": 729, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 169, "output_tokens_details": { "thinking_tokens": 66 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.02276, -0.77209, -0.02408, -2.44229, -0.07158, 1.43126, 0.04082 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.2515, -0.03041, 0.96588 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96842, -0.07243, -0.23856 ], [ -0.08553, -0.99532, -0.04502 ], [ -0.23418, 0.06401, -0.97008 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.80656151752919, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.8, "pitch": 0.6 }, "note": "Dresser appears on the left in exterior view; wrist view shows dark drawer face below. Move forward/down and tilt to get a clearer view of the drawer." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01601, -0.12375, 0.02868, -2.05248, 0.03908, 1.39569, 0.09541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3733, 0.02731, 0.90928 ], "tcp_roll_pitch_yaw": [ 0.07, 0.29283, 0.01967 ], "tcp_rotation_matrix": [ [ 0.85923, -0.05139, -0.509 ], [ -0.05206, -0.99856, 0.01293 ], [ -0.50894, 0.01539, -0.86067 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 12.610048324801028, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.9, "pitch": -0.9 }, "note": "Wrist view shows dark drawer face with knob below; camera currently tilts backward. Tilt gripper to look forward/down to understand drawer geometry." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01601, -0.12375, 0.02868, -2.05248, 0.03908, 1.39569, 0.09541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3733, 0.02731, 0.90928 ], "tcp_roll_pitch_yaw": [ 0.07, 0.29283, 0.01967 ], "tcp_rotation_matrix": [ [ 0.85923, -0.05139, -0.509 ], [ -0.05206, -0.99856, 0.01293 ], [ -0.50894, 0.01539, -0.86067 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 55 }, "api_seconds": 4.404229708947241, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.95, "pitch": -0.4 }, "note": "Previous pose unreachable; try milder forward tilt and higher position to survey the drawer." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00451, -0.80205, -0.01072, -2.57643, 0.02157, 1.9282, 0.02906 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35012, 0.00016, 0.9498 ], "tcp_roll_pitch_yaw": [ 0.07003, -0.39556, 0.01962 ], "tcp_rotation_matrix": [ [ 0.98712, -0.04502, 0.15348 ], [ -0.04958, -0.99843, 0.02598 ], [ 0.15207, -0.03326, -0.98781 ] ], "simulated_seconds_remaining": 27.258, "calls_remaining_including_this": 54 }, "api_seconds": 10.00728688761592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.0, "z": 0.85, "pitch": 0.0 }, "note": "Drawer with knob appeared below/behind the earlier pose; look straight down near the base to locate it." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00992, -0.88407, -0.00578, -2.79729, 0.01082, 1.67401, 0.03668 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22079, 0.0, 0.85056 ], "tcp_roll_pitch_yaw": [ 0.07003, -0.00236, 0.01963 ], "tcp_rotation_matrix": [ [ 0.97015, -0.05283, -0.23667 ], [ -0.04991, -0.99859, 0.01832 ], [ -0.2373, -0.00596, -0.97142 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 53 }, "api_seconds": 9.60669766459614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.0, "z": 0.72 }, "note": "Drawer face with knob is directly below. Descend to inspect closer and judge its orientation." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00864, -0.67163, -0.00682, -3.03359, 0.01278, 2.12236, 0.03065 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.21991, 0.0, 0.72125 ], "tcp_roll_pitch_yaw": [ 0.07004, -0.00197, 0.01963 ], "tcp_rotation_matrix": [ [ 0.97006, -0.05283, -0.23705 ], [ -0.0499, -0.99859, 0.01833 ], [ -0.23769, -0.00595, -0.97132 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 52 }, "api_seconds": 11.212116635404527, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.28, "z": 0.8, "roll": -0.7 }, "note": "Panel orientation unclear from above; move to the left side and tilt camera toward -y to see the panel from the side." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.25638, 0.14349, 0.78583, -2.12827, -0.21844, 1.45692, 1.29107 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.21995, 0.27909, 0.79971 ], "tcp_roll_pitch_yaw": [ -0.69703, -0.00163, 0.0199 ], "tcp_rotation_matrix": [ [ 0.97273, -0.05917, -0.22426 ], [ -0.19659, -0.72339, -0.66186 ], [ -0.12307, 0.6879, -0.7153 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 51 }, "api_seconds": 27.021175681613386, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.3, "z": 0.6, "roll": -1.3 }, "note": "Panel looks like a vertical dark block with knob near top. Lower and look more horizontally toward -y to see its full shape and the dresser body." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.71511, 0.99444, 0.44181, -1.31478, -0.61515, 1.00367, 1.55733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32512, 0.33725, 0.67995 ], "tcp_roll_pitch_yaw": [ -1.18499, -0.12261, 0.03456 ], "tcp_rotation_matrix": [ [ 0.97027, -0.17662, -0.16546 ], [ -0.21575, -0.32153, -0.92199 ], [ 0.10964, 0.93028, -0.35008 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 50 }, "api_seconds": 43.23356808628887, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.0, "z": 0.75, "roll": 0.0, "pitch": 0.0, "gripper": 0.0 }, "note": "Panel with knob seems to face upward (dresser lying with drawer front up). Return above it with gripper closed to push down on it." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.04021, -0.74172, 0.02118, -3.00965, -0.04115, 2.00022, 0.11232 ], "gripper_open": 0.0, "tcp_xyz": [ 0.21066, 0.00104, 0.74274 ], "tcp_roll_pitch_yaw": [ -0.00949, 0.02584, 0.04441 ], "tcp_rotation_matrix": [ [ 0.96502, -0.02628, -0.26086 ], [ -0.04495, -0.99682, -0.06587 ], [ -0.2583, 0.07529, -0.96313 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 49 }, "api_seconds": 10.208527185022831, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.55 }, "note": "Gripper closed above the knob panel; descend to make contact and push the panel down/inward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.04021, -0.74172, 0.02118, -3.00965, -0.04115, 2.00022, 0.11232 ], "gripper_open": 0.0, "tcp_xyz": [ 0.21066, 0.00104, 0.74274 ], "tcp_roll_pitch_yaw": [ -0.00949, 0.02584, 0.04441 ], "tcp_rotation_matrix": [ [ 0.96502, -0.02628, -0.26086 ], [ -0.04495, -0.99682, -0.06587 ], [ -0.2583, 0.07529, -0.96313 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 48 }, "api_seconds": 5.0038139298558235, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.62 }, "note": "Too close to base for IK; shift forward slightly and descend to contact the panel." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01429, -0.02632, 0.03514, -2.82015, -0.28312, 2.58071, 0.15618 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.3161, -0.00277, 0.62438 ], "tcp_roll_pitch_yaw": [ -0.06783, -0.02289, 0.23903 ], "tcp_rotation_matrix": [ [ 0.96967, 0.16081, -0.18405 ], [ 0.13213, -0.97844, -0.15876 ], [ -0.20561, 0.12963, -0.97001 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 47 }, "api_seconds": 10.608117223717272, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.62 }, "note": "Panel moved out from under the gripper and exterior view changed, suggesting the drawer slid forward. Continue pushing in +x to close it." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01384, 0.25719, 0.03909, -2.66096, -0.48524, 3.05312, 0.10885 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.43863, 0.05598, 0.59242 ], "tcp_roll_pitch_yaw": [ -0.05061, -0.35704, 0.52605 ], "tcp_rotation_matrix": [ [ 0.9029, 0.40428, 0.14607 ], [ 0.41177, -0.91098, -0.02393 ], [ 0.12339, 0.08175, -0.98899 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 46 }, "api_seconds": 7.805959202349186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Orientation drifted; rise and look down to check where the drawer panel is now." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.11941, -0.57123, 0.1559, -2.6997, 0.03356, 1.02798, 0.05176 ], "gripper_open": 0.0, "tcp_xyz": [ 0.07423, 0.00822, 0.89207 ], "tcp_roll_pitch_yaw": [ -0.00783, 0.86367, -0.03679 ], "tcp_rotation_matrix": [ [ 0.44811, -0.02907, -0.89351 ], [ -0.10392, -0.99439, -0.01977 ], [ -0.88792, 0.10171, -0.44861 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 45 }, "api_seconds": 18.014591322280467, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.65, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Arm got deflected; the exterior camera occlusion suggests the panel moved toward +x. Reposition beyond the panel to push it back in -x toward the dresser." } } } ] } } ] }, "execution": { "steps": 54, "motion_seconds": 3.564, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.08238, -0.21272, 0.20949, -2.22697, -0.11417, 0.84099, 0.18051 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.18956, 0.02841, 0.96809 ], "tcp_roll_pitch_yaw": [ -0.34992, 0.89364, -0.01932 ], "tcp_rotation_matrix": [ [ 0.45501, 0.24971, -0.85476 ], [ -0.16945, -0.91806, -0.35841 ], [ -0.87421, 0.30792, -0.37541 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 44 }, "api_seconds": 7.206027589738369, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.8, "pitch": 0.3 }, "note": "Arm is not reaching targets, likely obstructed. Try a modest nearby pose to free the arm." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.04717, -0.24648, 0.22359, -2.29246, -0.14142, 0.9505, 0.36941 ], "gripper_open": 0.0, "tcp_xyz": [ 0.1935, 0.01534, 0.94232 ], "tcp_roll_pitch_yaw": [ -0.5605, 0.72586, -0.24484 ], "tcp_rotation_matrix": [ [ 0.55652, 0.127, -0.82107 ], [ -0.34204, -0.8656, -0.36572 ], [ -0.75716, 0.48437, -0.43829 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 43 }, "api_seconds": 5.2044129660353065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not determine the drawer geometry reliably; arm became obstructed after a push attempt and the exterior view is occluded, with insufficient simulated time left to recover and close the dresser." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 023 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 23, "source_episode_index": 426, "house_index": 316, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 11, "api_calls": 13, "wall_seconds": 191.3708598613739, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 14786, "cache_read_input_tokens": 89944, "output_tokens": 8282 }, "estimated_cost_usd": 0.621691 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVGLb2WWQ3R64PkUSA2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KowNce7a7RQ2uszkuDp8gE", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 99, "output_tokens_details": { "thinking_tokens": 75 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVGiuCm91vq3rx46nMk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YW9YQQ1aXaLDz9XHe4eDnm", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Wrist view is too dark/close; moving forward and down to get a better view of the table drawers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 531, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 531, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 305, "output_tokens_details": { "thinking_tokens": 192 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVHPMjRgRz6dkGx3yHS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VTsZTbDaQRfPhMFLqtzt1B", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 2308, "cache_creation": { "ephemeral_5m_input_tokens": 795, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 255 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVHrNSgVkUXA7TtvnYW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012aCG3QS4VvnyeMpYhx6z7J", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.15, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Previous move was blocked (likely contact with table top). Rising up to get an overview of the table from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 713, "cache_read_input_tokens": 3103, "cache_creation": { "ephemeral_5m_input_tokens": 713, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 826, "output_tokens_details": { "thinking_tokens": 682 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVK4EcADqfaa2FJwCaq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P3h1gvmeYzn4XdYsv1nZ7C", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.35, "z": 1.05 }, "note": "Table top seems around z~0.93; drawers likely face the robot's right (-y). Moving to the right side above to view the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1316, "cache_read_input_tokens": 3816, "cache_creation": { "ephemeral_5m_input_tokens": 1316, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1092, "output_tokens_details": { "thinking_tokens": 958 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVLkgDZcSCgV92roxB3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JNXx51itkN2DNS1AY6C6n6", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2, "pitch": -1.2, "roll": 0.0, "yaw": 0.0 }, "note": "Downward views only show dark surface. Tilting the gripper to look forward horizontally to find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1585, "cache_read_input_tokens": 5132, "cache_creation": { "ephemeral_5m_input_tokens": 1585, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1070, "output_tokens_details": { "thinking_tokens": 915 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVNSnVt8UbzAGAntzk9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SA7idiuHJXwodS4Jmj1crr", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.4, "z": 1.05, "pitch": -1.2, "yaw": 1.5 }, "note": "Table appears forward-left. Moving to the right side and turning camera to look +y toward the presumed drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1558, "cache_read_input_tokens": 6717, "cache_creation": { "ephemeral_5m_input_tokens": 1558, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 957, "output_tokens_details": { "thinking_tokens": 810 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVPjX78bswkS8ffF6yL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QL37YGP4fFbwdev1qD2rXe", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.35, "z": 1.1 }, "note": "Splitting motion: translate to the right side first, keeping forward-looking orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1443, "cache_read_input_tokens": 8275, "cache_creation": { "ephemeral_5m_input_tokens": 1443, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 154, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVQGonUKq4ex7iz87qC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015hnJpdoZYCVVzsuU5BX65o", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Return to a vertical gripper pose above center to then descend and probe for the open drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 9718, "cache_creation": { "ephemeral_5m_input_tokens": 642, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 909, "output_tokens_details": { "thinking_tokens": 760 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVS12ZPLF6CceKw4uQk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DGMuuE36hS8Jpot1M73Xzd", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.1, "z": 1.1 }, "note": "A box-like protrusion appears at the upper-right of the wrist view (front-left); moving closer to inspect whether it is the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1398, "cache_read_input_tokens": 10360, "cache_creation": { "ephemeral_5m_input_tokens": 1398, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 631, "output_tokens_details": { "thinking_tokens": 495 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVT9Wq12Y8J8vM2cPVR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015us7cY8jMTfG87NekYhkZG", "name": "move_to", "input": { "targets": { "x": 0.2, "y": 0.15, "z": 0.88, "gripper": 0.0 }, "note": "Hypothesis: top drawer is open toward the robot (-x). Positioning closed gripper behind the drawer front, low, to push it in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1121, "cache_read_input_tokens": 11758, "cache_creation": { "ephemeral_5m_input_tokens": 1121, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 730, "output_tokens_details": { "thinking_tokens": 581 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVUMALG2Cm4G2cGA3oK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BXgdMcfe4S1j1c6GgM7Ea8", "name": "move_to", "input": { "targets": { "x": 0.65 }, "note": "Gripper is low near the open top drawer; pushing forward (+x) to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1222, "cache_read_input_tokens": 12879, "cache_creation": { "ephemeral_5m_input_tokens": 1222, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 191, "output_tokens_details": { "thinking_tokens": 83 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVV6ov6WxTW2eFqK88Q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vh5SL3sLrffejv7xDYwTgV", "name": "move_to", "input": { "targets": { "x": 0.15, "y": -0.1, "z": 0.88 }, "note": "No contact at y=0.15; earlier contact occurred near y=0, z~0.96. Repositioning behind that spot to push at y=-0.1." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 685, "cache_read_input_tokens": 14101, "cache_creation": { "ephemeral_5m_input_tokens": 685, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1039, "output_tokens_details": { "thinking_tokens": 899 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.01656, -0.75182, 0.04417, -2.27817, -0.06594, 1.59071, -0.14423 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32927, -0.00801, 1.04471 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9856, 0.15602, 0.06523 ], [ 0.16177, -0.98226, -0.09487 ], [ 0.04927, 0.10406, -0.99335 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.61201816238463, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Wrist view is too dark/close; moving forward and down to get a better view of the table drawers." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ -0.02421, -0.60339, 0.06168, -2.35245, -0.08286, 1.55119, -0.09566 ], "gripper_open": 1.0, "tcp_xyz": [ 0.31657, -0.01176, 0.96027 ], "tcp_roll_pitch_yaw": [ -0.03759, 0.25556, -0.05293 ], "tcp_rotation_matrix": [ [ 0.9718, 0.13458, -0.19365 ], [ 0.11225, -0.98616, -0.12206 ], [ -0.2074, 0.09688, -0.97345 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 20.414805348031223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.15, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Previous move was blocked (likely contact with table top). Rising up to get an overview of the table from above." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ -0.01459, -0.71169, 0.03512, -1.96672, -0.07544, 1.31922, -0.16831 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3001, -0.01176, 1.14909 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.0011, -0.00026 ], "tcp_rotation_matrix": [ [ 0.98569, 0.15589, 0.06412 ], [ 0.16153, -0.98228, -0.09504 ], [ 0.04816, 0.10404, -0.99341 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 55 }, "api_seconds": 19.41556914523244, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.35, "z": 1.05 }, "note": "Table top seems around z~0.93; drawers likely face the robot's right (-y). Moving to the right side above to view the drawer front." } } } ] } } ] }, "execution": { "steps": 42, "motion_seconds": 2.7720000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ -0.09888, -0.32835, -0.52604, -1.77504, 0.23332, 1.72555, -0.77362 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43455, -0.2721, 1.1322 ], "tcp_roll_pitch_yaw": [ 0.29436, -0.35144, -0.04214 ], "tcp_rotation_matrix": [ [ 0.89809, 0.16925, 0.40593 ], [ 0.10278, -0.9782, 0.18046 ], [ 0.42763, -0.12035, -0.89591 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 54 }, "api_seconds": 20.417231984436512, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2, "pitch": -1.2, "roll": 0.0, "yaw": 0.0 }, "note": "Downward views only show dark surface. Tilting the gripper to look forward horizontally to find the open drawer." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ -0.29627, -1.48382, -0.09917, -2.78904, 0.28887, 2.52638, -0.58913 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30048, -0.10057, 1.19982 ], "tcp_roll_pitch_yaw": [ 0.00208, -1.19691, -0.0012 ], "tcp_rotation_matrix": [ [ 0.314, -0.03917, 0.94862 ], [ 0.16129, -0.98242, -0.09395 ], [ 0.93562, 0.18251, -0.30216 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 53 }, "api_seconds": 17.414196273311973, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.4, "z": 1.05, "pitch": -1.2, "yaw": 1.5 }, "note": "Table appears forward-left. Moving to the right side and turning camera to look +y toward the presumed drawer front." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.29627, -1.48382, -0.09917, -2.78904, 0.28887, 2.52638, -0.58913 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30048, -0.10057, 1.19982 ], "tcp_roll_pitch_yaw": [ 0.00208, -1.19691, -0.0012 ], "tcp_rotation_matrix": [ [ 0.314, -0.03917, 0.94862 ], [ 0.16129, -0.98242, -0.09395 ], [ 0.93562, 0.18251, -0.30216 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 52 }, "api_seconds": 4.404173728078604, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.35, "z": 1.1 }, "note": "Splitting motion: translate to the right side first, keeping forward-looking orientation." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ 0.15659, -0.98647, -0.81402, -2.55018, 0.23046, 3.00628, -1.1409 ], "gripper_open": 1.0, "tcp_xyz": [ 0.39564, -0.35673, 1.14061 ], "tcp_roll_pitch_yaw": [ -0.15606, -1.27268, 0.09982 ], "tcp_rotation_matrix": [ [ 0.24898, -0.10229, 0.96309 ], [ 0.19324, -0.96917, -0.15289 ], [ 0.94903, 0.22418, -0.22154 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 51 }, "api_seconds": 20.416717890650034, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Return to a vertical gripper pose above center to then descend and probe for the open drawer front." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.32569, -0.60686, 0.03626, -1.7569, -0.05308, 1.24513, -0.47444 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30047, -0.10074, 1.19981 ], "tcp_roll_pitch_yaw": [ -0.00032, -0.00421, 0.00022 ], "tcp_rotation_matrix": [ [ 0.98535, 0.1558, 0.06943 ], [ 0.162, -0.98219, -0.09518 ], [ 0.05336, 0.10503, -0.99304 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 50 }, "api_seconds": 12.61082967184484, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.1, "z": 1.1 }, "note": "A box-like protrusion appears at the upper-right of the wrist view (front-left); moving closer to inspect whether it is the open drawer." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ -0.26176, -0.33617, 0.42525, -1.77788, 0.03209, 1.52484, -0.01193 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44926, 0.09904, 1.10042 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.00401, 0.00037 ], "tcp_rotation_matrix": [ [ 0.98533, 0.15597, 0.06925 ], [ 0.16216, -0.98216, -0.0952 ], [ 0.05316, 0.10503, -0.99305 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 49 }, "api_seconds": 12.8096212586388, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.15, "z": 0.88, "gripper": 0.0 }, "note": "Hypothesis: top drawer is open toward the robot (-x). Positioning closed gripper behind the drawer front, low, to push it in +x." } } } ] } } ] }, "execution": { "steps": 39, "motion_seconds": 2.5740000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ 0.10093, -1.18164, 0.50957, -2.80562, 0.35916, 1.70436, 0.11527 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20096, 0.14982, 0.88087 ], "tcp_roll_pitch_yaw": [ -0.00046, -0.004, 0.00048 ], "tcp_rotation_matrix": [ [ 0.98531, 0.15607, 0.06925 ], [ 0.16227, -0.98213, -0.0953 ], [ 0.05314, 0.10513, -0.99304 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 48 }, "api_seconds": 5.404102316126227, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65 }, "note": "Gripper is low near the open top drawer; pushing forward (+x) to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 50, "motion_seconds": 3.3000000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ -0.28897, 0.3865, 0.66282, -1.58208, -0.36831, 1.90624, 0.29276 ], "gripper_open": 0.0, "tcp_xyz": [ 0.64864, 0.14977, 0.88082 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.00389, 0.00042 ], "tcp_rotation_matrix": [ [ 0.98533, 0.15603, 0.06913 ], [ 0.16221, -0.98215, -0.0952 ], [ 0.05304, 0.10501, -0.99306 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 47 }, "api_seconds": 18.414277870208025, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": -0.1, "z": 0.88 }, "note": "No contact at y=0.15; earlier contact occurred near y=0, z~0.96. Repositioning behind that spot to push at y=-0.1." } } } ] } } ] }, "execution": { "steps": 61, "motion_seconds": 4.026, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 024 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 24, "source_episode_index": 455, "house_index": 317, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 9.2545804977417, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "output_tokens": 456 }, "estimated_cost_usd": 0.0450525 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVXFhzpUzRrGbibVUHn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019TocRmXaKAgiTX8mEczGHR", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.95 }, "note": "Drawer of the table appears pulled out toward the robot; move forward and lower to get a better view of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 456, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.01947, -0.76788, 0.0165, -2.25988, -0.00149, 1.68656, -0.00943 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.35317, -0.00126, 1.07003 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98117, 0.00153, 0.19317 ], [ 0.00436, -0.99989, -0.01419 ], [ 0.19312, 0.01477, -0.98106 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.60910096950829, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.95 }, "note": "Drawer of the table appears pulled out toward the robot; move forward and lower to get a better view of the drawer front." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 025 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 25, "source_episode_index": 488, "house_index": 318, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 2, "wall_seconds": 24.604520797729492, "usage": { "input_tokens": 6, "cache_creation_input_tokens": 2848, "cache_read_input_tokens": 1780, "output_tokens": 1361 }, "estimated_cost_usd": 0.104155 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVY9L3Tn9rD9X6GNyyf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DW4jFvxo6kx7a8QgmCnEC5", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Dresser ahead with an open drawer visible; moving forward and down to get a better wrist view of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 575, "output_tokens_details": { "thinking_tokens": 447 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVYxf8gQqvrBCNvHsUr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdxnHstWcb9UNQureubqt8", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.72, "gripper": 0 }, "note": "Drawer front with handle is below the gripper; the dresser top is further forward. Closing gripper and lowering in front of drawer face to prepare pushing it in (+x)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1068, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 1068, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 786, "output_tokens_details": { "thinking_tokens": 632 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00449, -0.76004, 0.00873, -2.43888, -0.0362, 1.46412, -0.15466 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26294, -0.00897, 0.96498 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9645, 0.15618, -0.21294 ], [ 0.15061, -0.98769, -0.04225 ], [ -0.21692, 0.00868, -0.97615 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.008788022212684, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Dresser ahead with an open drawer visible; moving forward and down to get a better wrist view of the drawer front." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.01063, -0.08149, 0.01183, -2.25855, -0.03965, 2.35264, -0.11586 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55154, -0.00434, 0.84114 ], "tcp_roll_pitch_yaw": [ 0.01542, -0.39093, -0.00963 ], "tcp_rotation_matrix": [ [ 0.97493, 0.13738, 0.17502 ], [ 0.14456, -0.98908, -0.02888 ], [ 0.16914, 0.05345, -0.98414 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 56 }, "api_seconds": 13.613014288246632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.72, "gripper": 0 }, "note": "Drawer front with handle is below the gripper; the dresser top is further forward. Closing gripper and lowering in front of drawer face to prepare pushing it in (+x)." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 026 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 26, "source_episode_index": 497, "house_index": 321, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 18, "api_calls": 18, "wall_seconds": 220.28839230537415, "usage": { "input_tokens": 38, "cache_creation_input_tokens": 20574, "cache_read_input_tokens": 179199, "output_tokens": 10606 }, "estimated_cost_usd": 0.83265475 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVZWFRA3NeMdtd1Ang8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q48mCfQU5ggzqyg51v2BtG", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.15 }, "note": "Scene unclear; raising gripper to get a broader wrist view of the table and its drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 649, "output_tokens_details": { "thinking_tokens": 536 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVaPBJ3vj3krt5B9Xcu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0179YSDCSZG4wSTaAXSTA6G5", "name": "move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Wrist camera only sees bed blanket; tilting gripper to look forward toward the table and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1145, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 1145, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 494, "output_tokens_details": { "thinking_tokens": 383 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVb6uHgLW3mwjRXFqNy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M1Gban6r5jUEtxWRgNwxRp", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 1.0 }, "note": "Wrist view shows dark table with white drawer knob ahead; approaching forward and lower to localize the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 982, "cache_read_input_tokens": 2922, "cache_creation": { "ephemeral_5m_input_tokens": 982, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 600, "output_tokens_details": { "thinking_tokens": 479 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVbxfDXRATRM6hZ9L42", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KJNeEDCYuavZ8UvZoFQqzX", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.9, "pitch": -0.7 }, "note": "Gripper ended above table top; backing off and lowering to view the drawer front beneath the table top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1087, "cache_read_input_tokens": 3904, "cache_creation": { "ephemeral_5m_input_tokens": 1087, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 626, "output_tokens_details": { "thinking_tokens": 502 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVcpikHfLh2f5KFVnrY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UYC5V71SrsSVafaSoaHA8U", "name": "move_to", "input": { "targets": { "pitch": -0.4, "z": 1.1 }, "note": "IK failed; first reduce the forward tilt and raise slightly to reset joint configuration before repositioning." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1113, "cache_read_input_tokens": 4991, "cache_creation": { "ephemeral_5m_input_tokens": 1113, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 179, "output_tokens_details": { "thinking_tokens": 59 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVdDg8wBEp7pxZ97n8E", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0115fUMjrf4SwqtAtmexfhQE", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.95 }, "note": "Gripper is at the table top near the laptop; retreating and lowering to see the drawer front from in front of the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 667, "cache_read_input_tokens": 6104, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 254, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVdnrQqgCBE58NdnzuK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M3rwEzi3zdmrxVohetCSbf", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 0.9, "pitch": -0.5 }, "note": "Previous move stopped short, likely blocked by table top; pulling further back and lower to get in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 748, "cache_read_input_tokens": 6771, "cache_creation": { "ephemeral_5m_input_tokens": 748, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 872, "output_tokens_details": { "thinking_tokens": 742 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVf5YHNySpUeWFc2N7p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XCvESBcHHXbHNn8dQMVY4v", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.98, "pitch": 0.0 }, "note": "IK failed for the tilted pose near base; using a straight-down orientation slightly back to probe the drawer area." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1361, "cache_read_input_tokens": 7519, "cache_creation": { "ephemeral_5m_input_tokens": 1361, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 182, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVfVP1ED6gX2UdQ17Zh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XSbkvR6sjJ7zW3w8UieVMz", "name": "move_to", "input": { "targets": { "x": 0.27, "y": -0.03, "z": 1.08, "pitch": 0.0 }, "note": "Motions get blocked near the table top; first retreat backward at current height with straight-down orientation, then lower in front of the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 8880, "cache_creation": { "ephemeral_5m_input_tokens": 671, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1108, "output_tokens_details": { "thinking_tokens": 966 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVgy6Pifvwi5Fi28Seg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017UruLAbjVfTY6y8Dj6odC7", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.3, "z": 1.12, "yaw": 0.0 }, "note": "Wrist sees only the bed ahead, so the table is likely off to the robot's right; moving right to look down at the table/drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1604, "cache_read_input_tokens": 9551, "cache_creation": { "ephemeral_5m_input_tokens": 1604, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 929, "output_tokens_details": { "thinking_tokens": 786 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezViBAxNzjq4DEUe5a2R", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DNXZMCZNXWU1aSP3w3oSRT", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.33, "z": 1.12 }, "note": "Table is below to the right; drawer appears to face +x (toward exterior camera/bed). Moving forward over the table's front edge to see the open drawer from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1418, "cache_read_input_tokens": 11155, "cache_creation": { "ephemeral_5m_input_tokens": 1418, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1252, "output_tokens_details": { "thinking_tokens": 1110 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVjhz8mqRZGUDCAtksW", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CPCBGM7vV2tDfQ9PWdehF2", "name": "move_to", "input": { "targets": { "x": 0.42, "y": -0.33, "z": 1.12 }, "note": "Large joint jump rejected; splitting the forward motion into a shorter step over the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1739, "cache_read_input_tokens": 12573, "cache_creation": { "ephemeral_5m_input_tokens": 1739, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 118, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVkBRdy4uAGTJiYSrpg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DtxmifL2VVYsPccYreGqCP", "name": "move_to", "input": { "targets": { "x": 0.2, "y": -0.3, "z": 1.1 }, "note": "Table's near edge with floor is toward the robot; drawer likely faces the robot (-x). Moving back over the space in front of the drawer before lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 14312, "cache_creation": { "ephemeral_5m_input_tokens": 608, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1624, "output_tokens_details": { "thinking_tokens": 1484 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVn5SmyZNrRcg8QaBiS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FT78KHUXSY5wG6TofopVp4", "name": "move_to", "input": { "targets": { "x": 0.2, "y": -0.36, "z": 0.9, "gripper": 0.0 }, "note": "Drawer knob visible ahead below the table top; lowering to drawer-front height in front of it and closing gripper to use as a pusher." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2114, "cache_read_input_tokens": 14920, "cache_creation": { "ephemeral_5m_input_tokens": 2114, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 451, "output_tokens_details": { "thinking_tokens": 306 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVnrL2LqPdQ5NavZZ6m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HCqW7b62rfE6pWimRir2BJ", "name": "move_to", "input": { "targets": { "x": 0.12, "y": -0.36, "z": 0.92 }, "note": "Descent was blocked, likely by the top of the open drawer; moving further back toward the base to get clear of the drawer front before lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 945, "cache_read_input_tokens": 17034, "cache_creation": { "ephemeral_5m_input_tokens": 945, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 507, "output_tokens_details": { "thinking_tokens": 373 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVonoiA4br1UpVKBYXt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdijjECyFJ3ikg3jnfLwXy", "name": "move_to", "input": { "targets": { "x": 0.15, "y": -0.36, "z": 1.15, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Gripper is stuck at the same position with only orientation changing; lifting up and back to free it before another descent in front of the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 996, "cache_read_input_tokens": 17979, "cache_creation": { "ephemeral_5m_input_tokens": 996, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 363, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVpaBifRn6GpgXBRaCo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MQ6JhnthiR4pxGQrTgZNaL", "name": "move_to", "input": { "targets": { "x": 0.12, "y": -0.33, "z": 0.92 }, "note": "Now clear of the drawer; lowering straight down in front of the drawer face to prepare a +x push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 857, "cache_read_input_tokens": 18975, "cache_creation": { "ephemeral_5m_input_tokens": 857, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 247, "output_tokens_details": { "thinking_tokens": 123 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVq5gkhnknUEC5XJkgv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GUVq4dh1cnHmYaQwrzcQic", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.35, "z": 0.94 }, "note": "Gripper is at drawer-front height in front of the table; pushing in +x to slide the open drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 19832, "cache_creation": { "ephemeral_5m_input_tokens": 742, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 27 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.01245, -0.75377, -0.03318, -2.32276, 0.11199, 1.47296, -0.07422 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29054, 0.02435, 1.01609 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99356, 0.06237, -0.09459 ], [ 0.07486, -0.98805, 0.13477 ], [ -0.08506, -0.14098, -0.98635 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.009133961051702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.15 }, "note": "Scene unclear; raising gripper to get a broader wrist view of the table and its drawer." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.02372, -0.5827, -0.04188, -1.85126, 0.12055, 1.1749, -0.03799 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29994, 0.02436, 1.14871 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00019, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99358, 0.06239, -0.09441 ], [ 0.07485, -0.98804, 0.13479 ], [ -0.08487, -0.14099, -0.98637 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 9.409499563276768, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Wrist camera only sees bed blanket; tilting gripper to look forward toward the table and drawer." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ 0.00802, -1.32912, -0.01463, -2.58185, 0.13754, 2.04801, -0.14625 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29989, 0.02438, 1.14867 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.89556, 7e-05 ], "tcp_rotation_matrix": [ [ 0.68744, 0.14911, 0.71077 ], [ 0.07491, -0.98803, 0.13483 ], [ 0.72237, -0.03944, -0.69038 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 55 }, "api_seconds": 11.209820479154587, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1.0 }, "note": "Wrist view shows dark table with white drawer knob ahead; approaching forward and lower to localize the drawer front." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.10621, -0.67737, -0.06356, -2.6757, 0.21079, 3.07515, -0.26441 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52215, 0.00829, 1.0774 ], "tcp_roll_pitch_yaw": [ 0.00263, -1.16888, -0.06269 ], "tcp_rotation_matrix": [ [ 0.47054, 0.09435, 0.87732 ], [ 0.04569, -0.99554, 0.08255 ], [ 0.88119, 0.00124, -0.47275 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 54 }, "api_seconds": 11.412962253205478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.9, "pitch": -0.7 }, "note": "Gripper ended above table top; backing off and lowering to view the drawer front beneath the table top." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.10621, -0.67737, -0.06356, -2.6757, 0.21079, 3.07515, -0.26441 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52215, 0.00829, 1.0774 ], "tcp_roll_pitch_yaw": [ 0.00263, -1.16888, -0.06269 ], "tcp_rotation_matrix": [ [ 0.47054, 0.09435, 0.87732 ], [ 0.04569, -0.99554, 0.08255 ], [ 0.88119, 0.00124, -0.47275 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 53 }, "api_seconds": 5.004454888403416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4, "z": 1.1 }, "note": "IK failed; first reduce the forward tilt and raise slightly to reset joint configuration before repositioning." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.00695, -0.33665, -0.02894, -1.90883, 0.12649, 1.87865, -0.08972 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52117, 0.00851, 1.09921 ], "tcp_roll_pitch_yaw": [ 0.00315, -0.40105, -0.06301 ], "tcp_rotation_matrix": [ [ 0.95069, 0.05126, 0.30589 ], [ 0.01529, -0.99279, 0.11885 ], [ 0.30978, -0.10831, -0.94462 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 52 }, "api_seconds": 7.205887575633824, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95 }, "note": "Gripper is at the table top near the laptop; retreating and lowering to see the drawer front from in front of the table." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ -0.0351, -1.13815, -0.02775, -2.77834, 0.11722, 2.4888, -0.11634 ], "gripper_open": 0.9926, "tcp_xyz": [ 0.39122, -0.0118, 1.06968 ], "tcp_roll_pitch_yaw": [ 0.03734, -0.93967, -0.15954 ], "tcp_rotation_matrix": [ [ 0.65672, 0.02202, 0.75381 ], [ -0.02669, -0.99827, 0.05241 ], [ 0.75366, -0.05454, -0.655 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 51 }, "api_seconds": 17.213082052767277, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.9, "pitch": -0.5 }, "note": "Previous move stopped short, likely blocked by table top; pulling further back and lower to get in front of the drawer face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.0351, -1.13815, -0.02775, -2.77834, 0.11722, 2.4888, -0.11634 ], "gripper_open": 0.9926, "tcp_xyz": [ 0.39122, -0.0118, 1.06968 ], "tcp_roll_pitch_yaw": [ 0.03734, -0.93967, -0.15954 ], "tcp_rotation_matrix": [ [ 0.65672, 0.02202, 0.75381 ], [ -0.02669, -0.99827, 0.05241 ], [ 0.75366, -0.05454, -0.655 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 50 }, "api_seconds": 5.204112235456705, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.98, "pitch": 0.0 }, "note": "IK failed for the tilted pose near base; using a straight-down orientation slightly back to probe the drawer area." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ -0.04701, -0.76645, -0.09388, -2.40554, 0.11049, 2.17948, -0.03443 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43764, -0.04277, 1.07543 ], "tcp_roll_pitch_yaw": [ 0.09708, -0.61452, -0.28325 ], "tcp_rotation_matrix": [ [ 0.84541, -0.09139, 0.52624 ], [ -0.1599, -0.98337, 0.0861 ], [ 0.50962, -0.15693, -0.84597 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 49 }, "api_seconds": 19.61516374722123, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "y": -0.03, "z": 1.08, "pitch": 0.0 }, "note": "Motions get blocked near the table top; first retreat backward at current height with straight-down orientation, then lower in front of the drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ -0.06251, -0.78486, -0.15915, -2.18064, 0.13222, 1.33752, 0.06377 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27096, -0.03009, 1.07997 ], "tcp_roll_pitch_yaw": [ 0.09715, -0.00352, -0.28335 ], "tcp_rotation_matrix": [ [ 0.97733, -0.21043, -0.0233 ], [ -0.1984, -0.94871, 0.24613 ], [ -0.0739, -0.23593, -0.96896 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 48 }, "api_seconds": 15.611609457060695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.3, "z": 1.12, "yaw": 0.0 }, "note": "Wrist sees only the bed ahead, so the table is likely off to the robot's right; moving right to look down at the table/drawer." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.00472, -0.1985, -0.72459, -1.5147, -0.01369, 1.14455, -0.77226 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29985, -0.29869, 1.11975 ], "tcp_roll_pitch_yaw": [ 0.09722, -0.00339, -0.00173 ], "tcp_rotation_matrix": [ [ 0.99396, 0.0615, -0.09091 ], [ 0.08104, -0.9698, 0.23003 ], [ -0.07402, -0.23601, -0.96893 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 47 }, "api_seconds": 21.01559914276004, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.33, "z": 1.12 }, "note": "Table is below to the right; drawer appears to face +x (toward exterior camera/bed). Moving forward over the table's front edge to see the open drawer from above." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ 0.00472, -0.1985, -0.72459, -1.5147, -0.01369, 1.14455, -0.77226 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29985, -0.29869, 1.11975 ], "tcp_roll_pitch_yaw": [ 0.09722, -0.00339, -0.00173 ], "tcp_rotation_matrix": [ [ 0.99396, 0.0615, -0.09091 ], [ 0.08104, -0.9698, 0.23003 ], [ -0.07402, -0.23601, -0.96893 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 46 }, "api_seconds": 6.204993525519967, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": -0.33, "z": 1.12 }, "note": "Large joint jump rejected; splitting the forward motion into a shorter step over the table." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the table.", "joint_positions": [ -0.18246, 0.35131, -0.80253, -0.96705, 0.36212, 0.99309, -0.89146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41876, -0.32965, 1.11992 ], "tcp_roll_pitch_yaw": [ 0.09721, -0.00312, -0.00181 ], "tcp_rotation_matrix": [ [ 0.99394, 0.06135, -0.09116 ], [ 0.08096, -0.96981, 0.23003 ], [ -0.07429, -0.23602, -0.9689 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 45 }, "api_seconds": 25.221904033795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": -0.3, "z": 1.1 }, "note": "Table's near edge with floor is toward the robot; drawer likely faces the robot (-x). Moving back over the space in front of the drawer before lowering." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the table.", "joint_positions": [ -0.0717, -0.48336, -0.66647, -1.76278, -0.17757, 1.15732, -0.77437 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20125, -0.30024, 1.10018 ], "tcp_roll_pitch_yaw": [ 0.09728, -0.00333, -0.00201 ], "tcp_rotation_matrix": [ [ 0.99398, 0.06121, -0.0909 ], [ 0.08076, -0.96981, 0.23012 ], [ -0.07407, -0.23607, -0.96891 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 44 }, "api_seconds": 9.807048056274652, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": -0.36, "z": 0.9, "gripper": 0.0 }, "note": "Drawer knob visible ahead below the table top; lowering to drawer-front height in front of it and closing gripper to use as a pusher." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the table.", "joint_positions": [ -0.07187, -0.51451, -0.73367, -1.90634, -0.12188, 1.45772, -0.89844 ], "gripper_open": 0.0009, "tcp_xyz": [ 0.24329, -0.33641, 1.05821 ], "tcp_roll_pitch_yaw": [ 0.05066, -0.21621, 0.06745 ], "tcp_rotation_matrix": [ [ 0.98026, 0.16765, 0.10477 ], [ 0.14547, -0.97055, 0.19204 ], [ 0.13388, -0.17301, -0.97578 ] ], "simulated_seconds_remaining": 12.342, "calls_remaining_including_this": 43 }, "api_seconds": 12.008973482996225, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "y": -0.36, "z": 0.92 }, "note": "Descent was blocked, likely by the top of the open drawer; moving further back toward the base to get clear of the drawer front before lowering." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the table.", "joint_positions": [ -0.2487, -0.74718, -0.62917, -2.168, -0.08049, 1.75763, -1.0533 ], "gripper_open": 0.0007, "tcp_xyz": [ 0.24004, -0.33398, 1.05961 ], "tcp_roll_pitch_yaw": [ -0.13915, -0.49593, 0.20981 ], "tcp_rotation_matrix": [ [ 0.88575, 0.26272, 0.38266 ], [ 0.25235, -0.96448, 0.07806 ], [ 0.38957, 0.02742, -0.92059 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 42 }, "api_seconds": 10.0075428141281, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": -0.36, "z": 1.15, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Gripper is stuck at the same position with only orientation changing; lifting up and back to free it before another descent in front of the drawer." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the table.", "joint_positions": [ -0.26407, -0.38557, -0.60516, -1.55082, -0.21668, 0.86975, -1.01942 ], "gripper_open": 0.0, "tcp_xyz": [ 0.12055, -0.2966, 1.15695 ], "tcp_roll_pitch_yaw": [ 0.17032, 0.10861, 0.0547 ], "tcp_rotation_matrix": [ [ 0.97371, 0.08068, -0.21303 ], [ 0.14164, -0.94686, 0.28879 ], [ -0.17841, -0.31137, -0.93339 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 41 }, "api_seconds": 6.605250759981573, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "y": -0.33, "z": 0.92 }, "note": "Now clear of the drawer; lowering straight down in front of the drawer face to prepare a +x push." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the table.", "joint_positions": [ -0.29666, -0.50248, -0.6541, -2.20838, -0.30796, 1.59517, -0.99665 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.16788, -0.3512, 0.94199 ], "tcp_roll_pitch_yaw": [ 0.01626, 0.02257, 0.10792 ], "tcp_rotation_matrix": [ [ 0.97744, 0.16463, -0.13234 ], [ 0.18257, -0.97355, 0.13733 ], [ -0.10623, -0.15839, -0.98164 ] ], "simulated_seconds_remaining": 7.722, "calls_remaining_including_this": 40 }, "api_seconds": 9.209526058286428, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.35, "z": 0.94 }, "note": "Gripper is at drawer-front height in front of the table; pushing in +x to slide the open drawer closed." } } } ] } } ] }, "execution": { "steps": 38, "motion_seconds": 2.508, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 027 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 27, "source_episode_index": 561, "house_index": 322, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 5, "api_calls": 6, "wall_seconds": 43.7136812210083, "usage": { "input_tokens": 14, "cache_creation_input_tokens": 5838, "cache_read_input_tokens": 17884, "output_tokens": 1784 }, "estimated_cost_usd": 0.166786 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVbWW74Bnc73GBf2xD3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AvdUQTgw9n3YWJzA54mDs3", "name": "move_to", "input": { "targets": { "x": 0.28, "z": 1.0, "gripper": 0 }, "note": "Drawer front is visible below the gripper in the wrist view; drawer seems open toward the robot (-x). Closing gripper and lowering behind the drawer front to prepare a push in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 763, "output_tokens_details": { "thinking_tokens": 610 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVcUKAPjcSvCKqLerFM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019RF1c7t57gAdhK6VB31m4p", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1254, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 1254, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 106, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVcmm9fEDGRZ5AKPLQm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TFFLtb3iakppmVN9uqEBGt", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.03, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Previous motion drifted (pitched) instead of reaching target. Retrying with a smaller step down and back, restoring the original orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 539, "cache_read_input_tokens": 3031, "cache_creation": { "ephemeral_5m_input_tokens": 539, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 248, "output_tokens_details": { "thinking_tokens": 98 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVdJfGGb2txe6vKNcMz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017BFdabC4JU53sfzEczjd4N", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 1.09, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "The gripper appears to be resting on the top edge of the drawer front, blocking descent. Retreating toward the robot (-x) to clear the drawer front before lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 3570, "cache_creation": { "ephemeral_5m_input_tokens": 743, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 387, "output_tokens_details": { "thinking_tokens": 227 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVdzoFcnp31VF3642y4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011nwmG7HUKY8v9uH2LtXeUT", "name": "move_to", "input": { "targets": { "z": 0.99 }, "note": "Cleared the drawer front; now lowering the closed gripper so it sits in front of the drawer face for a push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 880, "cache_read_input_tokens": 4313, "cache_creation": { "ephemeral_5m_input_tokens": 880, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 156, "output_tokens_details": { "thinking_tokens": 45 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVeNeuMBpssjFWp4mn3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015nYQLJt8qZBtH4iZr61NBf", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Gripper is lowered in front of the drawer face. Pushing forward in +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 5193, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 124, "output_tokens_details": { "thinking_tokens": 15 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.02219, -0.81715, -0.03188, -2.28017, -0.06441, 1.67845, -0.08811 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33968, -0.03492, 1.07561 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97679, 0.03523, 0.21128 ], [ 0.04694, -0.99761, -0.05066 ], [ 0.20899, 0.05941, -0.97611 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.610113044269383, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "z": 1.0, "gripper": 0 }, "note": "Drawer front is visible below the gripper in the wrist view; drawer seems open toward the robot (-x). Closing gripper and lowering behind the drawer front to prepare a push in +x." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ -0.02819, -1.08065, -0.03537, -2.58511, -0.06963, 2.13466, -0.08992 ], "gripper_open": 0.015, "tcp_xyz": [ 0.36209, -0.03369, 1.08237 ], "tcp_roll_pitch_yaw": [ -0.02452, -0.41359, 0.02494 ], "tcp_rotation_matrix": [ [ 0.80938, 0.02339, 0.58683 ], [ 0.07225, -0.99558, -0.05997 ], [ 0.58283, 0.09094, -0.80749 ] ], "simulated_seconds_remaining": 29.106, "calls_remaining_including_this": 56 }, "api_seconds": 11.008788228966296, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.03, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Previous motion drifted (pitched) instead of reaching target. Retrying with a smaller step down and back, restoring the original orientation." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ -0.03541, -0.99057, -0.02585, -2.47228, -0.06117, 1.97355, -0.09354 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.35612, -0.03398, 1.08221 ], "tcp_roll_pitch_yaw": [ -0.01714, -0.27556, 0.01457 ], "tcp_rotation_matrix": [ [ 0.88247, 0.0276, 0.46955 ], [ 0.06338, -0.99615, -0.06055 ], [ 0.46607, 0.0832, -0.88083 ] ], "simulated_seconds_remaining": 28.248, "calls_remaining_including_this": 55 }, "api_seconds": 9.007524685002863, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 1.09, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "The gripper appears to be resting on the top edge of the drawer front, blocking descent. Retreating toward the robot (-x) to clear the drawer front before lowering." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ -0.04842, -1.1433, -0.02591, -2.36892, -0.06158, 1.44435, -0.11785 ], "gripper_open": 0.0, "tcp_xyz": [ 0.22107, -0.03399, 1.09 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.00241, 9e-05 ], "tcp_rotation_matrix": [ [ 0.97628, 0.03518, 0.21364 ], [ 0.04706, -0.9976, -0.05078 ], [ 0.21134, 0.05963, -0.97559 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 54 }, "api_seconds": 4.8043057741597295, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.99 }, "note": "Cleared the drawer front; now lowering the closed gripper so it sits in front of the drawer face for a push." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ -0.05161, -1.30027, -0.03374, -2.68805, -0.06954, 1.60627, -0.11098 ], "gripper_open": 0.0, "tcp_xyz": [ 0.22105, -0.03399, 0.99123 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.00225, 9e-05 ], "tcp_rotation_matrix": [ [ 0.97631, 0.03518, 0.21348 ], [ 0.04705, -0.9976, -0.05078 ], [ 0.21118, 0.05962, -0.97563 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 53 }, "api_seconds": 5.00417522713542, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Gripper is lowered in front of the drawer face. Pushing forward in +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 028 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 28, "source_episode_index": 602, "house_index": 323, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 10, "api_calls": 10, "wall_seconds": 130.44453501701355, "usage": { "input_tokens": 22, "cache_creation_input_tokens": 12265, "cache_read_input_tokens": 54601, "output_tokens": 6324 }, "estimated_cost_usd": 0.48338275 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVgFmyagLNUpcium2Hp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QB1dMqbWwnE1Z8GDqQvRm5", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15, "pitch": -0.6 }, "note": "Drawer appears open in front; raising and tilting the gripper to get a better view of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 399, "output_tokens_details": { "thinking_tokens": 266 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVgsrt7JHPMfiezf6cA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GirekZwiTEf2BUWEJHWCkG", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.3, "pitch": -1.2 }, "note": "Wrist view shows drawer body extended; raising further and looking forward to see the full drawer geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 896, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 896, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 351, "output_tokens_details": { "thinking_tokens": 217 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVhVFsGiBU3YviEbGbD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PfiMUiUwVqni2X2rb1o266", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.19, "pitch": -1.2 }, "note": "z=1.3 exceeded workspace; try z=1.19 with more forward-looking pitch to survey the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 838, "cache_read_input_tokens": 2674, "cache_creation": { "ephemeral_5m_input_tokens": 838, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 211, "output_tokens_details": { "thinking_tokens": 71 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVhwJ2X7BCjLnVfT1xb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SJkMZgQYZdpY6nwDEQUWPT", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.15, "z": 1.08, "pitch": -1.2 }, "note": "Wrist view shows open drawer with handle at upper right; drawer protrudes toward robot's right-front. Moving closer to the right to localize the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 700, "cache_read_input_tokens": 3512, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 823, "output_tokens_details": { "thinking_tokens": 670 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVizNqtvA1duR9wbuN3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EWFigGPNy8kuYW3PeLxLaU", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.35, "z": 1.1, "pitch": -1.2, "yaw": 0.9 }, "note": "Too close to drawer body to see. Moving to the right side and yawing toward +y to view the drawer front face directly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1318, "cache_read_input_tokens": 4212, "cache_creation": { "ephemeral_5m_input_tokens": 1318, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 824, "output_tokens_details": { "thinking_tokens": 676 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVkBAX1bQMcTXVuuhVT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XiETf9D39LH5NSwDnBm6VE", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.15, "z": 1.18, "pitch": -1.1, "yaw": 0.0, "roll": 0.0 }, "note": "View was ambiguous; returning to a survey pose shifted left to check whether the drawer is on the robot's left side." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1317, "cache_read_input_tokens": 5530, "cache_creation": { "ephemeral_5m_input_tokens": 1317, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 910, "output_tokens_details": { "thinking_tokens": 753 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVmYvEmuRPLW78aSdtN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012gLE8E1vKSfoWR88PiyNHB", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.2, "z": 1.1, "pitch": -1.4 }, "note": "Drawer front with handle now centered in wrist view; approaching it slightly with a more horizontal gaze to judge its orientation and distance." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1402, "cache_read_input_tokens": 6847, "cache_creation": { "ephemeral_5m_input_tokens": 1402, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1454, "output_tokens_details": { "thinking_tokens": 1308 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVoMtWrWgWFhTZ7yeC1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VbufPqEsYZ9z2KTwSm6ZMu", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 1.1, "pitch": -1.5, "gripper": 0.0 }, "note": "Drawer front faces the robot and is a bit ahead; closing gripper and aligning it to point forward just below the handle to push the drawer in along +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1946, "cache_read_input_tokens": 8249, "cache_creation": { "ephemeral_5m_input_tokens": 1946, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 918, "output_tokens_details": { "thinking_tokens": 758 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVpff8RGqhunWAk8frK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WtvGzkQZW9gR3hcV8e392N", "name": "move_to", "input": { "targets": { "x": 0.7, "y": 0.15, "z": 1.1 }, "note": "Drawer front is directly ahead and close; pushing forward along +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1409, "cache_read_input_tokens": 10195, "cache_creation": { "ephemeral_5m_input_tokens": 1409, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVqNhCYmGZgQQgLwdpN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011XFagY3mGq7KWVXexh2toH", "name": "move_to", "input": { "targets": { "x": 0.85, "y": 0.15, "z": 1.1 }, "note": "Gripper advanced to x=0.7; drawer may have moved partially. Continuing to push forward to fully close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 11604, "cache_creation": { "ephemeral_5m_input_tokens": 661, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 268, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.02489, -0.811, 0.06918, -2.39731, 0.05056, 1.55868, -0.01419 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29174, 0.03903, 1.00187 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08581, -0.02875 ], [ 0.0858, -0.99631, -0.00164 ], [ -0.02878, -0.00083, -0.99959 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.206988560035825, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15, "pitch": -0.6 }, "note": "Drawer appears open in front; raising and tilting the gripper to get a better view of the drawer front." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00156, -0.99536, 0.00045, -2.33423, -0.0024, 1.90705, -0.08336 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34969, 0.0002, 1.14924 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.59689, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83987, 0.07143, 0.53806 ], [ 0.08576, -0.99631, -0.00161 ], [ 0.53596, 0.0475, -0.8429 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 8.206499955616891, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.3, "pitch": -1.2 }, "note": "Wrist view shows drawer body extended; raising further and looking forward to see the full drawer geometry." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00156, -0.99536, 0.00045, -2.33423, -0.0024, 1.90705, -0.08336 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34969, 0.0002, 1.14924 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.59689, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83987, 0.07143, 0.53806 ], [ 0.08576, -0.99631, -0.00161 ], [ 0.53596, 0.0475, -0.8429 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 5.806521269492805, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.19, "pitch": -1.2 }, "note": "z=1.3 exceeded workspace; try z=1.19 with more forward-looking pitch to survey the drawer." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00108, -1.52579, 0.00031, -2.76775, -0.00377, 2.40902, -0.08238 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30033, 0.0, 1.18971 ], "tcp_roll_pitch_yaw": [ 3e-05, -1.19574, -2e-05 ], "tcp_rotation_matrix": [ [ 0.3916, 0.03221, 0.91957 ], [ 0.0858, -0.99631, -0.00163 ], [ 0.91613, 0.07953, -0.39292 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 13.812350491061807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.15, "z": 1.08, "pitch": -1.2 }, "note": "Wrist view shows open drawer with handle at upper right; drawer protrudes toward robot's right-front. Moving closer to the right to localize the drawer front." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.13604, -0.9749, -0.50471, -2.80377, -0.10249, 3.06179, -0.43827 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44856, -0.14691, 1.09365 ], "tcp_roll_pitch_yaw": [ -0.0387, -1.23022, 0.03867 ], "tcp_rotation_matrix": [ [ 0.35936, 0.0316, 0.93266 ], [ 0.09859, -0.99512, -0.00427 ], [ 0.92798, 0.09349, -0.36072 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 53 }, "api_seconds": 15.412637050263584, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.35, "z": 1.1, "pitch": -1.2, "yaw": 0.9 }, "note": "Too close to drawer body to see. Moving to the right side and yawing toward +y to view the drawer front face directly." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.871, -1.26079, -1.18464, -1.75488, -0.09476, 1.26994, -1.27614 ], "gripper_open": 0.9693, "tcp_xyz": [ 0.30628, -0.2715, 1.0614 ], "tcp_roll_pitch_yaw": [ 0.34105, -1.02326, 0.95385 ], "tcp_rotation_matrix": [ [ 0.22536, 0.95645, 0.1855 ], [ 0.47412, -0.274, 0.83674 ], [ 0.85113, -0.10062, -0.51522 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 52 }, "api_seconds": 18.014207683503628, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.15, "z": 1.18, "pitch": -1.1, "yaw": 0.0, "roll": 0.0 }, "note": "View was ambiguous; returning to a survey pose shifted left to check whether the drawer is on the robot's left side." } } } ] } } ] }, "execution": { "steps": 49, "motion_seconds": 3.234, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.06872, -1.43814, 0.40432, -2.62538, 0.2657, 2.28996, 0.08602 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29997, 0.14901, 1.17982 ], "tcp_roll_pitch_yaw": [ -0.00016, -1.09974, 0.00313 ], "tcp_rotation_matrix": [ [ 0.47736, 0.04266, 0.87767 ], [ 0.08729, -0.99618, 0.00094 ], [ 0.87436, 0.07617, -0.47926 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 51 }, "api_seconds": 24.218671835958958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.2, "z": 1.1, "pitch": -1.4 }, "note": "Drawer front with handle now centered in wrist view; approaching it slightly with a more horizontal gaze to judge its orientation and distance." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.22703, -1.13476, 0.81622, -2.84525, 0.41248, 3.16538, 0.24358 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4193, 0.19957, 1.10036 ], "tcp_roll_pitch_yaw": [ -0.00137, -1.39749, 0.00394 ], "tcp_rotation_matrix": [ [ 0.19986, 0.0182, 0.97966 ], [ 0.08655, -0.99625, 0.00085 ], [ 0.97599, 0.08462, -0.20068 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 50 }, "api_seconds": 17.41311741247773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 1.1, "pitch": -1.5, "gripper": 0.0 }, "note": "Drawer front faces the robot and is a bit ahead; closing gripper and aligning it to point forward just below the handle to push the drawer in along +x." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.4225, -0.76572, 0.80617, -2.78955, 0.32265, 3.59356, 0.17072 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49893, 0.15059, 1.0999 ], "tcp_roll_pitch_yaw": [ -0.00043, -1.4982, 0.00276 ], "tcp_rotation_matrix": [ [ 0.10074, 0.00937, 0.99487 ], [ 0.08607, -0.99629, 0.00067 ], [ 0.99118, 0.08556, -0.10117 ] ], "simulated_seconds_remaining": 18.414, "calls_remaining_including_this": 49 }, "api_seconds": 9.20739752613008, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": 0.15, "z": 1.1 }, "note": "Drawer front is directly ahead and close; pushing forward along +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the dresser.", "joint_positions": [ -1.48641, -0.39771, 1.66029, -2.20492, 0.25584, 3.66305, 0.10641 ], "gripper_open": 0.0, "tcp_xyz": [ 0.69865, 0.14999, 1.10004 ], "tcp_roll_pitch_yaw": [ -0.00176, -1.49825, 0.004 ], "tcp_rotation_matrix": [ [ 0.1007, 0.00929, 0.99487 ], [ 0.08616, -0.99628, 0.00058 ], [ 0.99118, 0.08566, -0.10113 ] ], "simulated_seconds_remaining": 16.764, "calls_remaining_including_this": 48 }, "api_seconds": 6.809126526117325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.85, "y": 0.15, "z": 1.1 }, "note": "Gripper advanced to x=0.7; drawer may have moved partially. Continuing to push forward to fully close it." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 029 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 29, "source_episode_index": 609, "house_index": 413, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 6, "api_calls": 6, "wall_seconds": 68.91210579872131, "usage": { "input_tokens": 14, "cache_creation_input_tokens": 6940, "cache_read_input_tokens": 19475, "output_tokens": 3195 }, "estimated_cost_usd": 0.25150875 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVsQAJUkgULD5b94ZvD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JLsENpbJMHBF3QafHvxpjB", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.8, "pitch": -0.7 }, "note": "Camera looks straight down; lowering and tilting the gripper forward to view the dresser front and find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 945, "output_tokens_details": { "thinking_tokens": 807 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVtdbxh3hm5T3jNqBPs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JchxHRmo5QetEtAG2k9hxR", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.4 }, "note": "Previous pose unreachable; try a smaller step down and a milder forward tilt to view the dresser." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1436, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 1436, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 142, "output_tokens_details": { "thinking_tokens": 10 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVuEiLQuDERxCnk7UbE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P34oZZsSSWmpBDSBm6JUBv", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 0.75, "pitch": -0.8 }, "note": "Wrist view shows dresser front with drawer handles to the right; top drawer appears pulled out. Lower and tilt more to see it clearly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 3216, "cache_creation": { "ephemeral_5m_input_tokens": 633, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 640, "output_tokens_details": { "thinking_tokens": 492 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVv52T9a3oxHki6grRC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015qxi6joksSVbQpBcNpb4ZT", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 0.75 }, "note": "Larger tilt unreachable; just lower the gripper while keeping current tilt to get closer to the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1131, "cache_read_input_tokens": 3849, "cache_creation": { "ephemeral_5m_input_tokens": 1131, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 175, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVveBVVvv9KvgFcyTpa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019NHS1zSy74JTuU2JfLbXBh", "name": "move_to", "input": { "targets": { "y": -0.2 }, "note": "Dresser appears on the right of wrist view; shift right (−y) to test whether it comes closer/centered." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 670, "cache_read_input_tokens": 4980, "cache_creation": { "ephemeral_5m_input_tokens": 670, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 796, "output_tokens_details": { "thinking_tokens": 686 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVwncnWjrqgdSe3izsG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012zuEBCaG3o9ADKgBjnY7XS", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Views are ambiguous about dresser side; exterior suggests dresser is at +y. Move to y=+0.2 to compare." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1290, "cache_read_input_tokens": 5650, "cache_creation": { "ephemeral_5m_input_tokens": 1290, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 497, "output_tokens_details": { "thinking_tokens": 380 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00154, -0.82777, -0.00017, -2.43289, 0.07537, 1.56539, -0.10013 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28729, 0.01928, 0.99226 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99463, 0.09567, -0.03951 ], [ 0.09845, -0.99228, 0.07548 ], [ -0.03198, -0.07897, -0.99636 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 16.613147004507482, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.8, "pitch": -0.7 }, "note": "Camera looks straight down; lowering and tilting the gripper forward to view the dresser front and find the open drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.00154, -0.82777, -0.00017, -2.43289, 0.07537, 1.56539, -0.10013 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28729, 0.01928, 0.99226 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99463, 0.09567, -0.03951 ], [ 0.09845, -0.99228, 0.07548 ], [ -0.03198, -0.07897, -0.99636 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 8.006865222938359, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 0.9, "pitch": -0.4 }, "note": "Previous pose unreachable; try a smaller step down and a milder forward tilt to view the dresser." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.01213, -0.97058, -0.03658, -2.86575, 0.07539, 2.24761, -0.18752 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34944, 0.00016, 0.9005 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.39637, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92986, 0.11879, 0.34821 ], [ 0.09846, -0.99227, 0.07558 ], [ 0.3545, -0.03599, -0.93436 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 55 }, "api_seconds": 11.008671220391989, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 0.75, "pitch": -0.8 }, "note": "Wrist view shows dresser front with drawer handles to the right; top drawer appears pulled out. Lower and tilt more to see it clearly." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the dresser.", "joint_positions": [ -0.01213, -0.97058, -0.03658, -2.86575, 0.07539, 2.24761, -0.18752 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34944, 0.00016, 0.9005 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.39637, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92986, 0.11879, 0.34821 ], [ 0.09846, -0.99227, 0.07558 ], [ 0.3545, -0.03599, -0.93436 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 54 }, "api_seconds": 7.405957262031734, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 0.75 }, "note": "Larger tilt unreachable; just lower the gripper while keeping current tilt to get closer to the drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.08194, -0.44642, -0.10348, -2.97412, 0.1481, 2.88166, -0.26842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39951, 3e-05, 0.75114 ], "tcp_roll_pitch_yaw": [ 0.00021, -0.39597, 3e-05 ], "tcp_rotation_matrix": [ [ 0.92999, 0.11884, 0.34784 ], [ 0.09848, -0.99226, 0.0757 ], [ 0.35415, -0.03615, -0.93449 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 53 }, "api_seconds": 15.013053090311587, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.2 }, "note": "Dresser appears on the right of wrist view; shift right (−y) to test whether it comes closer/centered." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.06533, -0.31369, -0.62292, -2.76665, 0.19281, 2.76738, -0.84101 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39952, -0.19872, 0.75116 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.39602, -0.00028 ], "tcp_rotation_matrix": [ [ 0.93, 0.11856, 0.34791 ], [ 0.0982, -0.99229, 0.07566 ], [ 0.35419, -0.0362, -0.93447 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 52 }, "api_seconds": 9.607723012566566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Views are ambiguous about dresser side; exterior suggests dresser is at +y. Move to y=+0.2 to compare." } } } ] } } ] }, "execution": { "steps": 45, "motion_seconds": 2.97, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 030 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 30, "source_episode_index": 626, "house_index": 414, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 8.489769697189331, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1782, "cache_read_input_tokens": 0, "output_tokens": 464 }, "estimated_cost_usd": 0.045515 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVsQPgxL9dTCZmuDsv4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FVuZ1Cxsn15RmyWPBFZuED", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Cabinet with open door visible ahead; moving forward and lower to get a better wrist view of the door and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1782, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1782, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 464, "output_tokens_details": { "thinking_tokens": 337 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.01233, -0.79352, 0.03855, -2.39234, 0.04307, 1.47672, 0.14415 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27401, 0.01786, 0.99417 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98404, -0.12921, -0.12236 ], [ -0.12848, -0.99162, 0.01381 ], [ -0.12311, 0.00213, -0.99239 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.2078821323812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Cabinet with open door visible ahead; moving forward and lower to get a better wrist view of the door and handle." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 031 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 31, "source_episode_index": 653, "house_index": 415, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 2, "wall_seconds": 12.3832528591156, "usage": { "input_tokens": 6, "cache_creation_input_tokens": 2570, "cache_read_input_tokens": 1780, "output_tokens": 642 }, "estimated_cost_usd": 0.06473 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVuf9WTTXEUS96WJZa9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N5nj9Pj8XzPR3La35LS6KU", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.04, "z": 0.75, "pitch": 0.6 }, "note": "Gripper is high; lowering and tilting camera to look at the dresser in front and find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 298, "output_tokens_details": { "thinking_tokens": 164 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVv4jq8p5u5BrrPgJK4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KyMTRWoRQZ82vhVKbeGorv", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.04, "z": 0.6, "pitch": 1.3 }, "note": "Wrist view shows top of a dark dresser below; lowering and pitching more to view its front face and drawers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 344, "output_tokens_details": { "thinking_tokens": 208 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.00306, -0.81719, -0.04912, -2.4141, -0.11899, 1.54398, -0.01719 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28497, -0.0431, 0.99606 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99839, -0.01013, -0.05583 ], [ -0.01467, -0.99657, -0.08142 ], [ -0.05482, 0.0821, -0.99512 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.204290637746453, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.04, "z": 0.75, "pitch": 0.6 }, "note": "Gripper is high; lowering and tilting camera to look at the dresser in front and find the open drawer." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the dresser.", "joint_positions": [ 0.01696, 0.07859, -0.05643, -2.268, -0.10264, 1.69511, -0.00658 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34969, -0.04001, 0.75094 ], "tcp_roll_pitch_yaw": [ 0.0, 0.59784, 1e-05 ], "tcp_rotation_matrix": [ [ 0.79437, 0.03784, -0.60625 ], [ -0.01466, -0.99657, -0.08142 ], [ -0.60726, 0.07357, -0.79109 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 56 }, "api_seconds": 7.00577399879694, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.04, "z": 0.6, "pitch": 1.3 }, "note": "Wrist view shows top of a dark dresser below; lowering and pitching more to view its front face and drawers." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 032 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 32, "source_episode_index": 681, "house_index": 416, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 2, "wall_seconds": 27.169135093688965, "usage": { "input_tokens": 6, "cache_creation_input_tokens": 2680, "cache_read_input_tokens": 1779, "output_tokens": 885 }, "estimated_cost_usd": 0.07825475 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVx6oAxVxeAhc3vQ2vo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DKxSzWxJugiKQzFEa9v6py", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.03, "z": 0.95 }, "note": "Drawer front appears dark ahead below; moving forward and slightly down to get a better view with wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 409, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVyBC7w3SVLiQxbvvuA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MKqTovfUpiwJLki4ohNaJ6", "name": "move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Wrist camera only sees floor; tilting gripper to look forward to locate the drawer front and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 901, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 901, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 476, "output_tokens_details": { "thinking_tokens": 365 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01544, -0.7855, -0.06229, -2.26688, -0.04186, 1.70247, 0.00022 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.35276, -0.02761, 1.07416 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97536, -0.03254, 0.21822 ], [ -0.03228, -0.99947, -0.00477 ], [ 0.21826, -0.00239, -0.97589 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 14.211642256937921, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.03, "z": 0.95 }, "note": "Drawer front appears dark ahead below; moving forward and slightly down to get a better view with wrist camera." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.03232, -0.35672, -0.08572, -2.26705, -0.02772, 2.13105, -0.00639 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.49893, -0.02998, 0.95075 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.97543, -0.03253, 0.21789 ], [ -0.03227, -0.99947, -0.00477 ], [ 0.21793, -0.00238, -0.97596 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 12.810941429808736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Wrist camera only sees floor; tilting gripper to look forward to locate the drawer front and handle." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 033 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 33, "source_episode_index": 711, "house_index": 417, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 21, "api_calls": 21, "wall_seconds": 224.4371771812439, "usage": { "input_tokens": 44, "cache_creation_input_tokens": 19994, "cache_read_input_tokens": 222886, "output_tokens": 8637 }, "estimated_cost_usd": 0.7379365 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVz2cTpyR53mtECHcS7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JV1WgdhLhb12oaS1xRXU4a", "name": "move_to", "input": { "targets": { "z": 1.2, "x": 0.25 }, "note": "Scene unclear from wrist view; raising and retracting the gripper to get an overview of the cabinet and its open door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 277, "output_tokens_details": { "thinking_tokens": 156 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezVzbztVHj63GTa4pfKy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B13JJ9F6yA8HnsT17KkK3X", "name": "move_to", "input": { "targets": { "pitch": -0.8, "z": 1.15 }, "note": "Wrist camera looks straight down; tilting to look forward to see the cabinet door geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 771, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 771, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 492, "output_tokens_details": { "thinking_tokens": 376 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW1LpN4jLDovZMMLz3h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MxYt2PAgxZu2AqhZEzeej6", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 1.05 }, "note": "See a tan door edge with a small handle ahead; moving closer/lower to judge door position and hinge side." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 990, "cache_read_input_tokens": 2551, "cache_creation": { "ephemeral_5m_input_tokens": 990, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 709, "output_tokens_details": { "thinking_tokens": 592 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW2MYo28JSRZXBP7j6f", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F3ut5qy9s4RQBn5mPcGdG1", "name": "move_to", "input": { "targets": { "gripper": 0, "pitch": 0, "x": 0.32, "y": 0.09, "z": 0.95 }, "note": "Door appears hinged on the left (+y) with free edge/handle near y≈0; closing gripper and positioning pointing down just in front of the door face, left of the handle, to push it closed toward +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1202, "cache_read_input_tokens": 3541, "cache_creation": { "ephemeral_5m_input_tokens": 1202, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 846, "output_tokens_details": { "thinking_tokens": 675 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW3WExZnB6Axp3q7vAQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019BgY5NwPneX1KjHRQDmsRR", "name": "move_to", "input": { "targets": { "x": 0.42 }, "note": "Pushing forward in +x against the door face near its free edge to swing it closed; will check whether the door moves." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1343, "cache_read_input_tokens": 4743, "cache_creation": { "ephemeral_5m_input_tokens": 1343, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 289, "output_tokens_details": { "thinking_tokens": 180 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW4CWszDqY6YcgaUzHE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rmw4ehTjN2FuXKzL87BpZX", "name": "move_to", "input": { "targets": { "x": 0.28, "z": 0.85 }, "note": "No contact; gripper seems above cabinet top. Retracting and lowering below the top edge to push the door face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 6086, "cache_creation": { "ephemeral_5m_input_tokens": 781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 463, "output_tokens_details": { "thinking_tokens": 345 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW4vLpD7SpTLeqjJz8k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L3TbLTnu8X4PRpCPNdNAZv", "name": "move_to", "input": { "targets": { "x": 0.2, "y": -0.12 }, "note": "Door seems swung open toward robot along x with tan inner face toward +y; moving around its free edge to the -y side to push it closed toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 955, "cache_read_input_tokens": 6867, "cache_creation": { "ephemeral_5m_input_tokens": 955, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1135, "output_tokens_details": { "thinking_tokens": 1006 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW6drRrpDhiriYM7jJt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RbErSw3T7wc6PTpYXFefh7", "name": "move_to", "input": { "targets": { "x": 0.33 }, "note": "Clear of the door on the -y side; advancing forward to be beside the door's outer face before pushing toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1627, "cache_read_input_tokens": 7822, "cache_creation": { "ephemeral_5m_input_tokens": 1627, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 264, "output_tokens_details": { "thinking_tokens": 153 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW7AEJ5xfdcCK2u12R4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q1eZGDtLtP4rKMrwMkeW1L", "name": "move_to", "input": { "targets": { "y": 0.1 }, "note": "Sweeping toward +y at door height to push the open door's outer face closed toward the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 761, "cache_read_input_tokens": 9449, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 159 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW81VDBjFE567hAiqSr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017JnZ7D86K89Cz9N1kM59kb", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Suspect the cabinet is lower than assumed (black slab under gripper is the cabinet/door top). Lowering slowly to find the top surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 756, "cache_read_input_tokens": 10210, "cache_creation": { "ephemeral_5m_input_tokens": 756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 563, "output_tokens_details": { "thinking_tokens": 439 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW8rffTjYDKknZsQ7JJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GnsSqzAFVz4zEzzQUjDJGq", "name": "move_to", "input": { "targets": { "z": 0.65 }, "note": "Still no contact; continuing to lower to probe for the cabinet/door top surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1053, "cache_read_input_tokens": 10966, "cache_creation": { "ephemeral_5m_input_tokens": 1053, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 494, "output_tokens_details": { "thinking_tokens": 392 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW9mnWrmwGG1bX2Z5ZB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XVE68re2M3SPasnTGzZDEK", "name": "move_to", "input": { "targets": { "pitch": -1.1, "x": 0.25, "z": 0.75 }, "note": "Realized the dark slab in wrist view is my own fingers; cabinet is farther ahead. Tilting camera forward from a mid height to see the door and handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 990, "cache_read_input_tokens": 12019, "cache_creation": { "ephemeral_5m_input_tokens": 990, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 458, "output_tokens_details": { "thinking_tokens": 313 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWAdGKo42spgfjM2WEP", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013vsK44dM5Xjosg734ED6RL", "name": "move_to", "input": { "targets": { "pitch": -0.8, "x": 0.25, "z": 0.85 }, "note": "Previous pose unreachable; using a milder forward tilt from slightly higher to view the cabinet door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 949, "cache_read_input_tokens": 13009, "cache_creation": { "ephemeral_5m_input_tokens": 949, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 126, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWB2YoEdmrY27kNgAaz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GcuUYEZ4K3NhE4s5NDMwww", "name": "move_to", "input": { "targets": { "z": 0.95, "x": 0.28 }, "note": "IK failing from low pose; first rise back up, then tilt to look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 617, "cache_read_input_tokens": 13958, "cache_creation": { "ephemeral_5m_input_tokens": 617, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 149, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWBUAf6MnF5HHae81oG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FKdr6TvBDPrk51qBqXHiUy", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.75 }, "note": "Time is short; door likely ajar with face at x~0.4-0.45 near y=0.1. Pushing forward in +x at door mid-height to close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 14575, "cache_creation": { "ephemeral_5m_input_tokens": 640, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 730, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWCcx2adR8wHZAsBwAS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PLy5bd5sbBKBpfpQXPnPar", "name": "move_to", "input": { "targets": { "x": 0.28 }, "note": "Cabinet top appears below 0.75 in wrist view—I've been above the door. Retreating before dropping to door height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 15215, "cache_creation": { "ephemeral_5m_input_tokens": 1221, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 528, "output_tokens_details": { "thinking_tokens": 414 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWDR3gv4qLX897vfHji", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T4Uvi1cPbUfTui7tQ6iX6x", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.85 }, "note": "Straight retreat rejected by IK; retreating with a rise to a more reachable pose." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1019, "cache_read_input_tokens": 16436, "cache_creation": { "ephemeral_5m_input_tokens": 1019, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 111, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWDuVDyo5pzdNfSvJwQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DtKY2skXrtJDvtPz74NTu6", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.55 }, "note": "Dropping to mid-door height in front of the cabinet before pushing forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 602, "cache_read_input_tokens": 17455, "cache_creation": { "ephemeral_5m_input_tokens": 602, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 202, "output_tokens_details": { "thinking_tokens": 94 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWEdVpXbZavLgJYF4j4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015AUQMHg2okr5NpYTXnwEGj", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 0.63 }, "note": "0.55 unreachable; lowering to 0.63 (known reachable) at x=0.33 before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 693, "cache_read_input_tokens": 18057, "cache_creation": { "ephemeral_5m_input_tokens": 693, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 155, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWFgUBnMB2rx6LFHt8U", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016mTXiD9EWotsWkjEJbPoBA", "name": "move_to", "input": { "targets": { "x": 0.52 }, "note": "At door height in front of the cabinet; pushing forward in +x to swing the ajar door closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 18750, "cache_creation": { "ephemeral_5m_input_tokens": 647, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 105, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWG47Sw6dPNQJZ4BqC5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hxo8myAJvYeAfXA7vnYYkY", "name": "move_to", "input": { "targets": { "x": 0.56 }, "note": "Tan door edge has mostly disappeared, suggesting the door swung closed; pushing slightly further to ensure it latches." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 597, "cache_read_input_tokens": 19397, "cache_creation": { "ephemeral_5m_input_tokens": 597, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 276, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.00607, -0.81292, 0.05735, -2.38289, 0.03232, 1.72004, 0.10618 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33648, 0.02802, 1.02647 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98705, -0.05944, 0.14897 ], [ -0.05975, -0.99821, -0.00244 ], [ 0.14884, -0.00649, -0.98884 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.406706195324659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2, "x": 0.25 }, "note": "Scene unclear from wrist view; raising and retracting the gripper to get an overview of the cabinet and its open door." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.00722, -0.81445, 0.04851, -1.88901, 0.02809, 1.22491, 0.11463 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25062, 0.02803, 1.19887 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00029, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98701, -0.05943, 0.14925 ], [ -0.05974, -0.99821, -0.00241 ], [ 0.14913, -0.00653, -0.9888 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 9.608103083446622, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "z": 1.15 }, "note": "Wrist camera looks straight down; tilting to look forward to see the cabinet door geometry." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.02521, -1.59921, 0.0736, -2.70212, 0.02469, 2.04774, 0.12157 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25056, 0.02804, 1.1502 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.79557, 6e-05 ], "tcp_rotation_matrix": [ [ 0.58451, -0.03694, 0.81055 ], [ -0.0597, -0.99821, -0.00244 ], [ 0.80919, -0.04697, -0.58567 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 13.412771627306938, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 1.05 }, "note": "See a tan door edge with a small handle ahead; moving closer/lower to judge door position and hinge side." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.02654, -1.49803, 0.0938, -2.98051, 0.03868, 2.42667, 0.12586 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32917, 0.02803, 1.05095 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.79518, 6e-05 ], "tcp_rotation_matrix": [ [ 0.58481, -0.03699, 0.81032 ], [ -0.0597, -0.99821, -0.00248 ], [ 0.80897, -0.04693, -0.58598 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 15.212725930847228, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "pitch": 0, "x": 0.32, "y": 0.09, "z": 0.95 }, "note": "Door appears hinged on the left (+y) with free edge/handle near y≈0; closing gripper and positioning pointing down just in front of the door face, left of the handle, to push it closed toward +x." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05591, -0.87662, 0.1876, -2.6023, 0.11862, 1.88401, 0.21943 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32009, 0.08967, 0.95047 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.00412, 4e-05 ], "tcp_rotation_matrix": [ [ 0.98643, -0.05938, 0.15304 ], [ -0.0597, -0.99821, -0.00251 ], [ 0.15292, -0.00666, -0.98822 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 53 }, "api_seconds": 9.006312936544418, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Pushing forward in +x against the door face near its free edge to swing it closed; will check whether the door moves." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.00114, -0.54375, 0.19386, -2.39272, 0.07843, 2.00751, 0.20502 ], "gripper_open": 0.0, "tcp_xyz": [ 0.41872, 0.08965, 0.95044 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.004, -2e-05 ], "tcp_rotation_matrix": [ [ 0.98645, -0.05944, 0.15292 ], [ -0.05976, -0.99821, -0.00251 ], [ 0.15279, -0.00666, -0.98824 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 52 }, "api_seconds": 9.207921344786882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "z": 0.85 }, "note": "No contact; gripper seems above cabinet top. Retracting and lowering below the top edge to push the door face." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.11839, -1.00747, 0.2244, -2.91685, 0.16874, 2.06501, 0.24424 ], "gripper_open": 0.0, "tcp_xyz": [ 0.28104, 0.08966, 0.85077 ], "tcp_roll_pitch_yaw": [ -0.00013, -0.00395, 3e-05 ], "tcp_rotation_matrix": [ [ 0.98646, -0.05938, 0.15287 ], [ -0.05969, -0.99821, -0.00256 ], [ 0.15275, -0.0066, -0.98824 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 51 }, "api_seconds": 22.617845923639834, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": -0.12 }, "note": "Door seems swung open toward robot along x with tan inner face toward +y; moving around its free edge to the -y side to push it closed toward +y." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.29183, -1.33463, -0.3, -3.0176, -0.24482, 1.83431, -0.27782 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20053, -0.11873, 0.8508 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.00401, -0.00011 ], "tcp_rotation_matrix": [ [ 0.98644, -0.05953, 0.15293 ], [ -0.05985, -0.9982, -0.0025 ], [ 0.1528, -0.00668, -0.98823 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 50 }, "api_seconds": 6.80582828540355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33 }, "note": "Clear of the door on the -y side; advancing forward to be beside the door's outer face before pushing toward +y." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.10333, -0.77182, -0.27032, -2.79335, -0.17382, 2.18181, -0.16152 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32849, -0.11929, 0.85087 ], "tcp_roll_pitch_yaw": [ 0.00062, -0.00418, -0.00187 ], "tcp_rotation_matrix": [ [ 0.98631, -0.06128, 0.1531 ], [ -0.06168, -0.99809, -0.00211 ], [ 0.15294, -0.00737, -0.98821 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 49 }, "api_seconds": 10.81160384695977, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Sweeping toward +y at door height to push the open door's outer face closed toward the cabinet." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.16603, -0.78237, 0.14645, -2.8126, 0.07116, 2.18197, 0.31007 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32911, 0.09662, 0.8509 ], "tcp_roll_pitch_yaw": [ 0.0009, -0.00419, -0.00889 ], "tcp_rotation_matrix": [ [ 0.98585, -0.06828, 0.15309 ], [ -0.06865, -0.99764, -0.00291 ], [ 0.15292, -0.00764, -0.98821 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 48 }, "api_seconds": 11.410034937784076, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Suspect the cabinet is lower than assumed (black slab under gripper is the cabinet/door top). Lowering slowly to find the top surface height." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.16728, -0.66545, 0.16768, -2.93349, 0.08194, 2.41901, 0.31854 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32904, 0.0966, 0.78114 ], "tcp_roll_pitch_yaw": [ 0.0008, -0.00385, -0.0089 ], "tcp_rotation_matrix": [ [ 0.9859, -0.0683, 0.15275 ], [ -0.06864, -0.99764, -0.003 ], [ 0.1526, -0.00753, -0.98826 ] ], "simulated_seconds_remaining": 16.566, "calls_remaining_including_this": 47 }, "api_seconds": 12.009540292434394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.65 }, "note": "Still no contact; continuing to lower to probe for the cabinet/door top surface." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05606, -0.19064, 0.27207, -3.01881, -0.00692, 2.97896, 0.40285 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32895, 0.09651, 0.65123 ], "tcp_roll_pitch_yaw": [ 0.00055, -0.00347, -0.00898 ], "tcp_rotation_matrix": [ [ 0.98595, -0.06838, 0.15238 ], [ -0.06869, -0.99763, -0.00326 ], [ 0.15224, -0.00725, -0.98832 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 46 }, "api_seconds": 11.409467321820557, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1, "x": 0.25, "z": 0.75 }, "note": "Realized the dark slab in wrist view is my own fingers; cabinet is farther ahead. Tilting camera forward from a mid height to see the door and handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05606, -0.19064, 0.27207, -3.01881, -0.00692, 2.97896, 0.40285 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32895, 0.09651, 0.65123 ], "tcp_roll_pitch_yaw": [ 0.00055, -0.00347, -0.00898 ], "tcp_rotation_matrix": [ [ 0.98595, -0.06838, 0.15238 ], [ -0.06869, -0.99763, -0.00326 ], [ 0.15224, -0.00725, -0.98832 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 45 }, "api_seconds": 5.404184213839471, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "x": 0.25, "z": 0.85 }, "note": "Previous pose unreachable; using a milder forward tilt from slightly higher to view the cabinet door." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05606, -0.19064, 0.27207, -3.01881, -0.00692, 2.97896, 0.40285 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32895, 0.09651, 0.65123 ], "tcp_roll_pitch_yaw": [ 0.00055, -0.00347, -0.00898 ], "tcp_rotation_matrix": [ [ 0.98595, -0.06838, 0.15238 ], [ -0.06869, -0.99763, -0.00326 ], [ 0.15224, -0.00725, -0.98832 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 44 }, "api_seconds": 5.2046258775517344, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "x": 0.28 }, "note": "IK failing from low pose; first rise back up, then tilt to look." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.19638, -0.99867, 0.12912, -2.66974, 0.06609, 1.82163, 0.33182 ], "gripper_open": 0.0, "tcp_xyz": [ 0.28029, 0.09654, 0.94874 ], "tcp_roll_pitch_yaw": [ 0.00065, -0.00377, -0.00896 ], "tcp_rotation_matrix": [ [ 0.98591, -0.06836, 0.15267 ], [ -0.06868, -0.99763, -0.00316 ], [ 0.15253, -0.00737, -0.98827 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 43 }, "api_seconds": 15.011176088824868, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.75 }, "note": "Time is short; door likely ajar with face at x~0.4-0.45 near y=0.1. Pushing forward in +x at door mid-height to close it." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.0775, -0.04605, 0.12227, -2.47141, -0.05183, 2.57457, 0.31076 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49895, 0.09651, 0.75089 ], "tcp_roll_pitch_yaw": [ 0.00063, -0.00362, -0.00903 ], "tcp_rotation_matrix": [ [ 0.98593, -0.06843, 0.15252 ], [ -0.06875, -0.99763, -0.00319 ], [ 0.15238, -0.00734, -0.9883 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 42 }, "api_seconds": 10.408442198298872, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28 }, "note": "Cabinet top appears below 0.75 in wrist view—I've been above the door. Retreating before dropping to door height." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.0775, -0.04605, 0.12227, -2.47141, -0.05183, 2.57457, 0.31076 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49895, 0.09651, 0.75089 ], "tcp_roll_pitch_yaw": [ 0.00063, -0.00362, -0.00903 ], "tcp_rotation_matrix": [ [ 0.98593, -0.06843, 0.15252 ], [ -0.06875, -0.99763, -0.00319 ], [ 0.15238, -0.00734, -0.9883 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 41 }, "api_seconds": 6.405313473194838, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.85 }, "note": "Straight retreat rejected by IK; retreating with a rise to a more reachable pose." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.16125, -0.69362, 0.1302, -2.76468, 0.04982, 2.22205, 0.30944 ], "gripper_open": 0.0, "tcp_xyz": [ 0.35115, 0.09655, 0.84937 ], "tcp_roll_pitch_yaw": [ 0.00065, -0.00388, -0.00898 ], "tcp_rotation_matrix": [ [ 0.98589, -0.06837, 0.15278 ], [ -0.0687, -0.99763, -0.00316 ], [ 0.15264, -0.00738, -0.98825 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 40 }, "api_seconds": 9.408011313527822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.55 }, "note": "Dropping to mid-door height in front of the cabinet before pushing forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.16125, -0.69362, 0.1302, -2.76468, 0.04982, 2.22205, 0.30944 ], "gripper_open": 0.0, "tcp_xyz": [ 0.35115, 0.09655, 0.84937 ], "tcp_roll_pitch_yaw": [ 0.00065, -0.00388, -0.00898 ], "tcp_rotation_matrix": [ [ 0.98589, -0.06837, 0.15278 ], [ -0.0687, -0.99763, -0.00316 ], [ 0.15264, -0.00738, -0.98825 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 39 }, "api_seconds": 13.810387716628611, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.63 }, "note": "0.55 unreachable; lowering to 0.63 (known reachable) at x=0.33 before pushing." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.07293, -0.09035, 0.34668, -3.00561, -0.18744, 3.06568, 0.52987 ], "gripper_open": 0.0, "tcp_xyz": [ 0.33007, 0.09638, 0.63125 ], "tcp_roll_pitch_yaw": [ 0.00028, -0.00354, -0.00932 ], "tcp_rotation_matrix": [ [ 0.98592, -0.06872, 0.15243 ], [ -0.06898, -0.99761, -0.00358 ], [ 0.15232, -0.00699, -0.98831 ] ], "simulated_seconds_remaining": 7.524, "calls_remaining_including_this": 38 }, "api_seconds": 4.803826464340091, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "At door height in front of the cabinet; pushing forward in +x to swing the ajar door closed." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.15741, 0.30331, 0.30208, -2.41774, -0.38342, 2.83954, 0.55345 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51869, 0.09634, 0.63126 ], "tcp_roll_pitch_yaw": [ 0.00031, -0.00356, -0.00947 ], "tcp_rotation_matrix": [ [ 0.98591, -0.06887, 0.15246 ], [ -0.06913, -0.9976, -0.00358 ], [ 0.15234, -0.00701, -0.9883 ] ], "simulated_seconds_remaining": 5.94, "calls_remaining_including_this": 37 }, "api_seconds": 7.205614656209946, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Tan door edge has mostly disappeared, suggesting the door swung closed; pushing slightly further to ensure it latches." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 034 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 34, "source_episode_index": 712, "house_index": 418, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 7, "api_calls": 7, "wall_seconds": 77.86324739456177, "usage": { "input_tokens": 16, "cache_creation_input_tokens": 7952, "cache_read_input_tokens": 29128, "output_tokens": 3345 }, "estimated_cost_usd": 0.274092 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW1fPKFf5DGxJtTh9MH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CifRLVDjAMWsuMGLEvoBNe", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15 }, "note": "Gripper is pointed down close to cabinet top; raising and moving forward to get a clearer view of the open door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 655, "output_tokens_details": { "thinking_tokens": 528 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW2kyCpg6E5NFmPh9dg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011QyxGqu7JkUFP4xsUURLJe", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.08, "z": 1.0, "gripper": 0 }, "note": "Door panel appears to extend toward the robot with the cabinet body on the +y side; positioning closed gripper on the -y side of the door to push it toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1153, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 1153, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1563, "output_tokens_details": { "thinking_tokens": 1413 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW4jM1zgT8ejphadht5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U9toNjKehSkrdCT1jfJZNG", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Door edge now visible on the +y side in wrist view; lowering so the closed gripper is below the door's top edge before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2055, "cache_read_input_tokens": 2933, "cache_creation": { "ephemeral_5m_input_tokens": 2055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 229, "output_tokens_details": { "thinking_tokens": 113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW5ETVGzqugcsremEhg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014u3cvxUM7ovQgCgmmcTMK8", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Gripper is beside the door on the -y side; pushing toward +y to swing the door toward the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 4988, "cache_creation": { "ephemeral_5m_input_tokens": 721, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 161, "output_tokens_details": { "thinking_tokens": 51 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW5jtoJTJ7UNeekLijQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0157pNAfZpwQUYjpbvdyLf9D", "name": "move_to", "input": { "targets": { "y": -0.08 }, "note": "Door didn't move; the gripper seems to have passed above the door top. Returning to the -y side to go lower." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 5709, "cache_creation": { "ephemeral_5m_input_tokens": 651, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 506, "output_tokens_details": { "thinking_tokens": 396 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW6Xe7zpPUZGBJpJh4c", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UwkvxVoZffdrAcvP1a89ga", "name": "move_to", "input": { "targets": { "z": 0.7 }, "note": "Lowering further below the door's top edge on the -y side so the push actually contacts the door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 998, "cache_read_input_tokens": 6360, "cache_creation": { "ephemeral_5m_input_tokens": 998, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 102, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW6ySuQmFuFvVUJHc3f", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DFYPtEXq21Ktxmb9dfmGq6", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Gripper now lower, beside the door on -y side; pushing toward +y to swing the door closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 594, "cache_read_input_tokens": 7358, "cache_creation": { "ephemeral_5m_input_tokens": 594, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 22 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.02465, -0.78194, 0.06266, -2.34698, 0.12018, 1.43826, -0.07977 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27044, 0.05562, 1.0092 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98009, 0.14802, -0.13234 ], [ 0.15776, -0.98525, 0.06629 ], [ -0.12057, -0.08585, -0.98899 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 14.411491062492132, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15 }, "note": "Gripper is pointed down close to cabinet top; raising and moving forward to get a clearer view of the open door." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.01363, -0.40743, 0.04376, -1.70392, 0.09845, 1.16917, -0.06892 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34938, 0.05004, 1.14885 ], "tcp_roll_pitch_yaw": [ 2e-05, -5e-05, -3e-05 ], "tcp_rotation_matrix": [ [ 0.9801, 0.148, -0.13229 ], [ 0.15773, -0.98525, 0.06632 ], [ -0.12052, -0.08586, -0.98899 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 26.226838912814856, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.08, "z": 1.0, "gripper": 0 }, "note": "Door panel appears to extend toward the robot with the cabinet body on the +y side; positioning closed gripper on the -y side of the door to push it toward +y." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.06595, -0.51153, -0.13805, -2.17725, -0.02606, 1.52678, -0.33512 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34998, -0.07914, 1.00098 ], "tcp_roll_pitch_yaw": [ 8e-05, 0.00015, -0.00019 ], "tcp_rotation_matrix": [ [ 0.9801, 0.14782, -0.13248 ], [ 0.15757, -0.98527, 0.0664 ], [ -0.12071, -0.08595, -0.98896 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 6.404955876991153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Door edge now visible on the +y side in wrist view; lowering so the closed gripper is below the door's top edge before pushing." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.07158, -0.49468, -0.15286, -2.46993, -0.03498, 1.83583, -0.34367 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34992, -0.07913, 0.88122 ], "tcp_roll_pitch_yaw": [ 0.00013, 0.00047, -0.00019 ], "tcp_rotation_matrix": [ [ 0.98006, 0.1478, -0.13279 ], [ 0.15759, -0.98527, 0.06644 ], [ -0.12101, -0.08605, -0.98891 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 6.405638181604445, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Gripper is beside the door on the -y side; pushing toward +y to swing the door toward the cabinet." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.1406, -0.46209, 0.17434, -2.4486, 0.18863, 1.87785, 0.07193 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34997, 0.1484, 0.88122 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00059, -0.001 ], "tcp_rotation_matrix": [ [ 0.98018, 0.14698, -0.13286 ], [ 0.15679, -0.98538, 0.06661 ], [ -0.12112, -0.08612, -0.98889 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 53 }, "api_seconds": 10.008226128295064, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08 }, "note": "Door didn't move; the gripper seems to have passed above the door top. Returning to the -y side to go lower." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.07136, -0.49468, -0.15228, -2.46995, -0.03435, 1.83574, -0.34214 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34998, -0.07872, 0.88122 ], "tcp_roll_pitch_yaw": [ 0.00025, 0.00058, -0.00123 ], "tcp_rotation_matrix": [ [ 0.98021, 0.14677, -0.13283 ], [ 0.15658, -0.98541, 0.0667 ], [ -0.1211, -0.08618, -0.98889 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 52 }, "api_seconds": 5.605209405533969, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Lowering further below the door's top edge on the -y side so the push actually contacts the door." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.05684, -0.19616, -0.18798, -2.71866, -0.00439, 2.38005, -0.38838 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34989, -0.07869, 0.70125 ], "tcp_roll_pitch_yaw": [ 0.00033, 0.00095, -0.0012 ], "tcp_rotation_matrix": [ [ 0.98016, 0.14676, -0.1332 ], [ 0.15661, -0.9854, 0.06678 ], [ -0.12145, -0.08631, -0.98884 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 51 }, "api_seconds": 6.005156553350389, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Gripper now lower, beside the door on -y side; pushing toward +y to swing the door closed." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 035 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 35, "source_episode_index": 720, "house_index": 419, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 9.750491380691528, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "output_tokens": 445 }, "estimated_cost_usd": 0.0445025 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezW97KUeHjSSJkUuTaMe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lu97yJTbvXREkP3e7uyb9T", "name": "move_to", "input": { "targets": { "x": 0.42, "z": 0.85 }, "note": "Wrist cam shows a dark drawer front with a knob ahead; moving forward and lower to inspect the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 445, "output_tokens_details": { "thinking_tokens": 322 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.02394, -0.79324, 0.07426, -2.44247, -0.11624, 1.48956, -0.09835 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26876, -0.00742, 0.97597 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97258, 0.18051, -0.14664 ], [ 0.1534, -0.97183, -0.17893 ], [ -0.17481, 0.15153, -0.97287 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.008592199534178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.85 }, "note": "Wrist cam shows a dark drawer front with a knob ahead; moving forward and lower to inspect the open drawer." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 036 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 36, "source_episode_index": 758, "house_index": 420, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 1, "api_calls": 1, "wall_seconds": 7.9908766746521, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1776, "cache_read_input_tokens": 0, "output_tokens": 335 }, "estimated_cost_usd": 0.03899 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWBV5Edoejz8PkuKFqi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EY8yq1xYBrcJuKGkmD2ft4", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.0, "pitch": 0.5 }, "note": "Table with likely open drawer ahead; move forward and tilt camera down to locate the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1776, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 335, "output_tokens_details": { "thinking_tokens": 211 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.00475, -0.82415, 0.01306, -2.28248, -0.07501, 1.62677, -0.08462 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32723, -0.01327, 1.07059 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98174, 0.08845, 0.16841 ], [ 0.10337, -0.99126, -0.08195 ], [ 0.15969, 0.09786, -0.9823 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.60707130189985, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.0, "pitch": 0.5 }, "note": "Table with likely open drawer ahead; move forward and tilt camera down to locate the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 037 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 37, "source_episode_index": 799, "house_index": 421, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 13, "api_calls": 13, "wall_seconds": 121.30472540855408, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 12609, "cache_read_input_tokens": 75982, "output_tokens": 5197 }, "estimated_cost_usd": 0.436738 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWDfV6eTVGQyA4k5r6J", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H2T7dhJmv4w1swGj4etpPE", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15, "pitch": -0.6 }, "note": "Views are unclear (exterior occluded, wrist looking down at floor). Raise and tilt gripper forward to survey the scene for the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 344, "output_tokens_details": { "thinking_tokens": 195 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWEBQvyPzFf8diCKHu7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016TEYU4SSPQ3BsCh8VuvBh6", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -1.3 }, "note": "Wrist view shows dark cabinet and a white edge, possibly the drawer front. Tilt camera to look horizontally forward to find the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 836, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 329, "output_tokens_details": { "thinking_tokens": 179 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWEqhHyH4eV1tygMuef", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0116ax8RJfjJ72kmScXKHcJg", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": -1.0 }, "note": "Forward view shows a cabinet-like structure ahead; lower the camera to look for the open drawer below." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 821, "cache_read_input_tokens": 2614, "cache_creation": { "ephemeral_5m_input_tokens": 821, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 391, "output_tokens_details": { "thinking_tokens": 256 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWFjeBhDPAuHiyLK8mj", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FutENC9o3SFsdHYFktjz99", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 1.05, "pitch": -0.9 }, "note": "Previous target unreachable; try a slightly more forward and less extreme lower viewpoint to spot the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 3435, "cache_creation": { "ephemeral_5m_input_tokens": 883, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWGCrYweUe72wuYEpDw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017M8q7K4XfhgRkQKxoH2qXy", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.1, "z": 1.05, "pitch": -0.9, "yaw": 0.5 }, "note": "A white U-shaped handle on a grey front appears at the left of the wrist view; turn left to center it and identify the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 628, "cache_read_input_tokens": 4318, "cache_creation": { "ephemeral_5m_input_tokens": 628, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 422, "output_tokens_details": { "thinking_tokens": 271 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWGwrRt1P5VacetH5Gd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016KBjqS3JRoFQK9Jw2UfEZy", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.35, "pitch": -0.4, "yaw": 0.0 }, "note": "View became too dark/close. Move up high and look down for an overview of the workspace to locate the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 910, "cache_read_input_tokens": 4946, "cache_creation": { "ephemeral_5m_input_tokens": 910, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 112 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWHUtEmS2xvmJ7E9eEq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NsbZE3DchXEZPDxrDzEKrV", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.18, "pitch": -0.3, "yaw": 0.0 }, "note": "z=1.35 out of bounds; go to z=1.18 looking down-forward for an overview." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 5856, "cache_creation": { "ephemeral_5m_input_tokens": 740, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 235, "output_tokens_details": { "thinking_tokens": 93 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWHw9YgaZKBDKHJSRCF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012Txgsvz4wrVS4G6Zaf7qxa", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.15, "z": 1.08, "pitch": -0.5, "yaw": 0.2 }, "note": "White handle-like piece seen lower-left of wrist view near a dark cabinet; move left and lower to inspect it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 6596, "cache_creation": { "ephemeral_5m_input_tokens": 726, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 564, "output_tokens_details": { "thinking_tokens": 415 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWJkFUnoK5ADqXwY2ZQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012Qmko3BpGqCUAvxEmHgpYz", "name": "move_to", "input": { "targets": { "x": 0.25, "y": -0.2, "z": 1.12, "pitch": -0.6, "yaw": 0.7 }, "note": "Still too close to a dark surface. Move right and look leftward/down to get a side perspective of the dark object and find the drawer opening." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1055, "cache_read_input_tokens": 7322, "cache_creation": { "ephemeral_5m_input_tokens": 1055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 484, "output_tokens_details": { "thinking_tokens": 331 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWKbsyJbobU1GiY1eHU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XggwMgx8oBhnhUUeEcRUgL", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.08, "pitch": -1.2, "yaw": 0.3 }, "note": "See a dark cabinet with white U handles ahead-left. Look horizontally at its front face to identify the protruding open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 8377, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 543, "output_tokens_details": { "thinking_tokens": 391 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWLNHCNCTUrLhDXQnei", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EC6rGq18h6jbBHgYJY8Tn5", "name": "move_to", "input": { "targets": { "x": 0.28, "y": -0.1, "z": 1.12, "pitch": -1.0, "yaw": 0.5 }, "note": "Large joint jump; split the motion with an intermediate pose closer to current one." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1031, "cache_read_input_tokens": 9351, "cache_creation": { "ephemeral_5m_input_tokens": 1031, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 135, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWLjCYYVaamJhoozre3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014i43A5FqxBmgvs1Vb844mP", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.02, "pitch": -0.6, "yaw": 0.2, "gripper": 0 }, "note": "Dark drawer face with white handle seen ahead-left. Close gripper and position in front of the drawer face to push it closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 625, "cache_read_input_tokens": 10382, "cache_creation": { "ephemeral_5m_input_tokens": 625, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1111, "output_tokens_details": { "thinking_tokens": 952 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWN9iD8TgrDd8YAaUiY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P9BCX184MbahdZLxnRvnTe", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 1.02 }, "note": "Dark drawer front with handle is directly ahead and close. Push forward along +x with closed gripper to close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1602, "cache_read_input_tokens": 11007, "cache_creation": { "ephemeral_5m_input_tokens": 1602, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 247, "output_tokens_details": { "thinking_tokens": 120 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01525, -0.80727, -0.07107, -2.40484, 0.10566, 1.63703, 0.16813 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31383, 0.01151, 1.00726 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9782, -0.20302, 0.04362 ], [ -0.20738, -0.96596, 0.15468 ], [ 0.01073, -0.16035, -0.987 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.8057223074138165, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15, "pitch": -0.6 }, "note": "Views are unclear (exterior occluded, wrist looking down at floor). Raise and tilt gripper forward to survey the scene for the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01853, -1.0477, -0.08249, -2.39804, 0.12148, 1.98085, 0.10157 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34979, 7e-05, 1.14918 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.59648, 0.0 ], "tcp_rotation_matrix": [ [ 0.80326, -0.07788, 0.59052 ], [ -0.20738, -0.96595, 0.1547 ], [ 0.55836, -0.24672, -0.79206 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 8.607276565395296, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -1.3 }, "note": "Wrist view shows dark cabinet and a white edge, possibly the drawer front. Tilt camera to look horizontally forward to find the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.04623, -1.60132, -0.08639, -2.87541, 0.17116, 2.60056, -0.00884 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30031, 3e-05, 1.19966 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.29562, 0.00022 ], "tcp_rotation_matrix": [ [ 0.2555, 0.09928, 0.9617 ], [ -0.20732, -0.96595, 0.1548 ], [ 0.94432, -0.23893, -0.22622 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 55 }, "api_seconds": 12.011244677938521, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.0, "pitch": -1.0 }, "note": "Forward view shows a cabinet-like structure ahead; lower the camera to look for the open drawer below." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.04623, -1.60132, -0.08639, -2.87541, 0.17116, 2.60056, -0.00884 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30031, 3e-05, 1.19966 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.29562, 0.00022 ], "tcp_rotation_matrix": [ [ 0.2555, 0.09928, 0.9617 ], [ -0.20732, -0.96595, 0.1548 ], [ 0.94432, -0.23893, -0.22622 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 6.00495289452374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 1.05, "pitch": -0.9 }, "note": "Previous target unreachable; try a slightly more forward and less extreme lower viewpoint to spot the drawer." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.06618, -1.15784, -0.11656, -2.88787, 0.16872, 2.6651, -0.01442 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39947, 1e-05, 1.05076 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.902, 0.00024 ], "tcp_rotation_matrix": [ [ 0.59814, 0.0001, 0.80139 ], [ -0.20724, -0.96597, 0.15479 ], [ 0.77413, -0.25867, -0.57777 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 53 }, "api_seconds": 9.80843120906502, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.1, "z": 1.05, "pitch": -0.9, "yaw": 0.5 }, "note": "A white U-shaped handle on a grey front appears at the left of the wrist view; turn left to center it and identify the drawer." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.39625, -1.29153, -0.27212, -2.88884, 0.21618, 2.47083, -0.27583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3504, 0.09927, 1.05001 ], "tcp_roll_pitch_yaw": [ 0.0, -0.9, 0.49615 ], "tcp_rotation_matrix": [ [ 0.62607, 0.45932, 0.63013 ], [ 0.10309, -0.84976, 0.51699 ], [ 0.77292, -0.25871, -0.57936 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 52 }, "api_seconds": 7.006028003059328, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.35, "pitch": -0.4, "yaw": 0.0 }, "note": "View became too dark/close. Move up high and look down for an overview of the workspace to locate the drawer." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.39625, -1.29153, -0.27212, -2.88884, 0.21618, 2.47083, -0.27583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3504, 0.09927, 1.05001 ], "tcp_roll_pitch_yaw": [ 0.0, -0.9, 0.49615 ], "tcp_rotation_matrix": [ [ 0.62607, 0.45932, 0.63013 ], [ 0.10309, -0.84976, 0.51699 ], [ 0.77292, -0.25871, -0.57936 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 51 }, "api_seconds": 6.00581538118422, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.18, "pitch": -0.3, "yaw": 0.0 }, "note": "z=1.35 out of bounds; go to z=1.18 looking down-forward for an overview." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.10911, -0.90457, -0.1196, -2.08558, 0.05665, 1.53332, 0.21236 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30035, 0.00048, 1.17942 ], "tcp_roll_pitch_yaw": [ 0.00079, -0.30325, 0.00226 ], "tcp_rotation_matrix": [ [ 0.93088, -0.14347, 0.33598 ], [ -0.20529, -0.96616, 0.15621 ], [ 0.3022, -0.21439, -0.92882 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 50 }, "api_seconds": 10.812177695333958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.15, "z": 1.08, "pitch": -0.5, "yaw": 0.2 }, "note": "White handle-like piece seen lower-left of wrist view near a dark cabinet; move left and lower to inspect it." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.23182, -1.13294, 0.10937, -2.56038, 0.21718, 1.98139, 0.24494 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29999, 0.14921, 1.08049 ], "tcp_roll_pitch_yaw": [ 0.00078, -0.49872, 0.19901 ], "tcp_rotation_matrix": [ [ 0.87814, 0.0917, 0.46953 ], [ -0.03446, -0.96678, 0.25327 ], [ 0.47716, -0.23859, -0.84581 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 49 }, "api_seconds": 11.008466218598187, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": -0.2, "z": 1.12, "pitch": -0.6, "yaw": 0.7 }, "note": "Still too close to a dark surface. Move right and look leftward/down to get a side perspective of the dark object and find the drawer opening." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.43401, -1.17957, -0.75744, -2.06445, -0.14269, 1.4239, -0.6467 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25015, -0.19903, 1.11992 ], "tcp_roll_pitch_yaw": [ 0.00093, -0.59988, 0.69828 ], "tcp_rotation_matrix": [ [ 0.74721, 0.56228, 0.35427 ], [ 0.35641, -0.78897, 0.50049 ], [ 0.56093, -0.24771, -0.78993 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 48 }, "api_seconds": 10.208136824890971, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.08, "pitch": -1.2, "yaw": 0.3 }, "note": "See a dark cabinet with white U handles ahead-left. Look horizontally at its front face to identify the protruding open drawer." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.43401, -1.17957, -0.75744, -2.06445, -0.14269, 1.4239, -0.6467 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25015, -0.19903, 1.11992 ], "tcp_roll_pitch_yaw": [ 0.00093, -0.59988, 0.69828 ], "tcp_rotation_matrix": [ [ 0.74721, 0.56228, 0.35427 ], [ 0.35641, -0.78897, 0.50049 ], [ 0.56093, -0.24771, -0.78993 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 47 }, "api_seconds": 4.20363181270659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "y": -0.1, "z": 1.12, "pitch": -1.0, "yaw": 0.5 }, "note": "Large joint jump; split the motion with an intermediate pose closer to current one." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.24689, -1.49581, -0.65424, -2.58017, 0.02455, 1.97234, -0.50232 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27972, -0.10073, 1.11993 ], "tcp_roll_pitch_yaw": [ 0.00025, -0.99651, 0.50245 ], "tcp_rotation_matrix": [ [ 0.55773, 0.48666, 0.67238 ], [ 0.06984, -0.83472, 0.54623 ], [ 0.82708, -0.25769, -0.49954 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 46 }, "api_seconds": 19.415610139258206, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.02, "pitch": -0.6, "yaw": 0.2, "gripper": 0 }, "note": "Dark drawer face with white handle seen ahead-left. Close gripper and position in front of the drawer face to push it closed." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0951, -1.37282, -0.241, -2.80144, 0.06472, 2.09733, -0.08305 ], "gripper_open": 0.0161, "tcp_xyz": [ 0.3075, -0.00382, 1.03897 ], "tcp_roll_pitch_yaw": [ -0.00722, -0.66373, 0.19098 ], "tcp_rotation_matrix": [ [ 0.78847, 0.11933, 0.60338 ], [ -0.0587, -0.96193, 0.26694 ], [ 0.61226, -0.24589, -0.75145 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 45 }, "api_seconds": 6.405287066474557, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 1.02 }, "note": "Dark drawer front with handle is directly ahead and close. Push forward along +x with closed gripper to close it." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 038 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 38, "source_episode_index": 838, "house_index": 422, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 24, "api_calls": 24, "wall_seconds": 310.83084321022034, "usage": { "input_tokens": 50, "cache_creation_input_tokens": 28671, "cache_read_input_tokens": 343142, "output_tokens": 15757 }, "estimated_cost_usd": 1.232523 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWJ7ryMj7djpiWGcFDB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EYQNwL4k63jgw5iUUy266i", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.15, "pitch": -0.9 }, "note": "Scene unclear; raising gripper and tilting it forward to get a better view of the drawer from the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 423, "output_tokens_details": { "thinking_tokens": 285 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWJjCjPmCq3usLpiQ9g", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013VHKndzMNzqMVajwZzJWN4", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.2, "pitch": -1.4 }, "note": "Wrist view shows the white drawer ahead and slightly above the camera view; leveling the gripper to look horizontally forward to locate the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 916, "cache_read_input_tokens": 1778, "cache_creation": { "ephemeral_5m_input_tokens": 916, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 524, "output_tokens_details": { "thinking_tokens": 374 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWKWpsdzSP1wtAG5pvt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015GRDKYw3GCgNLNhJsfeYzA", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.35, "pitch": -1.5 }, "note": "Drawer appears in the upper-left of the wrist view, above the camera; raising the gripper to bring the drawer front into center view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1015, "cache_read_input_tokens": 2694, "cache_creation": { "ephemeral_5m_input_tokens": 1015, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 404, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWL6EJgLw5ymxr1riTF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W3UJPUeqNKMFhS6qqDU7SG", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.19, "pitch": -1.9 }, "note": "z limited to 1.2; tilting gripper to look upward to find the drawer front, which appeared above the camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 892, "cache_read_input_tokens": 3709, "cache_creation": { "ephemeral_5m_input_tokens": 892, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 239, "output_tokens_details": { "thinking_tokens": 102 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWLZE1QwVmp48kkFLe2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W93a5XnEjt8ZZL87yNh8eD", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1, "pitch": -1.75 }, "note": "Previous pose unreachable; try slightly lower z with a modest upward tilt to bring the drawer into view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 730, "cache_read_input_tokens": 4601, "cache_creation": { "ephemeral_5m_input_tokens": 730, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 539, "output_tokens_details": { "thinking_tokens": 402 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWMG2wKwAGbfoic2gdA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CR6UdSaxY4dHoKuavJ4FSY", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 1.19, "pitch": -1.4 }, "note": "Upward tilt unreachable; moving forward horizontally toward the cabinet to get a closer look at the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1030, "cache_read_input_tokens": 5331, "cache_creation": { "ephemeral_5m_input_tokens": 1030, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 194, "output_tokens_details": { "thinking_tokens": 55 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWMk5QMLvZTD6L3MbNg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016SBsACUKX17F3d7U9VLGkp", "name": "move_to", "input": { "targets": { "x": 0.4, "y": -0.1, "z": 1.1, "pitch": -0.8 }, "note": "Wrist image appears inverted (cup hangs from 'ceiling'), so the drawer is actually below and to the right; tilting down and shifting right to view it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 685, "cache_read_input_tokens": 6361, "cache_creation": { "ephemeral_5m_input_tokens": 685, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 890, "output_tokens_details": { "thinking_tokens": 737 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWNuoL8qm9WZY7sM838", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UZvmqFaubAB39j9QrvRG1K", "name": "move_to", "input": { "targets": { "x": 0.33, "y": -0.1, "z": 0.95, "pitch": -1.2, "gripper": 0.0 }, "note": "Drawer now clearly visible below/forward; lowering and closing the gripper to view the drawer front head-on and prepare to push it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1386, "cache_read_input_tokens": 7046, "cache_creation": { "ephemeral_5m_input_tokens": 1386, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 746, "output_tokens_details": { "thinking_tokens": 592 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWPrPiu8XKmFJBybsXG", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0169xZGnf4gKx4NbVUVXXk7y", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.1, "z": 0.98, "pitch": -0.9, "gripper": 0.0 }, "note": "Horizontal pose at low height unreachable; use a milder pitch while lowering to see the drawer front, closing gripper for pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1237, "cache_read_input_tokens": 8432, "cache_creation": { "ephemeral_5m_input_tokens": 1237, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 154, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWQBp1v6HVxDAEu97m9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FqgpNRaqUzvBW1JaJVKqtm", "name": "move_to", "input": { "targets": { "x": 0.38, "y": -0.1, "z": 1.0, "gripper": 0.0 }, "note": "IK issues; keeping current orientation and just lowering slightly while closing the gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 9669, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 299, "output_tokens_details": { "thinking_tokens": 170 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWQgyCoH7m87QdosHXa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WrY5VZ2vuxbfF8doPaG9q7", "name": "move_to", "input": { "targets": { "x": 0.42, "y": -0.1, "z": 1.12, "pitch": 0.0 }, "note": "Need a top-down view to understand drawer orientation and front edge; pointing gripper straight down above the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 10314, "cache_creation": { "ephemeral_5m_input_tokens": 790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1919, "output_tokens_details": { "thinking_tokens": 1782 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWT2J73ybtANNaZQJQF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013EQmKeWGkcRadg6FLd3xAK", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.08, "z": 1.12, "pitch": 0.0 }, "note": "Drawer appears yawed ~45°; exterior suggests its front (green handle) is on the +y/-x side. Moving over that side to view the drawer front from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2414, "cache_read_input_tokens": 11104, "cache_creation": { "ephemeral_5m_input_tokens": 2414, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1544, "output_tokens_details": { "thinking_tokens": 1390 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWV2ekPK9YbNtvVenHi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Fg6AovoZgQeoDnQ6UMsoZx", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.08, "z": 0.9, "pitch": 0.0 }, "note": "Drawer looks far below the camera; descending 0.22 m at the same x,y to gauge its height from apparent size change." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2038, "cache_read_input_tokens": 13518, "cache_creation": { "ephemeral_5m_input_tokens": 2038, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3053, "output_tokens_details": { "thinking_tokens": 2913 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWYUA1CezXzyvoH4Tmr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017MVEZeu1F6UeL5HSaqxT8Z", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.05, "z": 0.6, "pitch": 0.0 }, "note": "Drawer size barely changed, so it is far below (likely near or below base height); the white object in the exterior view is a toilet, not the drawer. Descending substantially to approach the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3543, "cache_read_input_tokens": 15556, "cache_creation": { "ephemeral_5m_input_tokens": 3543, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1363, "output_tokens_details": { "thinking_tokens": 1203 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWaDjtRDYtDdnNX8WSX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RSkj9Ubwxdg6ru4DCtA6U4", "name": "move_to", "input": { "targets": { "x": 0.38, "y": 0.17, "z": 0.45, "pitch": 0.0 }, "note": "Drawer corner is right under the fingertips; wooden front faces (-x,+y). Moving to a spot just outside the front face and lowering fingertips below the drawer top edge to push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1853, "cache_read_input_tokens": 19099, "cache_creation": { "ephemeral_5m_input_tokens": 1853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 987, "output_tokens_details": { "thinking_tokens": 826 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWbh2yqVHgNnjfyWpcB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BezsKHkZLBJAhZGnmy9Bmf", "name": "move_to", "input": { "targets": { "x": 0.6, "y": -0.05, "z": 0.42, "pitch": 0.0 }, "note": "Fingertips positioned outside the wooden front face; pushing diagonally in the (+x,-y) closing direction to slide the drawer shut." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1477, "cache_read_input_tokens": 20952, "cache_creation": { "ephemeral_5m_input_tokens": 1477, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 372, "output_tokens_details": { "thinking_tokens": 224 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWcfMK141a98mSXFDYX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019GYQqCj2GJa4Q1TAfq1AGp", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.02, "z": 0.42, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper contacted the drawer and got deflected; continuing the push in the closing direction while restoring orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 866, "cache_read_input_tokens": 22429, "cache_creation": { "ephemeral_5m_input_tokens": 866, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 422, "output_tokens_details": { "thinking_tokens": 266 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWdM6ESTfuFVqhRDDgD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q3ik7PAgZFVndkr4zj2ug3", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.2, "z": 0.62, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper is jammed against the drawer edge; lifting and retreating outward to re-approach the front face cleanly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 911, "cache_read_input_tokens": 23295, "cache_creation": { "ephemeral_5m_input_tokens": 911, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 378, "output_tokens_details": { "thinking_tokens": 220 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWeCDE3At5Kaz1whSrs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NkzEXxbm4EiTe2aAa27F4W", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.23, "z": 0.3, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Drawer top appears lower than previously assumed; lowering fingertips further outside the front face before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 867, "cache_read_input_tokens": 24206, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 362, "output_tokens_details": { "thinking_tokens": 208 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWeqxq8K43LZpgU1HRD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HxuDxBcfn1QpkVbdXLJKmP", "name": "move_to", "input": { "targets": { "x": 0.62, "y": 0.06, "z": 0.34, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Fingertips are low beside the wooden drawer front; pushing diagonally in the (+x,-y) closing direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 851, "cache_read_input_tokens": 25073, "cache_creation": { "ephemeral_5m_input_tokens": 851, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 223, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWfKubqUyQr94mBbWGZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KPZjPJxghWcaKcJnKza9Wx", "name": "move_to", "input": { "targets": { "x": 0.66, "y": 0.13, "z": 0.31 }, "note": "Blocked again at similar spot; trying a push straight along +x in case the drawer slides along x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 713, "cache_read_input_tokens": 25924, "cache_creation": { "ephemeral_5m_input_tokens": 713, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 222, "output_tokens_details": { "thinking_tokens": 100 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWftwTKRcdjp6oZAjmW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017RXNhFJKzWjqxHRCiAdgx6", "name": "move_to", "input": { "targets": { "x": 0.75, "y": 0.12, "z": 0.27 }, "note": "Wooden drawer front is directly ahead of the fingertips; final push inward along +x/-y with remaining time." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 26637, "cache_creation": { "ephemeral_5m_input_tokens": 714, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 220, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWgL1KpWzt6eKmaLxCG", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ui4YRyVkiLVC1Wm4hVmKHd", "name": "move_to", "input": { "targets": { "x": 0.66, "y": 0.15, "z": 0.27 }, "note": "Far target unreachable; shorter push toward the cabinet along the closing direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 27351, "cache_creation": { "ephemeral_5m_input_tokens": 712, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 116, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWgeoReBqHFjurZrXQx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TPhxALybEB5W85HnC3hxSB", "name": "give_up", "input": { "note": "The drawer is located low and far from the robot base; repeated pushes were blocked (arm near reach/joint limits and deflected on contact) and the drawer did not close before the simulated time budget ran out." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 28063, "cache_creation": { "ephemeral_5m_input_tokens": 608, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 164, "output_tokens_details": { "thinking_tokens": 55 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00072, -0.8132, -0.06637, -2.37568, -0.04759, 1.62064, -0.10679 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31252, -0.03141, 1.01857 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99649, 0.06131, 0.05699 ], [ 0.06153, -0.9981, -0.00197 ], [ 0.05677, 0.00547, -0.99837 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.006209804676473, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.15, "pitch": -0.9 }, "note": "Scene unclear; raising gripper and tilting it forward to get a better view of the drawer from the wrist camera." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00927, -1.45269, -0.00286, -2.70877, -0.01359, 2.20883, -0.05064 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30006, -0.00014, 1.14937 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.89569, 5e-05 ], "tcp_rotation_matrix": [ [ 0.57847, 0.03405, 0.81499 ], [ 0.06156, -0.9981, -0.00199 ], [ 0.81338, 0.05132, -0.57947 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 10.40802860725671, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.2, "pitch": -1.4 }, "note": "Wrist view shows the white drawer ahead and slightly above the camera view; leveling the gripper to look horizontally forward to locate the drawer front." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00148, -1.42171, -0.00412, -2.94279, -0.02002, 2.97316, -0.04579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, -1e-05, 1.19934 ], "tcp_roll_pitch_yaw": [ -0.00011, -1.39499, 7e-05 ], "tcp_rotation_matrix": [ [ 0.1184, 0.0053, 0.99295 ], [ 0.06154, -0.9981, -0.00201 ], [ 0.99106, 0.06135, -0.1185 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 55 }, "api_seconds": 7.805710865184665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.35, "pitch": -1.5 }, "note": "Drawer appears in the upper-left of the wrist view, above the camera; raising the gripper to bring the drawer front into center view." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00148, -1.42171, -0.00412, -2.94279, -0.02002, 2.97316, -0.04579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, -1e-05, 1.19934 ], "tcp_roll_pitch_yaw": [ -0.00011, -1.39499, 7e-05 ], "tcp_rotation_matrix": [ [ 0.1184, 0.0053, 0.99295 ], [ 0.06154, -0.9981, -0.00201 ], [ 0.99106, 0.06135, -0.1185 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 6.205021157860756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.19, "pitch": -1.9 }, "note": "z limited to 1.2; tilting gripper to look upward to find the drawer front, which appeared above the camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00148, -1.42171, -0.00412, -2.94279, -0.02002, 2.97316, -0.04579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, -1e-05, 1.19934 ], "tcp_roll_pitch_yaw": [ -0.00011, -1.39499, 7e-05 ], "tcp_rotation_matrix": [ [ 0.1184, 0.0053, 0.99295 ], [ 0.06154, -0.9981, -0.00201 ], [ 0.99106, 0.06135, -0.1185 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 53 }, "api_seconds": 9.407631834968925, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1, "pitch": -1.75 }, "note": "Previous pose unreachable; try slightly lower z with a modest upward tilt to bring the drawer into view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00148, -1.42171, -0.00412, -2.94279, -0.02002, 2.97316, -0.04579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, -1e-05, 1.19934 ], "tcp_roll_pitch_yaw": [ -0.00011, -1.39499, 7e-05 ], "tcp_rotation_matrix": [ [ 0.1184, 0.0053, 0.99295 ], [ 0.06154, -0.9981, -0.00201 ], [ 0.99106, 0.06135, -0.1185 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 52 }, "api_seconds": 6.205000729300082, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 1.19, "pitch": -1.4 }, "note": "Upward tilt unreachable; moving forward horizontally toward the cabinet to get a closer look at the drawer." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00859, -0.76304, 0.00265, -2.71427, -0.01831, 3.40805, -0.04285 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49871, -1e-05, 1.19002 ], "tcp_roll_pitch_yaw": [ -8e-05, -1.39973, 3e-05 ], "tcp_rotation_matrix": [ [ 0.1137, 0.005, 0.9935 ], [ 0.06153, -0.9981, -0.00202 ], [ 0.99161, 0.06136, -0.11379 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 51 }, "api_seconds": 15.412254862487316, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.1, "z": 1.1, "pitch": -0.8 }, "note": "Wrist image appears inverted (cup hangs from 'ceiling'), so the drawer is actually below and to the right; tilting down and shifting right to view it." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00337, -1.05887, -0.25139, -2.64854, -0.08473, 2.45563, -0.24039 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40059, -0.09954, 1.10057 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.80354, -0.00012 ], "tcp_rotation_matrix": [ [ 0.65088, 0.03842, 0.75821 ], [ 0.06146, -0.99811, -0.00218 ], [ 0.75669, 0.04802, -0.65201 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 50 }, "api_seconds": 12.610309723764658, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": -0.1, "z": 0.95, "pitch": -1.2, "gripper": 0.0 }, "note": "Drawer now clearly visible below/forward; lowering and closing the gripper to view the drawer front head-on and prepare to push it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00337, -1.05887, -0.25139, -2.64854, -0.08473, 2.45563, -0.24039 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40059, -0.09954, 1.10057 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.80354, -0.00012 ], "tcp_rotation_matrix": [ [ 0.65088, 0.03842, 0.75821 ], [ 0.06146, -0.99811, -0.00218 ], [ 0.75669, 0.04802, -0.65201 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 49 }, "api_seconds": 4.40388694871217, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.1, "z": 0.98, "pitch": -0.9, "gripper": 0.0 }, "note": "Horizontal pose at low height unreachable; use a milder pitch while lowering to see the drawer front, closing gripper for pushing." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.00337, -1.05887, -0.25139, -2.64854, -0.08473, 2.45563, -0.24039 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40059, -0.09954, 1.10057 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.80354, -0.00012 ], "tcp_rotation_matrix": [ [ 0.65088, 0.03842, 0.75821 ], [ 0.06146, -0.99811, -0.00218 ], [ 0.75669, 0.04802, -0.65201 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 48 }, "api_seconds": 6.605578376911581, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": -0.1, "z": 1.0, "gripper": 0.0 }, "note": "IK issues; keeping current orientation and just lowering slightly while closing the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.0511, -1.16931, -0.30944, -2.9388, -0.11832, 2.62946, -0.28634 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38025, -0.09999, 1.00119 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.80334, -0.00015 ], "tcp_rotation_matrix": [ [ 0.65103, 0.03844, 0.75808 ], [ 0.06143, -0.99811, -0.00214 ], [ 0.75657, 0.04796, -0.65216 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 47 }, "api_seconds": 31.028772675432265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": -0.1, "z": 1.12, "pitch": 0.0 }, "note": "Need a top-down view to understand drawer orientation and front edge; pointing gripper straight down above the drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.04036, -0.38749, -0.20753, -1.79832, -0.07085, 1.47986, -0.22459 ], "gripper_open": 0.0, "tcp_xyz": [ 0.41996, -0.10003, 1.11936 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.00457, -8e-05 ], "tcp_rotation_matrix": [ [ 0.99623, 0.06121, 0.06155 ], [ 0.06145, -0.99811, -0.00212 ], [ 0.06131, 0.00589, -0.9981 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 46 }, "api_seconds": 26.819982065819204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.08, "z": 1.12, "pitch": 0.0 }, "note": "Drawer appears yawed ~45°; exterior suggests its front (green handle) is on the +y/-x side. Moving over that side to view the drawer front from above." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.11449, -0.71912, 0.08597, -2.04618, 0.04498, 1.385, 0.12873 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30075, 0.07893, 1.12004 ], "tcp_roll_pitch_yaw": [ -0.00018, -0.00015, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99647, 0.06144, 0.05715 ], [ 0.06166, -0.99809, -0.00214 ], [ 0.05691, 0.00566, -0.99836 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 45 }, "api_seconds": 46.035761904902756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.08, "z": 0.9, "pitch": 0.0 }, "note": "Drawer looks far below the camera; descending 0.22 m at the same x,y to gauge its height from apparent size change." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.13401, -0.85815, 0.11485, -2.69783, 0.0768, 1.89725, 0.12737 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29996, 0.07998, 0.90126 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.00028, 0.00013 ], "tcp_rotation_matrix": [ [ 0.9965, 0.06145, 0.05671 ], [ 0.06167, -0.99809, -0.00221 ], [ 0.05647, 0.0057, -0.99839 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 44 }, "api_seconds": 23.018020660616457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.05, "z": 0.6, "pitch": 0.0 }, "note": "Drawer size barely changed, so it is far below (likely near or below base height); the white object in the exterior view is a toilet, not the drawer. Descending substantially to approach the drawer." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01455, 0.07097, 0.09963, -2.89954, -0.13683, 3.02515, 0.18776 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3497, 0.05005, 0.60131 ], "tcp_roll_pitch_yaw": [ -0.00041, 0.00034, -8e-05 ], "tcp_rotation_matrix": [ [ 0.99651, 0.06124, 0.05666 ], [ 0.06147, -0.99811, -0.00238 ], [ 0.05641, 0.00586, -0.99839 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 43 }, "api_seconds": 19.41481844522059, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.17, "z": 0.45, "pitch": 0.0 }, "note": "Drawer corner is right under the fingertips; wooden front faces (-x,+y). Moving to a spot just outside the front face and lowering fingertips below the drawer top edge to push." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.48193, 0.71365, -0.07634, -2.52155, -0.16889, 3.28668, 0.5316 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37973, 0.16921, 0.45103 ], "tcp_roll_pitch_yaw": [ -0.00042, 0.00013, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99649, 0.0614, 0.05686 ], [ 0.06164, -0.9981, -0.00238 ], [ 0.05661, 0.00588, -0.99838 ] ], "simulated_seconds_remaining": 15.048, "calls_remaining_including_this": 42 }, "api_seconds": 12.430202239193022, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.05, "z": 0.42, "pitch": 0.0 }, "note": "Fingertips positioned outside the wooden front face; pushing diagonally in the (+x,-y) closing direction to slide the drawer shut." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.22145, 0.99395, 0.08933, -2.22002, -0.91171, 3.59715, 0.07525 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49535, 0.10626, 0.43629 ], "tcp_roll_pitch_yaw": [ 0.17827, -0.3928, 0.55099 ], "tcp_rotation_matrix": [ [ 0.73615, 0.619, 0.27374 ], [ 0.5116, -0.77369, 0.37372 ], [ 0.44312, -0.13507, -0.88623 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 41 }, "api_seconds": 8.806159120984375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.02, "z": 0.42, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper contacted the drawer and got deflected; continuing the push in the closing direction while restoring orientation." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.21242, 1.01019, 0.19568, -2.24383, -0.68563, 3.70162, 0.37637 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51925, 0.15793, 0.4608 ], "tcp_roll_pitch_yaw": [ 0.4503, -0.37104, 0.02018 ], "tcp_rotation_matrix": [ [ 0.89964, 0.231, 0.37053 ], [ 0.04885, -0.89651, 0.44032 ], [ 0.4339, -0.37803, -0.81782 ] ], "simulated_seconds_remaining": 11.418, "calls_remaining_including_this": 40 }, "api_seconds": 11.008648794144392, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.2, "z": 0.62, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper is jammed against the drawer edge; lifting and retreating outward to re-approach the front face cleanly." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0671, 0.23098, 0.33867, -2.54799, -0.30394, 2.80738, 0.61838 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42071, 0.19997, 0.61927 ], "tcp_roll_pitch_yaw": [ 0.00271, -0.00248, 0.00085 ], "tcp_rotation_matrix": [ [ 0.99629, 0.06216, 0.05947 ], [ 0.06222, -0.99806, 0.00079 ], [ 0.0594, 0.00291, -0.99823 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 39 }, "api_seconds": 8.206371256150305, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.23, "z": 0.3, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Drawer top appears lower than previously assumed; lowering fingertips further outside the front face before pushing." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.56366, 1.12788, -0.12338, -2.01284, -0.50863, 3.30073, 0.97644 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4521, 0.2523, 0.34342 ], "tcp_roll_pitch_yaw": [ 0.04428, -0.08324, -0.01113 ], "tcp_rotation_matrix": [ [ 0.98869, 0.05322, 0.14019 ], [ 0.04796, -0.99802, 0.04066 ], [ 0.14208, -0.03348, -0.98929 ] ], "simulated_seconds_remaining": 7.392, "calls_remaining_including_this": 38 }, "api_seconds": 5.805780521593988, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.06, "z": 0.34, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Fingertips are low beside the wooden drawer front; pushing diagonally in the (+x,-y) closing direction." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.08213, 1.25801, 0.19588, -1.73176, -1.60281, 2.95686, 0.92598 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51249, 0.14132, 0.31465 ], "tcp_roll_pitch_yaw": [ -0.08636, -0.0773, 0.56356 ], "tcp_rotation_matrix": [ [ 0.80117, 0.57665, 0.16001 ], [ 0.58458, -0.81133, -0.00307 ], [ 0.12805, 0.096, -0.98711 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 37 }, "api_seconds": 7.205996261909604, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": 0.13, "z": 0.31 }, "note": "Blocked again at similar spot; trying a push straight along +x in case the drawer slides along x." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.17032, 1.52299, 0.46333, -1.43311, -1.28244, 2.68627, 0.22421 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.55126, 0.2022, 0.2731 ], "tcp_roll_pitch_yaw": [ -0.02086, 0.00704, 0.79591 ], "tcp_rotation_matrix": [ [ 0.65264, 0.75594, 0.05124 ], [ 0.75612, -0.65413, 0.01975 ], [ 0.04845, 0.02585, -0.99849 ] ], "simulated_seconds_remaining": 4.158, "calls_remaining_including_this": 36 }, "api_seconds": 5.8067978248000145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.75, "y": 0.12, "z": 0.27 }, "note": "Wooden drawer front is directly ahead of the fingertips; final push inward along +x/-y with remaining time." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 23, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.17032, 1.52299, 0.46333, -1.43311, -1.28244, 2.68627, 0.22421 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.55126, 0.2022, 0.2731 ], "tcp_roll_pitch_yaw": [ -0.02086, 0.00704, 0.79591 ], "tcp_rotation_matrix": [ [ 0.65264, 0.75594, 0.05124 ], [ 0.75612, -0.65413, 0.01975 ], [ 0.04845, 0.02585, -0.99849 ] ], "simulated_seconds_remaining": 4.158, "calls_remaining_including_this": 35 }, "api_seconds": 4.003146752715111, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": 0.15, "z": 0.27 }, "note": "Far target unreachable; shorter push toward the cabinet along the closing direction." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.17294, 1.75645, 0.61947, -1.13002, -1.29355, 2.48868, -0.2293 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57147, 0.20736, 0.23175 ], "tcp_roll_pitch_yaw": [ -0.00724, 0.07239, 1.08573 ], "tcp_rotation_matrix": [ [ 0.41052, 0.91185, 0.00098 ], [ 0.91171, -0.41044, -0.01788 ], [ -0.0159, 0.00823, -0.99984 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 34 }, "api_seconds": 5.404602946713567, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "The drawer is located low and far from the robot base; repeated pushes were blocked (arm near reach/joint limits and deflected on contact) and the drawer did not close before the simulated time budget ran out." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 039 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 39, "source_episode_index": 908, "house_index": 423, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 15, "api_calls": 16, "wall_seconds": 204.88815474510193, "usage": { "input_tokens": 34, "cache_creation_input_tokens": 16420, "cache_read_input_tokens": 118048, "output_tokens": 7645 }, "estimated_cost_usd": 0.617352 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWQCpXuTasQbW7QCzmH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AbP84HBstoXVYyq8heCB68", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 56, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWQWko43gksHPzcozcq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X7SS1EnmotZrNPY8woWAxt", "name": "move_to", "input": { "targets": { "z": 1.3 }, "note": "Scene unclear; raise gripper to get a wider wrist-camera view of the drawer below." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 490, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 490, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWR2qHqoM94auWveuCw", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W2nJYNWsTh4Go1AzGzoCN3", "name": "move_to", "input": { "targets": { "z": 1.18, "x": 0.3 }, "note": "1.3 was out of bounds; raise to 1.18 and pull back slightly to view the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 793, "cache_read_input_tokens": 2269, "cache_creation": { "ephemeral_5m_input_tokens": 793, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 115, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWRPeSaBCiT5uD8xudm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012LqpS4VWZjJZPso8vq3NKJ", "name": "move_to", "input": { "targets": { "z": 0.95, "x": 0.35 }, "note": "Wrist view shows dark drawer-like object below; descend to inspect it more closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 3062, "cache_creation": { "ephemeral_5m_input_tokens": 604, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 387, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWS17PSy4YSfiDYyzUy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012Nyfh3eeCr4eF7kv5828aj", "name": "move_to", "input": { "targets": { "z": 1.1, "pitch": -1.0 }, "note": "Camera views are ambiguous; tilt the gripper to look forward/horizontally to locate the cabinet and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 3666, "cache_creation": { "ephemeral_5m_input_tokens": 878, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 432, "output_tokens_details": { "thinking_tokens": 307 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWSfvzt5mKC4SQixmJd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019R1PQssYCypdeHZuTT6DYu", "name": "move_to", "input": { "targets": { "y": -0.4, "x": 0.2 }, "note": "Forward view is all black (likely cabinet very close). Shift right/back to see the drawer from the side." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 4544, "cache_creation": { "ephemeral_5m_input_tokens": 928, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 555, "output_tokens_details": { "thinking_tokens": 439 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWTboExWnAJs8DSsEd7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ca9jRjkfbvaz6y6vSdGrTD", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.05 }, "note": "Wrist view shows a black cabinet with a small white drawer handle at center. Move closer to better localize the handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1049, "cache_read_input_tokens": 5472, "cache_creation": { "ephemeral_5m_input_tokens": 1049, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 650, "output_tokens_details": { "thinking_tokens": 530 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWUZrwMbH5SFHbGwo2z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ByHLovWzuTYe5aBXDxc8mr", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.37, "z": 1.12, "pitch": 0.0, "gripper": 0.0 }, "note": "Handle estimated ahead around x~0.6-0.7, z~0.9. Move above the estimated drawer front, pointing down with gripper closed to prepare to push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1140, "cache_read_input_tokens": 6521, "cache_creation": { "ephemeral_5m_input_tokens": 1140, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 662, "output_tokens_details": { "thinking_tokens": 496 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWVz2GHG5uF5ak2nHqE", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GZ7qqsBPVrcxnwfbX6Nh7k", "name": "move_to", "input": { "targets": { "pitch": 0.0, "gripper": 0.0, "z": 1.12 }, "note": "Large joint jump rejected; first rotate to point down and close gripper in place, then translate." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1150, "cache_read_input_tokens": 7661, "cache_creation": { "ephemeral_5m_input_tokens": 1150, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWWQ5dGWtbgPr4VEi6J", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018YqqV24vVv9Hgpnzm1iEkm", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Black object visible at upper-right in wrist view; move forward 0.1 m to test camera orientation and approach the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 616, "cache_read_input_tokens": 8811, "cache_creation": { "ephemeral_5m_input_tokens": 616, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 895, "output_tokens_details": { "thinking_tokens": 780 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWXp6XfvfoEakkMBR8d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DC5BHEEtBojyLcm8QfuyWe", "name": "move_to", "input": { "targets": { "x": 0.52, "z": 1.0 }, "note": "White handle now visible right of the fingers; move slightly forward and descend to center over the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1384, "cache_read_input_tokens": 9427, "cache_creation": { "ephemeral_5m_input_tokens": 1384, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 361, "output_tokens_details": { "thinking_tokens": 247 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWYYVgtfbcFPERpcjNM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D3iVZ5JUhAcQMGYYXwTTAf", "name": "move_to", "input": { "targets": { "x": 0.42 }, "note": "Handle slid to the right edge; test by moving back 0.1 m to see if handle recenters (disambiguate camera axes)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 10811, "cache_creation": { "ephemeral_5m_input_tokens": 850, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 523, "output_tokens_details": { "thinking_tokens": 407 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWZSLdzi2oE9rX4MFeA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015KLDYaYbeg7MXj7Z7TwH5K", "name": "move_to", "input": { "targets": { "y": -0.28, "x": 0.45 }, "note": "Camera axes suggest the black drawer is forward-left of the gripper; shift left to center over the handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1012, "cache_read_input_tokens": 11661, "cache_creation": { "ephemeral_5m_input_tokens": 1012, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1104, "output_tokens_details": { "thinking_tokens": 987 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWcHknHnNxuw17NUbwY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017WoW8Ufrvebq39owiiSRcL", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Drawer edge runs diagonally under the gripper; descend to inspect its height and the handle before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1593, "cache_read_input_tokens": 12673, "cache_creation": { "ephemeral_5m_input_tokens": 1593, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 670, "output_tokens_details": { "thinking_tokens": 560 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWdMa1hYRtXWdLx1Qcf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FUSfuit2Ha2o4MqvD6uV5g", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Little change in view; descend further to get the fingertips below the drawer's top edge in front of its face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1159, "cache_read_input_tokens": 14266, "cache_creation": { "ephemeral_5m_input_tokens": 1159, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 506, "output_tokens_details": { "thinking_tokens": 400 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWeE1NdHD9Gt4zAmjkr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0145CRgCZtCaYKHYys3iuT5U", "name": "move_to", "input": { "targets": { "x": 0.7 }, "note": "Fingertips are now low beside the drawer edge; push forward in +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 995, "cache_read_input_tokens": 15425, "cache_creation": { "ephemeral_5m_input_tokens": 995, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 298, "output_tokens_details": { "thinking_tokens": 190 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00375, -0.74418, -0.04838, -2.29686, 0.04787, 1.68215, -0.17354 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.35028, -0.00604, 1.04275 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98231, 0.13324, 0.13156 ], [ 0.12418, -0.98943, 0.07486 ], [ 0.14015, -0.0572, -0.98848 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.409440278075635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.3 }, "note": "Scene unclear; raise gripper to get a wider wrist-camera view of the drawer below." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00375, -0.74418, -0.04838, -2.29686, 0.04787, 1.68215, -0.17354 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.35028, -0.00604, 1.04275 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98231, 0.13324, 0.13156 ], [ 0.12418, -0.98943, 0.07486 ], [ 0.14015, -0.0572, -0.98848 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 4.604885276407003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.18, "x": 0.3 }, "note": "1.3 was out of bounds; raise to 1.18 and pull back slightly to view the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.0004, -0.71665, -0.04923, -1.90064, 0.0493, 1.31441, -0.15305 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30049, -0.00604, 1.17881 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00029, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98227, 0.13325, 0.13185 ], [ 0.12417, -0.98943, 0.07487 ], [ 0.14043, -0.05717, -0.98844 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 7.807167056016624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "x": 0.35 }, "note": "Wrist view shows dark drawer-like object below; descend to inspect it more closely." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00701, -0.78205, -0.05094, -2.55422, 0.04755, 1.90112, -0.18783 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, -0.00603, 0.95123 ], "tcp_roll_pitch_yaw": [ 1e-05, 4e-05, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98232, 0.13325, 0.13152 ], [ 0.12419, -0.98943, 0.07488 ], [ 0.14011, -0.05722, -0.98848 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 54 }, "api_seconds": 8.607208589091897, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1, "pitch": -1.0 }, "note": "Camera views are ambiguous; tilt the gripper to look forward/horizontally to locate the cabinet and drawer." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01448, -1.45318, -0.06679, -2.97466, 0.0851, 2.64503, -0.25689 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34971, -0.00602, 1.0993 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.9955, 0.0001 ], "tcp_rotation_matrix": [ [ 0.41686, 0.12058, 0.90094 ], [ 0.12422, -0.98942, 0.07494 ], [ 0.90044, 0.08068, -0.42743 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 53 }, "api_seconds": 12.010192067362368, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.4, "x": 0.2 }, "note": "Forward view is all black (likely cabinet very close). Shift right/back to see the drawer from the side." } } } ] } } ] }, "execution": { "steps": 47, "motion_seconds": 3.1020000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01288, -1.37907, -0.99047, -2.3184, -0.20307, 2.1164, -0.9785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20046, -0.39877, 1.09933 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.99562, -0.00013 ], "tcp_rotation_matrix": [ [ 0.41677, 0.12047, 0.901 ], [ 0.12411, -0.98944, 0.07489 ], [ 0.9005, 0.08061, -0.42732 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 52 }, "api_seconds": 12.81062623579055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.05 }, "note": "Wrist view shows a black cabinet with a small white drawer handle at center. Move closer to better localize the handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.28115, -1.1939, -1.11941, -2.39499, -0.24278, 2.51142, -0.94142 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34877, -0.39866, 1.05036 ], "tcp_roll_pitch_yaw": [ 0.00023, -0.99542, 9e-05 ], "tcp_rotation_matrix": [ [ 0.41691, 0.12078, 0.90089 ], [ 0.12419, -0.98941, 0.07517 ], [ 0.90042, 0.08054, -0.42749 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 51 }, "api_seconds": 19.214117062278092, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.37, "z": 1.12, "pitch": 0.0, "gripper": 0.0 }, "note": "Handle estimated ahead around x~0.6-0.7, z~0.9. Move above the estimated drawer front, pointing down with gripper closed to prepare to push." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.28115, -1.1939, -1.11941, -2.39499, -0.24278, 2.51142, -0.94142 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34877, -0.39866, 1.05036 ], "tcp_roll_pitch_yaw": [ 0.00023, -0.99542, 9e-05 ], "tcp_rotation_matrix": [ [ 0.41691, 0.12078, 0.90089 ], [ 0.12419, -0.98941, 0.07517 ], [ 0.90042, 0.08054, -0.42749 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 50 }, "api_seconds": 5.2043209644034505, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.0, "gripper": 0.0, "z": 1.12 }, "note": "Large joint jump rejected; first rotate to point down and close gripper in place, then translate." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.6736, -0.34158, -1.30313, -1.44637, -0.19019, 1.42397, -0.79012 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34903, -0.39872, 1.11946 ], "tcp_roll_pitch_yaw": [ 0.00035, -0.00414, 0.00045 ], "tcp_rotation_matrix": [ [ 0.98167, 0.13392, 0.13562 ], [ 0.12457, -0.98935, 0.07527 ], [ 0.14425, -0.057, -0.9879 ] ], "simulated_seconds_remaining": 19.206, "calls_remaining_including_this": 49 }, "api_seconds": 18.816265712492168, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Black object visible at upper-right in wrist view; move forward 0.1 m to test camera orientation and approach the drawer." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.4433, -0.45772, -1.81073, -1.12298, -0.3275, 1.35306, -0.63561 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4487, -0.39868, 1.1195 ], "tcp_roll_pitch_yaw": [ 0.00048, -0.00429, 0.00067 ], "tcp_rotation_matrix": [ [ 0.98162, 0.13416, 0.13575 ], [ 0.12478, -0.98931, 0.07543 ], [ 0.14442, -0.05711, -0.98787 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 48 }, "api_seconds": 9.607616312801838, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 1.0 }, "note": "White handle now visible right of the fingers; move slightly forward and descend to center over the drawer front." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the drawer.", "joint_positions": [ 1.53226, -0.55645, -1.87769, -1.34824, -0.40358, 1.63306, -0.54685 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51932, -0.39866, 1.00102 ], "tcp_roll_pitch_yaw": [ 0.00065, -0.00413, 0.00074 ], "tcp_rotation_matrix": [ [ 0.98163, 0.13421, 0.13559 ], [ 0.12482, -0.98929, 0.07561 ], [ 0.14428, -0.0573, -0.98788 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 47 }, "api_seconds": 11.809227345511317, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Handle slid to the right edge; test by moving back 0.1 m to see if handle recenters (disambiguate camera axes)." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.92231, -0.37217, -1.51877, -1.68059, -0.23473, 1.72825, -0.70727 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42122, -0.39874, 1.00107 ], "tcp_roll_pitch_yaw": [ 0.00066, -0.00423, 0.00062 ], "tcp_rotation_matrix": [ [ 0.98163, 0.1341, 0.13569 ], [ 0.12469, -0.98931, 0.0756 ], [ 0.14438, -0.05729, -0.98786 ] ], "simulated_seconds_remaining": 15.972, "calls_remaining_including_this": 46 }, "api_seconds": 38.42996126040816, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.28, "x": 0.45 }, "note": "Camera axes suggest the black drawer is forward-left of the gripper; shift left to center over the handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.67746, -0.41951, -1.08898, -1.89388, -0.25327, 1.78524, -0.48007 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44973, -0.28124, 1.00106 ], "tcp_roll_pitch_yaw": [ 0.00059, -0.00418, 0.00079 ], "tcp_rotation_matrix": [ [ 0.98162, 0.13426, 0.13563 ], [ 0.12487, -0.98929, 0.07556 ], [ 0.14432, -0.05723, -0.98787 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 45 }, "api_seconds": 14.010988181456923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Drawer edge runs diagonally under the gripper; descend to inspect its height and the handle before pushing." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.67779, -0.41942, -1.14323, -2.05974, -0.27318, 1.9582, -0.48499 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44969, -0.28123, 0.93117 ], "tcp_roll_pitch_yaw": [ 0.00065, -0.00396, 0.00079 ], "tcp_rotation_matrix": [ [ 0.98165, 0.13425, 0.13541 ], [ 0.12487, -0.98929, 0.07561 ], [ 0.14411, -0.05732, -0.9879 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 44 }, "api_seconds": 11.609064746648073, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Little change in view; descend further to get the fingertips below the drawer's top edge in front of its face." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.77152, -0.35108, -1.3134, -2.22048, -0.25223, 2.19288, -0.52934 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44965, -0.28119, 0.8412 ], "tcp_roll_pitch_yaw": [ 0.00074, -0.00373, 0.00084 ], "tcp_rotation_matrix": [ [ 0.98168, 0.13429, 0.13519 ], [ 0.1249, -0.98928, 0.0757 ], [ 0.1439, -0.05743, -0.98792 ] ], "simulated_seconds_remaining": 13.134, "calls_remaining_including_this": 43 }, "api_seconds": 14.811631654389203, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7 }, "note": "Fingertips are now low beside the drawer edge; push forward in +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 040 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 40, "source_episode_index": 913, "house_index": 424, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 14, "api_calls": 15, "wall_seconds": 144.69265484809875, "usage": { "input_tokens": 32, "cache_creation_input_tokens": 14041, "cache_read_input_tokens": 99952, "output_tokens": 5557 }, "estimated_cost_usd": 0.4786705 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWgpmiL6AxM6NjSwaVN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MpLUuxQNVkF4gw3ZXzby2X", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 67, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWh7u6U4ECVYhviv6k5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RaJUdm4sVX1CNtzWo18fGw", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "pitch": -1.3 }, "note": "Gripper points down; tilt to look forward to locate the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 502, "cache_read_input_tokens": 1780, "cache_creation": { "ephemeral_5m_input_tokens": 502, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 393, "output_tokens_details": { "thinking_tokens": 277 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWhfY7NNkrMnQo7kHhn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T6XYRMrzckafdavUYkhhxA", "name": "move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Large pitch rejected; try a smaller tilt to look forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 2282, "cache_creation": { "ephemeral_5m_input_tokens": 882, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 113, "output_tokens_details": { "thinking_tokens": 16 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWhz5ajgZxUBvE6wJuc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HRS1CEajziXYnHon7ZMBTw", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.95 }, "note": "Wrist view shows gray panels ahead; move forward to get a closer view of the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 606, "cache_read_input_tokens": 3164, "cache_creation": { "ephemeral_5m_input_tokens": 606, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 321, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWiZVkQfKBkz4NPEGcr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BzLqbkuSscvKB4ijhp7Vbh", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1, "pitch": -0.5, "yaw": 0.0 }, "note": "Arm drifted, possibly in contact. Back off and rise to get an overview of the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 818, "cache_read_input_tokens": 3770, "cache_creation": { "ephemeral_5m_input_tokens": 818, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 426, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWjGcmmtHdnknZCjTv6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019jVe2XsnvYTxJSebzipXxC", "name": "move_to", "input": { "targets": { "yaw": -0.6 }, "note": "Cabinet seems to be at front-right in wrist view; yaw right to see it better." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 924, "cache_read_input_tokens": 4588, "cache_creation": { "ephemeral_5m_input_tokens": 924, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 353, "output_tokens_details": { "thinking_tokens": 248 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWjxWNaF1jvdZv8wfnd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LiYJ1DPNUrxvyzi8e1x33q", "name": "move_to", "input": { "targets": { "yaw": 0.6 }, "note": "Ambiguous view; sweep yaw to the left to compare and locate the open cabinet door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 5512, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 417, "output_tokens_details": { "thinking_tokens": 309 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWkgsZrsRFCxrPD54tB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RHaqHzAsZ7D7x38qvaM8gM", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 0.95, "yaw": 0.0, "pitch": -0.8 }, "note": "Camera appears inverted; cabinet is likely front-left. Move forward-left to approach it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 914, "cache_read_input_tokens": 6359, "cache_creation": { "ephemeral_5m_input_tokens": 914, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 589, "output_tokens_details": { "thinking_tokens": 447 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWn3BTtFxmGy1j3V8gW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RdXmpMn8mjbV8y84pjk8eU", "name": "move_to", "input": { "targets": { "x": 0.65, "gripper": 0.0 }, "note": "Gripper is right in front of a gray panel (likely the open door). Close fingers and push forward to swing the door shut." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1088, "cache_read_input_tokens": 7273, "cache_creation": { "ephemeral_5m_input_tokens": 1088, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 446, "output_tokens_details": { "thinking_tokens": 323 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWnusi9VT7G4f1bSgLm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013XBVsKnt8kRh2WoXG1fiwb", "name": "move_to", "input": { "targets": { "x": 0.75, "y": 0.1 }, "note": "Stopped at x=0.60 indicating contact; keep pushing forward to swing the door closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 8361, "cache_creation": { "ephemeral_5m_input_tokens": 940, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 186, "output_tokens_details": { "thinking_tokens": 71 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWoM6kgQjvYcBynMuQY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SJeCg7QWcW9q7GN27XXaPc", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.2, "pitch": -1.0, "yaw": 0.0, "roll": 0.0 }, "note": "Blocked and orientation drifted; retreat up and back to get a clear downward-forward view of the cabinet and door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 9301, "cache_creation": { "ephemeral_5m_input_tokens": 680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1206, "output_tokens_details": { "thinking_tokens": 1048 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWpy5jqiSB9cZHFvRT2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012NrjuS2X5jXCcFmDxxxgbt", "name": "move_to", "input": { "targets": { "x": 0.68, "y": 0.05, "z": 0.95, "pitch": -0.8 }, "note": "Door appears angled with outer face toward robot; push forward at y≈0.05 to swing it closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1697, "cache_read_input_tokens": 9981, "cache_creation": { "ephemeral_5m_input_tokens": 1697, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 396, "output_tokens_details": { "thinking_tokens": 262 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWqjtWrWr7vAPTpArWq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GSaGvGM9hyPy5YMJziwLDw", "name": "move_to", "input": { "targets": { "x": 0.7, "y": -0.05, "z": 0.95 }, "note": "Still blocked near x=0.6; try pushing slightly to the right to fully seat the door." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 889, "cache_read_input_tokens": 11678, "cache_creation": { "ephemeral_5m_input_tokens": 889, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 276, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWrg47cAJM6ignqw9Nm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RaRNZNwQxU6mMqSnqMydRY", "name": "move_to", "input": { "targets": { "x": 0.7, "y": 0.05, "z": 0.8 }, "note": "Arm stuck against a rigid edge at x≈0.59; try a lower height to push the door panel forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 12567, "cache_creation": { "ephemeral_5m_input_tokens": 769, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 83 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWs9Z6K1BdQz6yApB8X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KHAtMpKw74B6FCqnVeXM4K", "name": "give_up", "input": { "note": "Could not reliably locate the open door; arm is blocked against a rigid cabinet edge at x≈0.58 and insufficient simulated time remains to reposition and close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 13336, "cache_creation": { "ephemeral_5m_input_tokens": 705, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.02266, -0.7907, -0.0183, -2.38729, -0.0092, 1.59755, 0.11599 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30768, -0.00057, 1.0045 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99439, -0.10577, 0.00084 ], [ -0.10577, -0.99438, 0.00382 ], [ 0.00043, -0.00389, -0.99999 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.608705393970013, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "pitch": -1.3 }, "note": "Gripper points down; tilt to look forward to locate the cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.02266, -0.7907, -0.0183, -2.38729, -0.0092, 1.59755, 0.11599 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30768, -0.00057, 1.0045 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99439, -0.10577, 0.00084 ], [ -0.10577, -0.99438, 0.00382 ], [ 0.00043, -0.00389, -0.99999 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 4.203631995245814, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Large pitch rejected; try a smaller tilt to look forward." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.01498, -1.44756, -0.01513, -2.9321, -0.01968, 2.18112, 0.11767 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30763, -0.00057, 1.00446 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.69565, 1e-05 ], "tcp_rotation_matrix": [ [ 0.76306, -0.0787, 0.64152 ], [ -0.10576, -0.99438, 0.00381 ], [ 0.63762, -0.07076, -0.7671 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 7.206013862974942, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.95 }, "note": "Wrist view shows gray panels ahead; move forward to get a closer view of the cabinet." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.18257, -0.60424, -0.00184, -2.69558, -0.02741, 2.90217, 0.11736 ], "gripper_open": 0.9388, "tcp_xyz": [ 0.50456, 0.09294, 0.9838 ], "tcp_roll_pitch_yaw": [ -0.02479, -0.80985, 0.20202 ], "tcp_rotation_matrix": [ [ 0.69085, 0.1133, 0.71407 ], [ 0.03358, -0.99161, 0.12485 ], [ 0.72222, -0.06227, -0.68885 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 54 }, "api_seconds": 9.208179702050984, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1, "pitch": -0.5, "yaw": 0.0 }, "note": "Arm drifted, possibly in contact. Back off and rise to get an overview of the cabinet." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.05827, -1.00177, -0.01966, -2.43556, -0.0619, 1.93505, 0.16112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3508, 0.00043, 1.09958 ], "tcp_roll_pitch_yaw": [ -0.02459, -0.50191, 0.00086 ], "tcp_rotation_matrix": [ [ 0.87038, -0.10176, 0.48175 ], [ -0.10498, -0.99427, -0.02035 ], [ 0.48106, -0.03286, -0.87607 ] ], "simulated_seconds_remaining": 25.41, "calls_remaining_including_this": 53 }, "api_seconds": 9.00774883851409, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.6 }, "note": "Cabinet seems to be at front-right in wrist view; yaw right to see it better." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.20086, -0.94592, 0.25291, -2.36155, -0.08755, 1.84431, 0.70528 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35081, 0.00045, 1.09958 ], "tcp_roll_pitch_yaw": [ -0.02479, -0.50186, -0.5955 ], "tcp_rotation_matrix": [ [ 0.66119, -0.64269, 0.38701 ], [ -0.5757, -0.76543, -0.28754 ], [ 0.48103, -0.03268, -0.87609 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 9.40795123577118, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.6 }, "note": "Ambiguous view; sweep yaw to the left to compare and locate the open cabinet door." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the cabinet.", "joint_positions": [ 0.31969, -0.99185, -0.29314, -2.38095, -0.03279, 1.87021, -0.38327 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35081, 0.00042, 1.09959 ], "tcp_roll_pitch_yaw": [ -0.02457, -0.50184, 0.59532 ], "tcp_rotation_matrix": [ [ 0.77989, 0.47255, 0.41044 ], [ 0.40052, -0.88069, 0.25293 ], [ 0.48099, -0.03287, -0.87611 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 51 }, "api_seconds": 17.821787710301578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 0.95, "yaw": 0.0, "pitch": -0.8 }, "note": "Camera appears inverted; cabinet is likely front-left. Move forward-left to approach it." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.13675, -0.57861, 0.47034, -2.68629, -0.12493, 2.91451, 0.58842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4994, 0.14939, 0.95054 ], "tcp_roll_pitch_yaw": [ -0.02594, -0.79869, 0.00341 ], "tcp_rotation_matrix": [ [ 0.69182, -0.08609, 0.71692 ], [ -0.10336, -0.99445, -0.01967 ], [ 0.71464, -0.06049, -0.69688 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 50 }, "api_seconds": 11.408895265311003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "gripper": 0.0 }, "note": "Gripper is right in front of a gray panel (likely the open door). Close fingers and push forward to swing the door shut." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.51565, -0.22699, 0.8133, -2.23611, -0.53083, 2.61253, 0.81774 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.60169, 0.15297, 0.95351 ], "tcp_roll_pitch_yaw": [ -0.2933, -0.67512, 0.11452 ], "tcp_rotation_matrix": [ [ 0.76349, -0.14931, 0.62833 ], [ -0.01398, -0.9765, -0.21506 ], [ 0.64567, 0.15541, -0.74763 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 49 }, "api_seconds": 5.404781305231154, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.75, "y": 0.1 }, "note": "Stopped at x=0.60 indicating contact; keep pushing forward to swing the door closed." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.49895, 0.19204, 0.91273, -1.74449, -0.36371, 1.82911, 0.97319 ], "gripper_open": 0.0085, "tcp_xyz": [ 0.57946, 0.15631, 0.92248 ], "tcp_roll_pitch_yaw": [ -0.15925, -0.12578, -0.35158 ], "tcp_rotation_matrix": [ [ 0.88822, -0.45496, 0.06382 ], [ -0.43698, -0.87954, -0.1883 ], [ 0.1418, 0.13937, -0.98004 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 48 }, "api_seconds": 21.2159381872043, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.2, "pitch": -1.0, "yaw": 0.0, "roll": 0.0 }, "note": "Blocked and orientation drifted; retreat up and back to get a clear downward-forward view of the cabinet and door." } } } ] } } ] }, "execution": { "steps": 45, "motion_seconds": 2.97, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.05284, -1.37026, 0.25315, -2.55112, 0.16939, 2.19417, 0.21621 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30068, 0.10017, 1.19941 ], "tcp_roll_pitch_yaw": [ 0.00015, -0.99796, -0.00116 ], "tcp_rotation_matrix": [ [ 0.53851, -0.05508, 0.84081 ], [ -0.10639, -0.99432, 0.003 ], [ 0.83587, -0.09107, -0.54132 ] ], "simulated_seconds_remaining": 14.718, "calls_remaining_including_this": 47 }, "api_seconds": 9.60772265587002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68, "y": 0.05, "z": 0.95, "pitch": -0.8 }, "note": "Door appears angled with outer face toward robot; push forward at y≈0.05 to swing it closed." } } } ] } } ] }, "execution": { "steps": 51, "motion_seconds": 3.366, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.3938, -0.33726, 0.53366, -2.23085, -0.19347, 2.55639, 0.41073 ], "gripper_open": 0.0015, "tcp_xyz": [ 0.59537, 0.07279, 1.0183 ], "tcp_roll_pitch_yaw": [ -0.21502, -0.65378, 0.06306 ], "tcp_rotation_matrix": [ [ 0.78032, -0.149, 0.60737 ], [ -0.05418, -0.98366, -0.1717 ], [ 0.62302, 0.10108, -0.77564 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 46 }, "api_seconds": 12.210315278731287, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": -0.05, "z": 0.95 }, "note": "Still blocked near x=0.6; try pushing slightly to the right to fully seat the door." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.35879, -0.23876, 0.49771, -2.03378, -0.1068, 2.21945, 0.3684 ], "gripper_open": 0.034, "tcp_xyz": [ 0.58549, 0.06982, 1.01773 ], "tcp_roll_pitch_yaw": [ -0.12862, -0.42863, -0.03614 ], "tcp_rotation_matrix": [ [ 0.89424, -0.18316, 0.40839 ], [ -0.13724, -0.98069, -0.13932 ], [ 0.42602, 0.06854, -0.90211 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 45 }, "api_seconds": 5.605008185841143, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": 0.05, "z": 0.8 }, "note": "Arm stuck against a rigid edge at x≈0.59; try a lower height to push the door panel forward." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the cabinet.", "joint_positions": [ -0.3115, -0.17964, 0.47361, -1.9361, -0.07391, 2.0524, 0.71646 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57399, 0.08402, 1.014 ], "tcp_roll_pitch_yaw": [ 0.02564, -0.31183, -0.42298 ], "tcp_rotation_matrix": [ [ 0.82026, -0.49157, 0.29246 ], [ -0.4852, -0.86874, -0.09935 ], [ 0.30291, -0.06041, -0.9511 ] ], "simulated_seconds_remaining": 7.986, "calls_remaining_including_this": 44 }, "api_seconds": 5.004480693489313, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably locate the open door; arm is blocked against a rigid cabinet edge at x≈0.58 and insufficient simulated time remains to reposition and close it." } } } ] } } ] } } ======================================================================== Fable 5.1 / Close / Episode 041 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 41, "source_episode_index": 774, "house_index": 420, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 2, "api_calls": 4, "wall_seconds": 24.631703853607178, "usage": { "input_tokens": 10, "cache_creation_input_tokens": 3538, "cache_read_input_tokens": 7089, "output_tokens": 815 }, "estimated_cost_usd": 0.08684725 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWieFF3XLu588QmgZfn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013F1AjUiihKx1DgS1X2ZEmb", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 96, "output_tokens_details": { "thinking_tokens": 72 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWizkYMv8JRb23XTQ8U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YBXMn8VJo63Spdj15Ykobd", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.85 }, "note": "Table ahead; move forward and lower to get a better view of its drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 530, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 530, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 202, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWjU47Myx7BKwscynmy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QYFWxeVsiSkuzLz2EeCQqi", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 2309, "cache_creation": { "ephemeral_5m_input_tokens": 692, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 103, "output_tokens_details": { "thinking_tokens": 79 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWjpKW8PtyfXZgNfdKK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JF6Mv762p7VHPVMzAsEk49", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.9, "pitch": -0.9 }, "note": "Table is farther ahead; tilt gripper forward to view the table's drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 537, "cache_read_input_tokens": 3001, "cache_creation": { "ephemeral_5m_input_tokens": 537, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 414, "output_tokens_details": { "thinking_tokens": 286 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.01863, -0.82414, -0.04702, -2.45569, 0.05903, 1.49785, 0.08095 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.2651, 0.00021, 0.97664 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98259, -0.13383, -0.12888 ], [ -0.12145, -0.98759, 0.09958 ], [ -0.1406, -0.08219, -0.98665 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.009486949071288, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.85 }, "note": "Table ahead; move forward and lower to get a better view of its drawer." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.00556, -0.38985, -0.04777, -2.27316, 0.09178, 1.78724, 0.05005 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41028, 0.00559, 0.92902 ], "tcp_roll_pitch_yaw": [ 0.01293, -0.04012, 0.01388 ], "tcp_rotation_matrix": [ [ 0.98907, -0.11621, -0.0908 ], [ -0.10591, -0.98815, 0.11107 ], [ -0.10263, -0.10024, -0.98966 ] ], "simulated_seconds_remaining": 28.248, "calls_remaining_including_this": 56 }, "api_seconds": 13.610927714034915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.9, "pitch": -0.9 }, "note": "Table is farther ahead; tilt gripper forward to view the table's drawer front." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 042 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 42, "source_episode_index": 147, "house_index": 216, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 19, "api_calls": 19, "wall_seconds": 244.02967166900635, "usage": { "input_tokens": 40, "cache_creation_input_tokens": 22122, "cache_read_input_tokens": 191043, "output_tokens": 11792 }, "estimated_cost_usd": 0.91428575 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWn6SBPr8kEULntxTtM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YGJubCgPxLWVkSd9ew7cob", "name": "move_to", "input": { "targets": { "z": 1.2, "gripper": 0 }, "note": "Raising gripper and closing fingers to get a broader wrist-camera view of the table drawer before deciding push direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 856, "output_tokens_details": { "thinking_tokens": 735 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWoDKgiTP3mLBMJ7NBm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lp4RkLyZBgqpHgHh5DGwnF", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Table appears in lower-right of wrist view; moving forward in +x to bring the table and its drawer fully into view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1344, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 1344, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 311, "output_tokens_details": { "thinking_tokens": 199 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWopWmonsJs3sUYNcFs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C1DRYSoR26cHorWUWpEszr", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Yellow drawer handle seen at top-left of wrist view; moving +y to determine lateral image mapping and approach the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 799, "cache_read_input_tokens": 3121, "cache_creation": { "ephemeral_5m_input_tokens": 799, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 379, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWpcNooDHWw6xihA84M", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DoT4jgANMJ2i596E88YFyK", "name": "move_to", "input": { "targets": { "x": 0.62, "y": -0.05 }, "note": "Image-left is -y and image-up is +x; handle lies at +x, slightly -y. Moving above the drawer front to center it in view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 870, "cache_read_input_tokens": 3920, "cache_creation": { "ephemeral_5m_input_tokens": 870, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 479, "output_tokens_details": { "thinking_tokens": 352 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWqPHY8FZKEPbsyvgmf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MUV7WVWfyHLoYUVf45w8h8", "name": "move_to", "input": { "targets": { "x": 0.58, "y": -0.05, "z": 1.1 }, "note": "Previous target unreachable; trying a nearer, lower pose to view the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 965, "cache_read_input_tokens": 4790, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 161, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWqw4ED5jqZX94ms6Vy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EGguqSYPdv6szwxjsXnvtw", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.18, "z": 1.15 }, "note": "Handle no longer visible; estimating it lies further -y. Moving there and slightly up to relocate the drawer handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 648, "cache_read_input_tokens": 5755, "cache_creation": { "ephemeral_5m_input_tokens": 648, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 771, "output_tokens_details": { "thinking_tokens": 641 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWrxhyuYzPrgimfqzYk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016RwSRJUe7TedoJwfBCnAdD", "name": "move_to", "input": { "targets": { "x": 0.6, "y": -0.08, "z": 1.15 }, "note": "Handle now at top-right; image-right=+y, image-up=+x. Moving to center over handle at estimated (0.7,-0.08)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1260, "cache_read_input_tokens": 6403, "cache_creation": { "ephemeral_5m_input_tokens": 1260, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 835, "output_tokens_details": { "thinking_tokens": 699 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWtC7uATZroGUxxVrWp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HepFxvEBoLcKvceP2ooKXQ", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.08, "z": 1.2 }, "note": "Handle lost again; returning to higher vantage where it was visible to re-locate it relative to the gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1323, "cache_read_input_tokens": 7663, "cache_creation": { "ephemeral_5m_input_tokens": 1323, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 956, "output_tokens_details": { "thinking_tokens": 831 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWuhHrcZVpZTk1c8ZHx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U5webAJsVLixSyeqbz7Soc", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Handle centered at top of view. Descending to estimate table-top height and handle depth via parallax." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1445, "cache_read_input_tokens": 8986, "cache_creation": { "ephemeral_5m_input_tokens": 1445, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 814, "output_tokens_details": { "thinking_tokens": 708 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWvrmQTrZCgMKU9PnqP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JPJnjgjpBwmukrehAiDYPr", "name": "move_to", "input": { "targets": { "x": 0.66, "y": -0.06, "z": 1.1 }, "note": "Yellow handle sits on the protruding table leaf just ahead at +x. Moving above and beyond the handle before descending to push it back in -x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1301, "cache_read_input_tokens": 10431, "cache_creation": { "ephemeral_5m_input_tokens": 1301, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 706, "output_tokens_details": { "thinking_tokens": 568 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWwu3M8ak5bH1HSzuDe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QixuXbeCXLPNXyFEfVnMrt", "name": "move_to", "input": { "targets": { "z": 1.12 }, "note": "Large joint jump rejected; splitting motion — rising first before moving forward past the handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1191, "cache_read_input_tokens": 11732, "cache_creation": { "ephemeral_5m_input_tokens": 1191, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 120, "output_tokens_details": { "thinking_tokens": 18 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWxF9porSPhtXpNHBug", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LEEfgWs8Lm8G4v52XjBcLe", "name": "move_to", "input": { "targets": { "x": 0.66, "y": -0.06 }, "note": "Now at safe height; moving forward so the gripper is just beyond the handle at +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 609, "cache_read_input_tokens": 12923, "cache_creation": { "ephemeral_5m_input_tokens": 609, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 110, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWxarVoMQ3urVZMRPWj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017kBkLTdTk3ZEkySMcMZM86", "name": "move_to", "input": { "targets": { "x": 0.58, "y": -0.06 }, "note": "Still a joint jump; taking a smaller forward step to x=0.58 first." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 597, "cache_read_input_tokens": 13532, "cache_creation": { "ephemeral_5m_input_tokens": 597, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWxvNkPbjv5HwVYx3nn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019G5hLMvanwMqFYC4nNJkHJ", "name": "move_to", "input": { "targets": { "x": 0.63 }, "note": "Handle likely directly below/hidden by gripper body now. Stepping forward further to get beyond it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 14129, "cache_creation": { "ephemeral_5m_input_tokens": 635, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 649, "output_tokens_details": { "thinking_tokens": 541 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWyrrwiAzwW1gBAk5RN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Birv4Tw6fhXYKhPxDMWSKy", "name": "move_to", "input": { "targets": { "z": 1.02 }, "note": "Still over wood; descending to look closely at what is beneath the gripper and find the handle/leaf edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1137, "cache_read_input_tokens": 14764, "cache_creation": { "ephemeral_5m_input_tokens": 1137, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 396, "output_tokens_details": { "thinking_tokens": 287 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWzXLiY7c8pzvcodSJd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdMgRpFP5CYpvfbef6GceM", "name": "move_to", "input": { "targets": { "z": 1.15, "x": 0.55, "pitch": -0.7 }, "note": "Contacted table top at z≈1.03 with only wood visible. Raising and pitching the camera forward to survey the table layout and find the open part." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 15901, "cache_creation": { "ephemeral_5m_input_tokens": 886, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 869, "output_tokens_details": { "thinking_tokens": 730 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX1XvUAQUtE94YP2mKm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XC2qAXri5yRrYRnXsGCc3A", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.12, "pitch": 0 }, "note": "Exterior view suggests the drawer protrudes toward the robot (-x) near y≈0.1. Moving back above the suspected drawer front to verify before pushing +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1358, "cache_read_input_tokens": 16787, "cache_creation": { "ephemeral_5m_input_tokens": 1358, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1651, "output_tokens_details": { "thinking_tokens": 1496 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX3pgLKjwhw1pcoEpKC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KFBMmdvbFV6rqaz1FYZ5bm", "name": "move_to", "input": { "targets": { "x": 0.33, "y": -0.05, "z": 0.97 }, "note": "Corrected mapping: image-up is -x, so the drawer front with handle is at x≈0.4, y≈-0.05, protruding toward the robot. Positioning just behind it at handle height to push +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2139, "cache_read_input_tokens": 18145, "cache_creation": { "ephemeral_5m_input_tokens": 2139, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1344, "output_tokens_details": { "thinking_tokens": 1186 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX5SqVUFav9ncczh2cr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011VBNh3tdiyVCxTLHbgzUQg", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Positioned behind the protruding drawer front at handle height; pushing forward in +x to slide it closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1838, "cache_read_input_tokens": 20284, "cache_creation": { "ephemeral_5m_input_tokens": 1838, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 244, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ -0.00336, -0.76611, 0.02689, -2.36281, 0.04957, 1.62894, -0.16788 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32252, 0.01971, 1.01142 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98288, 0.1815, 0.03159 ], [ 0.18052, -0.98307, 0.03136 ], [ 0.03675, -0.02512, -0.99901 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 15.212491257116199, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2, "gripper": 0 }, "note": "Raising gripper and closing fingers to get a broader wrist-camera view of the table drawer before deciding push direction." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ -0.00427, -0.53854, 0.02062, -1.69199, 0.0448, 1.18612, -0.15101 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32254, 0.01971, 1.19873 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00019, -0.0 ], "tcp_rotation_matrix": [ [ 0.98288, 0.1815, 0.03178 ], [ 0.18052, -0.98307, 0.03138 ], [ 0.03693, -0.0251, -0.999 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 7.806632238440216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Table appears in lower-right of wrist view; moving forward in +x to bring the table and its drawer fully into view." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ -0.00486, 0.00261, 0.02617, -1.15829, 0.03295, 1.19323, -0.14813 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49868, 0.0197, 1.1986 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00014, -2e-05 ], "tcp_rotation_matrix": [ [ 0.98289, 0.18147, 0.03145 ], [ 0.1805, -0.98307, 0.03137 ], [ 0.03661, -0.02515, -0.99901 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 55 }, "api_seconds": 10.410639335401356, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Yellow drawer handle seen at top-left of wrist view; moving +y to determine lateral image mapping and approach the drawer." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.137, 0.08283, 0.1559, -1.05693, 0.00885, 1.17788, 0.11332 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49867, 0.14881, 1.19857 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.0002, 0.00026 ], "tcp_rotation_matrix": [ [ 0.98284, 0.18175, 0.03138 ], [ 0.18078, -0.98302, 0.03139 ], [ 0.03655, -0.02518, -0.99901 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 54 }, "api_seconds": 10.208148463629186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": -0.05 }, "note": "Image-left is -y and image-up is +x; handle lies at +x, slightly -y. Moving above the drawer front to center it in view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.137, 0.08283, 0.1559, -1.05693, 0.00885, 1.17788, 0.11332 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49867, 0.14881, 1.19857 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.0002, 0.00026 ], "tcp_rotation_matrix": [ [ 0.98284, 0.18175, 0.03138 ], [ 0.18078, -0.98302, 0.03139 ], [ 0.03655, -0.02518, -0.99901 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 53 }, "api_seconds": 7.2060732347890735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": -0.05, "z": 1.1 }, "note": "Previous target unreachable; trying a nearer, lower pose to view the drawer front." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.07761, 0.1227, -0.02557, -1.28653, 0.03788, 1.43707, -0.27947 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57954, -0.04897, 1.10047 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00043, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9829, 0.18148, 0.03116 ], [ 0.18052, -0.98307, 0.03137 ], [ 0.03632, -0.0252, -0.99902 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 52 }, "api_seconds": 13.610213835723698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.18, "z": 1.15 }, "note": "Handle no longer visible; estimating it lies further -y. Moving there and slightly up to relocate the drawer handle." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ -0.23681, 0.23032, -0.12784, -0.99661, 0.07331, 1.24411, -0.51865 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55026, -0.17891, 1.14955 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00039, -0.00031 ], "tcp_rotation_matrix": [ [ 0.98295, 0.18119, 0.03121 ], [ 0.18022, -0.98313, 0.0313 ], [ 0.03635, -0.02514, -0.99902 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 51 }, "api_seconds": 16.214974327012897, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.08, "z": 1.15 }, "note": "Handle now at top-right; image-right=+y, image-up=+x. Moving to center over handle at estimated (0.7,-0.08)." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.11314, 0.38405, -0.06578, -0.75991, 0.06619, 1.16924, -0.32922 ], "gripper_open": 0.0, "tcp_xyz": [ 0.59947, -0.08104, 1.14993 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.0005, -4e-05 ], "tcp_rotation_matrix": [ [ 0.98291, 0.18145, 0.03109 ], [ 0.18049, -0.98308, 0.03137 ], [ 0.03626, -0.02523, -0.99902 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 50 }, "api_seconds": 20.216382798738778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.08, "z": 1.2 }, "note": "Handle lost again; returning to higher vantage where it was visible to re-locate it relative to the gripper." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ -0.11084, 0.04815, -0.07323, -1.09491, 0.04356, 1.16848, -0.34841 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50111, -0.08002, 1.1996 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00014, -7e-05 ], "tcp_rotation_matrix": [ [ 0.9829, 0.18143, 0.03145 ], [ 0.18046, -0.98308, 0.03132 ], [ 0.0366, -0.02511, -0.99901 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 49 }, "api_seconds": 15.42788954358548, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Handle centered at top of view. Descending to estimate table-top height and handle depth via parallax." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ -0.10477, -0.17383, -0.06422, -1.77093, 0.02508, 1.62291, -0.35119 ], "gripper_open": 0.0, "tcp_xyz": [ 0.5011, -0.08002, 1.05121 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00045, -6e-05 ], "tcp_rotation_matrix": [ [ 0.98291, 0.18142, 0.03114 ], [ 0.18046, -0.98308, 0.03136 ], [ 0.0363, -0.02521, -0.99902 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 48 }, "api_seconds": 14.010543146170676, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": -0.06, "z": 1.1 }, "note": "Yellow handle sits on the protruding table leaf just ahead at +x. Moving above and beyond the handle before descending to push it back in -x." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ -0.10477, -0.17383, -0.06422, -1.77093, 0.02508, 1.62291, -0.35119 ], "gripper_open": 0.0, "tcp_xyz": [ 0.5011, -0.08002, 1.05121 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00045, -6e-05 ], "tcp_rotation_matrix": [ [ 0.98291, 0.18142, 0.03114 ], [ 0.18046, -0.98308, 0.03136 ], [ 0.0363, -0.02521, -0.99902 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 47 }, "api_seconds": 4.403835574164987, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.12 }, "note": "Large joint jump rejected; splitting motion — rising first before moving forward past the handle." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ -0.10496, -0.11261, -0.06632, -1.52494, 0.02904, 1.4383, -0.34878 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50114, -0.08003, 1.11873 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00015, -7e-05 ], "tcp_rotation_matrix": [ [ 0.9829, 0.18142, 0.03144 ], [ 0.18046, -0.98308, 0.03133 ], [ 0.03659, -0.02512, -0.99901 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 46 }, "api_seconds": 4.603634241968393, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": -0.06 }, "note": "Now at safe height; moving forward so the gripper is just beyond the handle at +x." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "close the table.", "joint_positions": [ -0.10496, -0.11261, -0.06632, -1.52494, 0.02904, 1.4383, -0.34878 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50114, -0.08003, 1.11873 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00015, -7e-05 ], "tcp_rotation_matrix": [ [ 0.9829, 0.18142, 0.03144 ], [ 0.18046, -0.98308, 0.03133 ], [ 0.03659, -0.02512, -0.99901 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 45 }, "api_seconds": 4.203891070559621, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": -0.06 }, "note": "Still a joint jump; taking a smaller forward step to x=0.58 first." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the table.", "joint_positions": [ -0.08269, 0.15631, -0.04416, -1.19091, 0.04274, 1.37428, -0.29941 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57881, -0.06027, 1.11861 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.0004, 2e-05 ], "tcp_rotation_matrix": [ [ 0.9829, 0.1815, 0.03119 ], [ 0.18054, -0.98307, 0.03136 ], [ 0.03635, -0.02519, -0.99902 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 44 }, "api_seconds": 12.609392700716853, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63 }, "note": "Handle likely directly below/hidden by gripper body now. Stepping forward further to get beyond it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the table.", "joint_positions": [ -0.08773, 0.42375, -0.0408, -0.79288, 0.05467, 1.24355, -0.28852 ], "gripper_open": 0.0, "tcp_xyz": [ 0.62889, -0.06028, 1.11844 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00071, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98291, 0.18149, 0.03088 ], [ 0.18054, -0.98307, 0.03139 ], [ 0.03606, -0.02528, -0.99903 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 43 }, "api_seconds": 8.606657380238175, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.02 }, "note": "Still over wood; descending to look closely at what is beneath the gripper and find the handle/leaf edge." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the table.", "joint_positions": [ -0.07849, 0.21932, -0.04523, -1.34723, 0.04304, 1.6062, -0.29957 ], "gripper_open": 0.0145, "tcp_xyz": [ 0.62797, -0.06503, 1.02958 ], "tcp_roll_pitch_yaw": [ -0.00306, -0.01187, -0.00586 ], "tcp_rotation_matrix": [ [ 0.98343, 0.17598, 0.04361 ], [ 0.17488, -0.98419, 0.02805 ], [ 0.04785, -0.01996, -0.99865 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 42 }, "api_seconds": 13.411935828626156, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "x": 0.55, "pitch": -0.7 }, "note": "Contacted table top at z≈1.03 with only wood visible. Raising and pitching the camera forward to survey the table layout and find the open part." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the table.", "joint_positions": [ -0.07526, -0.4807, -0.06521, -2.11698, 0.12701, 2.35197, -0.38688 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55044, -0.06502, 1.14943 ], "tcp_roll_pitch_yaw": [ -0.00302, -0.69595, -0.00583 ], "tcp_rotation_matrix": [ [ 0.73214, 0.14776, 0.66493 ], [ 0.17637, -0.98402, 0.02447 ], [ 0.65792, 0.09936, -0.7465 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 41 }, "api_seconds": 30.421170972287655, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.12, "pitch": 0 }, "note": "Exterior view suggests the drawer protrudes toward the robot (-x) near y≈0.1. Moving back above the suspected drawer front to verify before pushing +x." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the table.", "joint_positions": [ -0.02827, -0.70606, 0.18417, -2.02208, 0.1463, 1.3642, -0.0288 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30088, 0.0995, 1.12011 ], "tcp_roll_pitch_yaw": [ -0.003, -0.00255, -0.00571 ], "tcp_rotation_matrix": [ [ 0.9838, 0.17593, 0.03429 ], [ 0.17501, -0.98416, 0.02817 ], [ 0.03871, -0.02171, -0.99901 ] ], "simulated_seconds_remaining": 12.54, "calls_remaining_including_this": 40 }, "api_seconds": 21.618552492931485, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": -0.05, "z": 0.97 }, "note": "Corrected mapping: image-up is -x, so the drawer front with handle is at x≈0.4, y≈-0.05, protruding toward the robot. Positioning just behind it at handle height to push +x." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "close the table.", "joint_positions": [ -0.10523, -0.74705, -0.04931, -2.45449, -0.00072, 1.73781, -0.31815 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32979, -0.04908, 0.97089 ], "tcp_roll_pitch_yaw": [ -0.00292, -0.00233, -0.00585 ], "tcp_rotation_matrix": [ [ 0.98384, 0.17579, 0.03408 ], [ 0.17488, -0.98418, 0.02825 ], [ 0.0385, -0.02183, -0.99902 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 39 }, "api_seconds": 8.807196466252208, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Positioned behind the protruding drawer front at handle height; pushing forward in +x to slide it closed." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 043 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 43, "source_episode_index": 115, "house_index": 20, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 6, "api_calls": 7, "wall_seconds": 102.53358125686646, "usage": { "input_tokens": 16, "cache_creation_input_tokens": 7411, "cache_read_input_tokens": 22916, "output_tokens": 2966 }, "estimated_cost_usd": 0.2468265 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWu5ADrK5AEpWLzGd8A", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XzLHrribZiFouGCVi4ZLX8", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.75 }, "note": "Drawer appears open below/in front; move forward and lower to get a clearer view of the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1781, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 340, "output_tokens_details": { "thinking_tokens": 217 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWuaHRrw5BpaRpF37HP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0172bvDMF4PmUDNMrkRV5WH2", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 1781, "cache_creation": { "ephemeral_5m_input_tokens": 832, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 76, "output_tokens_details": { "thinking_tokens": 52 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWupWw72xLFosHH4QRu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hynq8MsS5wxzzcuaBpFBzG", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Previous move stopped short, likely blocked by the drawer. Raise up and back to view the drawer from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 510, "cache_read_input_tokens": 2613, "cache_creation": { "ephemeral_5m_input_tokens": 510, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 465, "output_tokens_details": { "thinking_tokens": 316 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWvjky9ESWJA2PnS4dd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C3xf1Kq9vfYTELgiaXJMM4", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.1, "pitch": 0.7 }, "note": "Unclear geometry from top-down view; tilt the gripper to look forward toward the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 957, "cache_read_input_tokens": 3123, "cache_creation": { "ephemeral_5m_input_tokens": 957, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 720, "output_tokens_details": { "thinking_tokens": 588 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWyKTp2mCcd8SLnFmxf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017HDTdRTjoQLGSgWEkgJvnu", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.1, "pitch": -0.7 }, "note": "Positive pitch pointed the camera backward at the robot; use negative pitch to look forward toward the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1212, "cache_read_input_tokens": 4080, "cache_creation": { "ephemeral_5m_input_tokens": 1212, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 243, "output_tokens_details": { "thinking_tokens": 106 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezWyvumzf7m2VmVRgTvz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TkiNp4Arx2B9s5G6CavFyN", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 0.85, "pitch": 0, "gripper": 0 }, "note": "Orange drawer interior visible below/ahead; lower closed gripper into the drawer near its front so I can push it forward (+x) to close." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 735, "cache_read_input_tokens": 5292, "cache_creation": { "ephemeral_5m_input_tokens": 735, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 893, "output_tokens_details": { "thinking_tokens": 741 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX2HGw7p9Nc58EXSi6u", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X1jqxspYAPEDL56pLR1ojR", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 0.85 }, "note": "Gripper lowered inside/behind the drawer front; push forward along +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1384, "cache_read_input_tokens": 6027, "cache_creation": { "ephemeral_5m_input_tokens": 1384, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 229, "output_tokens_details": { "thinking_tokens": 104 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00687, -0.8274, -0.02914, -2.44736, 0.07999, 1.55297, 0.12764 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28154, 0.01203, 0.98505 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98549, -0.15712, -0.06428 ], [ -0.15006, -0.9833, 0.10295 ], [ -0.07938, -0.09181, -0.99261 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.604785489849746, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.75 }, "note": "Drawer appears open below/in front; move forward and lower to get a clearer view of the drawer front." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ 0.01519, -0.56878, -0.04635, -2.44684, 0.36788, 1.84279, 0.02628 ], "gripper_open": 0.9875, "tcp_xyz": [ 0.37547, 0.07273, 0.93769 ], "tcp_roll_pitch_yaw": [ 0.27623, -0.05307, -0.02066 ], "tcp_rotation_matrix": [ [ 0.98757, -0.15698, -0.00738 ], [ -0.14315, -0.91794, 0.37 ], [ -0.06486, -0.36434, -0.929 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 56 }, "api_seconds": 14.812307539395988, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Previous move stopped short, likely blocked by the drawer. Raise up and back to view the drawer from above." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.0472, -0.66885, -0.02646, -2.05021, 0.08653, 1.31153, 0.1066 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30044, 0.00038, 1.09922 ], "tcp_roll_pitch_yaw": [ 0.00148, -0.00061, -3e-05 ], "tcp_rotation_matrix": [ [ 0.98553, -0.15709, -0.06367 ], [ -0.14997, -0.98316, 0.10442 ], [ -0.079, -0.09336, -0.99249 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 55 }, "api_seconds": 34.42892913427204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.1, "pitch": 0.7 }, "note": "Unclear geometry from top-down view; tilt the gripper to look forward toward the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.04378, -0.2857, -0.02609, -1.78478, 0.07717, 0.73624, 0.16378 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25034, 0.0, 1.09987 ], "tcp_roll_pitch_yaw": [ 0.00149, 0.69592, -4e-05 ], "tcp_rotation_matrix": [ [ 0.70529, -0.18042, -0.68558 ], [ -0.14996, -0.98316, 0.10446 ], [ -0.69288, 0.02914, -0.72046 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 54 }, "api_seconds": 7.405840955674648, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.1, "pitch": -0.7 }, "note": "Positive pitch pointed the camera backward at the robot; use negative pitch to look forward toward the drawer." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.06589, -1.42172, -0.04555, -2.6143, 0.11398, 1.81138, 0.03833 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24994, 1e-05, 1.09999 ], "tcp_roll_pitch_yaw": [ 0.00151, -0.69562, -1e-05 ], "tcp_rotation_matrix": [ [ 0.80753, -0.06084, 0.58668 ], [ -0.14995, -0.98316, 0.10444 ], [ 0.57045, -0.17231, -0.80306 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 53 }, "api_seconds": 30.829314324073493, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 0.85, "pitch": 0, "gripper": 0 }, "note": "Orange drawer interior visible below/ahead; lower closed gripper into the drawer near its front so I can push it forward (+x) to close." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.06957, -0.95533, -0.0219, -2.85356, 0.08412, 1.82705, 0.04878 ], "gripper_open": 0.0, "tcp_xyz": [ 0.24999, 0.0, 0.85094 ], "tcp_roll_pitch_yaw": [ 0.00153, -0.00257, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98569, -0.15689, -0.06172 ], [ -0.14995, -0.98316, 0.10447 ], [ -0.07707, -0.09372, -0.99261 ] ], "simulated_seconds_remaining": 20.79, "calls_remaining_including_this": 52 }, "api_seconds": 4.804490806534886, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 0.85 }, "note": "Gripper lowered inside/behind the drawer front; push forward along +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 044 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 44, "source_episode_index": 180, "house_index": 216, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 12, "api_calls": 12, "wall_seconds": 150.81799173355103, "usage": { "input_tokens": 26, "cache_creation_input_tokens": 13764, "cache_read_input_tokens": 82523, "output_tokens": 7308 }, "estimated_cost_usd": 0.55834075 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX4EwM4nrAFCJiHByp2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JYrAepBtEEkHn4NLy1TqdK", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Table with open drawers (white knobs) visible ahead; moving closer and lower to better see drawer front geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 473, "output_tokens_details": { "thinking_tokens": 353 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX4yLGXpr1Y1M7ZDzTt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01STYfgQd53umMQAuir5NQa6", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Drawer front with knobs runs diagonally below; lowering to gauge height and orientation of the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 970, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 974, "output_tokens_details": { "thinking_tokens": 863 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX6Cvr5aezTMoGbBXBv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YAvhDZAN1CkMut4rvGeyQX", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.25 }, "note": "Geometry unclear from close-up; backing up and raising to get an overview of the table and drawers from the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1469, "cache_read_input_tokens": 2747, "cache_creation": { "ephemeral_5m_input_tokens": 1469, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 801, "output_tokens_details": { "thinking_tokens": 680 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX7RGneZUR6Wc94taUR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012Sa2FfcVoymPnbMDcS7PVj", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.15 }, "note": "Previous target exceeded bounds; raising to z=1.15 for an overview of the drawers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1288, "cache_read_input_tokens": 4216, "cache_creation": { "ephemeral_5m_input_tokens": 1288, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 146, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX7ozGyMeZizCRkMK6D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XmVKoqoRTxpLk8wAP99Mgo", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.78 }, "note": "Knobs appear face-on from above, suggesting drawer fronts face upward; descending over the near knob to find the drawer surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 5504, "cache_creation": { "ephemeral_5m_input_tokens": 640, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 954, "output_tokens_details": { "thinking_tokens": 820 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX9Dwx2L57sT3nwEeFS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018sPMv5rV5x8t3zVZejHy8h", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Knob is right below the fingers; closing gripper to use it as a pusher before pressing the drawer front downward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1445, "cache_read_input_tokens": 6144, "cache_creation": { "ephemeral_5m_input_tokens": 1445, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 776, "output_tokens_details": { "thinking_tokens": 663 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXAHM7fZqqtT3Jra8xN", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HQvXFLCqfAQHuUCohwd211", "name": "move_to", "input": { "targets": { "z": 0.68 }, "note": "Gripper closed above the drawer front; pressing down to test whether the drawer closes downward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1266, "cache_read_input_tokens": 7589, "cache_creation": { "ephemeral_5m_input_tokens": 1266, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 104, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXAcSaEjjKky76EbAZc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0146ghfxosfkZhq7GtEDcqms", "name": "move_to", "input": { "targets": { "y": -0.08, "z": 0.8 }, "note": "Descended past drawer height without contact; wood is to image-right (robot's right). Shifting right and rising to get over the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 594, "cache_read_input_tokens": 8855, "cache_creation": { "ephemeral_5m_input_tokens": 594, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1290, "output_tokens_details": { "thinking_tokens": 1165 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXCJZ6y5JegjLA15cWr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G69cQxfiLgCq6qj1yqx6Hq", "name": "move_to", "input": { "targets": { "y": -0.18 }, "note": "Wood shifted slightly leftward in wrist view after moving right; continuing right to center over the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1780, "cache_read_input_tokens": 9449, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 322, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXCvoh997VKCVAMH4s9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CvUMQwj6g3zndqUEArAVVt", "name": "move_to", "input": { "targets": { "y": 0.15, "z": 0.85 }, "note": "Exterior view shows the arm moved away from the table when going right; the table is to the robot's left (+y). Moving left and slightly up to get over the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 811, "cache_read_input_tokens": 11229, "cache_creation": { "ephemeral_5m_input_tokens": 811, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 444, "output_tokens_details": { "thinking_tokens": 311 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXDoommHSp5GARgTQHq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MwLqmo2jVEH8rK51bKSZbo", "name": "move_to", "input": { "targets": { "z": 0.62 }, "note": "Now above the drawer front with a knob right under the closed fingers; pressing straight down to push the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 933, "cache_read_input_tokens": 12040, "cache_creation": { "ephemeral_5m_input_tokens": 933, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 302, "output_tokens_details": { "thinking_tokens": 191 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXEQrAzWaCNBngvY4hJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gqnz1BA41K5QkBd9HFjHxT", "name": "move_to", "input": { "targets": { "x": 0.68 }, "note": "Descending never contacted; the drawer front appears to face the robot with the gripper now in front of it. Pushing forward (+x) to close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 791, "cache_read_input_tokens": 12973, "cache_creation": { "ephemeral_5m_input_tokens": 791, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 722, "output_tokens_details": { "thinking_tokens": 599 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.02205, -0.81243, 0.07476, -2.2696, 0.01294, 1.68505, 0.16367 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.34282, 0.03757, 1.07949 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97026, -0.08439, 0.22687 ], [ -0.0812, -0.99642, -0.02339 ], [ 0.22803, 0.00427, -0.97364 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.008340890519321, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Table with open drawers (white knobs) visible ahead; moving closer and lower to better see drawer front geometry." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.00435, -0.51806, 0.0866, -2.4058, 0.00045, 2.1152, 0.16832 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44908, 0.03755, 0.95094 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00037, -3e-05 ], "tcp_rotation_matrix": [ [ 0.97034, -0.08442, 0.22651 ], [ -0.08122, -0.99642, -0.02342 ], [ 0.22768, 0.00433, -0.97373 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 16.41337240114808, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Drawer front with knobs runs diagonally below; lowering to gauge height and orientation of the open drawer." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ 0.00284, -0.45956, 0.09518, -2.56706, -0.00304, 2.33445, 0.17883 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44903, 0.03754, 0.87114 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.0007, -3e-05 ], "tcp_rotation_matrix": [ [ 0.97042, -0.08442, 0.22619 ], [ -0.08122, -0.99642, -0.02345 ], [ 0.22736, 0.00438, -0.9738 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 55 }, "api_seconds": 16.41442741267383, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.25 }, "note": "Geometry unclear from close-up; backing up and raising to get an overview of the table and drawers from the wrist camera." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.00284, -0.45956, 0.09518, -2.56706, -0.00304, 2.33445, 0.17883 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44903, 0.03754, 0.87114 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.0007, -3e-05 ], "tcp_rotation_matrix": [ [ 0.97042, -0.08442, 0.22619 ], [ -0.08122, -0.99642, -0.02345 ], [ 0.22736, 0.00438, -0.9738 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 54 }, "api_seconds": 4.804427642375231, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.15 }, "note": "Previous target exceeded bounds; raising to z=1.15 for an overview of the drawers." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.02567, -0.841, 0.07074, -2.08916, 0.01156, 1.47555, 0.16527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30067, 0.03755, 1.14889 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00037, -2e-05 ], "tcp_rotation_matrix": [ [ 0.97034, -0.0844, 0.22651 ], [ -0.08121, -0.99642, -0.02341 ], [ 0.22768, 0.00433, -0.97373 ] ], "simulated_seconds_remaining": 25.41, "calls_remaining_including_this": 53 }, "api_seconds": 18.614463774487376, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.78 }, "note": "Knobs appear face-on from above, suggesting drawer fronts face upward; descending over the near knob to find the drawer surface height." } } } ] } } ] }, "execution": { "steps": 45, "motion_seconds": 2.97, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.01874, -0.31401, 0.02693, -2.6988, -0.03345, 2.61264, 0.11882 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44942, 0.00012, 0.78115 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00074, -5e-05 ], "tcp_rotation_matrix": [ [ 0.97043, -0.08444, 0.22615 ], [ -0.08124, -0.99642, -0.02342 ], [ 0.22731, 0.00436, -0.97381 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 52 }, "api_seconds": 14.21023634634912, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Knob is right below the fingers; closing gripper to use it as a pusher before pressing the drawer front downward." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ -0.01874, -0.31401, 0.02693, -2.6988, -0.03345, 2.61264, 0.11882 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44942, 0.00011, 0.78114 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00074, -5e-05 ], "tcp_rotation_matrix": [ [ 0.97043, -0.08444, 0.22615 ], [ -0.08124, -0.99642, -0.02342 ], [ 0.22732, 0.00436, -0.97381 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 51 }, "api_seconds": 4.203460815362632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.68 }, "note": "Gripper closed above the drawer front; pressing down to test whether the drawer closes downward." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.04719, -0.03804, 0.04047, -2.75186, -0.10272, 2.94078, 0.17581 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44933, 9e-05, 0.68118 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00111, -8e-05 ], "tcp_rotation_matrix": [ [ 0.97051, -0.08447, 0.22579 ], [ -0.08126, -0.99642, -0.02348 ], [ 0.22696, 0.00444, -0.97389 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 50 }, "api_seconds": 22.61804395262152, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08, "z": 0.8 }, "note": "Descended past drawer height without contact; wood is to image-right (robot's right). Shifting right and rising to get over the drawer front." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ -0.09007, -0.33048, -0.09372, -2.6591, -0.02279, 2.55853, -0.08044 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44942, -0.07931, 0.79899 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00079, -0.00023 ], "tcp_rotation_matrix": [ [ 0.97042, -0.08462, 0.2261 ], [ -0.0814, -0.9964, -0.02354 ], [ 0.22728, 0.00444, -0.97382 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 49 }, "api_seconds": 8.206980073824525, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.18 }, "note": "Wood shifted slightly leftward in wrist view after moving right; continuing right to center over the drawer front." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ -0.14466, -0.24728, -0.25741, -2.5688, 0.00784, 2.54889, -0.32298 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44942, -0.17879, 0.799 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00077, -0.0005 ], "tcp_rotation_matrix": [ [ 0.9704, -0.08489, 0.22611 ], [ -0.08167, -0.99638, -0.02354 ], [ 0.22729, 0.00438, -0.97382 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 48 }, "api_seconds": 11.212020021863282, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "z": 0.85 }, "note": "Exterior view shows the arm moved away from the table when going right; the table is to the robot's left (+y). Moving left and slightly up to get over the drawer." } } } ] } } ] }, "execution": { "steps": 38, "motion_seconds": 2.508, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.06714, -0.35903, 0.2826, -2.52167, -0.00035, 2.38319, 0.4275 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44942, 0.14859, 0.84977 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00083, -0.00048 ], "tcp_rotation_matrix": [ [ 0.97041, -0.08487, 0.22605 ], [ -0.08164, -0.99638, -0.02361 ], [ 0.22723, 0.00446, -0.97383 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 47 }, "api_seconds": 7.606410942040384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.62 }, "note": "Now above the drawer front with a knob right under the closed fingers; pressing straight down to push the drawer closed." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ 0.0509, 0.22315, 0.18069, -2.5904, -0.78445, 2.98149, 1.07319 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44941, 0.14854, 0.62128 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00108, -0.0007 ], "tcp_rotation_matrix": [ [ 0.97045, -0.08508, 0.2258 ], [ -0.08184, -0.99636, -0.0237 ], [ 0.22699, 0.00452, -0.97389 ] ], "simulated_seconds_remaining": 13.926, "calls_remaining_including_this": 46 }, "api_seconds": 13.210162727162242, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68 }, "note": "Descending never contacted; the drawer front appears to face the robot with the gripper now in front of it. Pushing forward (+x) to close the drawer." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 045 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 45, "source_episode_index": 742, "house_index": 419, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 19, "api_calls": 20, "wall_seconds": 221.48041224479675, "usage": { "input_tokens": 42, "cache_creation_input_tokens": 21161, "cache_read_input_tokens": 194895, "output_tokens": 10839 }, "estimated_cost_usd": 0.85560625 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX7ewZAq1J9e8cqAzRj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GDsh2veRwNnGv6DWJ99GKc", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1776, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 152, "output_tokens_details": { "thinking_tokens": 128 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX834LZDMRGTEFijziT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017afxczQsWwVcwgMkcirMUJ", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.05, "pitch": -1.2 }, "note": "Gripper points down; wrist cam sees only floor. Tilt gripper to look forward to locate the open drawer of the table/cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 583, "cache_read_input_tokens": 1776, "cache_creation": { "ephemeral_5m_input_tokens": 583, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 637, "output_tokens_details": { "thinking_tokens": 490 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX8sUu4bB3231Rna1d3", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ENHzL9yjosL4Sd293uSwPY", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.0, "z": 1.05, "pitch": -0.7 }, "note": "Previous pitch unreachable; try a smaller forward tilt to see the cabinet." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1122, "cache_read_input_tokens": 2359, "cache_creation": { "ephemeral_5m_input_tokens": 1122, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX9GJLsZ5unEanLP1YL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Wyi2p45GFLQLdj8rgoRxCf", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.5 }, "note": "Wrist view is too close to a gray surface; raise and pull back to get an overview of the cabinet and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 618, "cache_read_input_tokens": 3481, "cache_creation": { "ephemeral_5m_input_tokens": 618, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 410, "output_tokens_details": { "thinking_tokens": 272 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezX9tLmrZq4SyfBYPTDx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012BL5mW6j8n6nkG66JGnDjw", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 0.95, "pitch": -0.9 }, "note": "Drawer appears pulled out toward the robot; its front is below. Lower and tilt to view the drawer front face and find its height/x position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 904, "cache_read_input_tokens": 4099, "cache_creation": { "ephemeral_5m_input_tokens": 904, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 549, "output_tokens_details": { "thinking_tokens": 404 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXAipopJ7vF8Whkntnq", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012TEPQEa7ETJ9tbUFJ7EAMT", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.95, "pitch": -0.5 }, "note": "Pitch -0.9 unreachable; keep pitch -0.5 and just lower to see the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1038, "cache_read_input_tokens": 5003, "cache_creation": { "ephemeral_5m_input_tokens": 1038, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 136, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXB4RHEgk8KPgrtWNRE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PS5p7Nz7UC1CPztkShYZgE", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.0, "z": 0.8, "pitch": -0.3, "gripper": 0.0 }, "note": "Drawer top is at ~z0.9 just ahead. Pull back and drop below the top to face the drawer front; close gripper to make a pushing tool." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 624, "cache_read_input_tokens": 6041, "cache_creation": { "ephemeral_5m_input_tokens": 624, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 960, "output_tokens_details": { "thinking_tokens": 799 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXCJgoNU9oesfGSLSfU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QEqHkRCwgGsa5qt9ZHFMgg", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "pitch": -0.3, "gripper": 0.0 }, "note": "Unreachable close to base; try slightly further forward and a bit higher while still below the drawer top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1448, "cache_read_input_tokens": 6665, "cache_creation": { "ephemeral_5m_input_tokens": 1448, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 77 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXCj6jV51QbjqVEAShr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LBrsfBRyY4fxm7PETfWcRk", "name": "move_to", "input": { "targets": { "x": 0.32, "y": 0.0, "z": 0.88, "pitch": 0.0, "gripper": 0.0 }, "note": "Forward-tilt poses low near base are unreachable. Instead use downward-pointing closed gripper to hook just below the drawer top in front of its face, then push +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 707, "cache_read_input_tokens": 8113, "cache_creation": { "ephemeral_5m_input_tokens": 707, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 587, "output_tokens_details": { "thinking_tokens": 422 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXDfopG8hjSWk2EyPDZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M1guY8HP9REs4Ai2eZdFNx", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.2, "z": 0.9, "pitch": 0.0 }, "note": "Gripper appears just right of the drawer in exterior view; drawer likely at +y. Shift left to be in front of the drawer face while staying at hook height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1074, "cache_read_input_tokens": 8820, "cache_creation": { "ephemeral_5m_input_tokens": 1074, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 641, "output_tokens_details": { "thinking_tokens": 490 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXEacJQsofZfq9BwZZU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NvAshpqTEHacL79NkfrfdM", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Gripper is at the drawer front near its top; lower slightly so fingertips are below the drawer top edge before pushing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1134, "cache_read_input_tokens": 9894, "cache_creation": { "ephemeral_5m_input_tokens": 1134, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 529, "output_tokens_details": { "thinking_tokens": 389 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXFLSYpybY2tfoHDZyC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y5mu7HtZsXHSeYHrNpeSGB", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Fingertips are now just below the drawer top edge in front of its face. Push forward in +x to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1017, "cache_read_input_tokens": 11028, "cache_creation": { "ephemeral_5m_input_tokens": 1017, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 155, "output_tokens_details": { "thinking_tokens": 17 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXFhVaNzhdsUeWXEDxo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VsSdhar6oS6XPpz1NPS7EQ", "name": "move_to", "input": { "targets": { "x": 0.28, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Drawer didn't move; gripper seems to have passed beside the drawer's right side (drawer further +y). Retreat in -x before shifting left." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 644, "cache_read_input_tokens": 12045, "cache_creation": { "ephemeral_5m_input_tokens": 644, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1262, "output_tokens_details": { "thinking_tokens": 1113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXHSLKNTDbaeAEccjrx", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VKGmZfwQtfjxtfEVa3yGEN", "name": "move_to", "input": { "targets": { "x": 0.28, "y": 0.35, "z": 0.85, "pitch": 0.0 }, "note": "Shift further left (+y) to get centered in front of the drawer face; wrist view should show gray drawer filling more of the image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1750, "cache_read_input_tokens": 12689, "cache_creation": { "ephemeral_5m_input_tokens": 1750, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 140, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXHo11niNGVkSHRYwZV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UqDaCkurFipVC29cFKem79", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.35, "z": 0.85, "pitch": 0.0 }, "note": "Exterior view shows the gripper in front of the drawer face now. Push forward in +x to test whether the drawer slides closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 626, "cache_read_input_tokens": 14439, "cache_creation": { "ephemeral_5m_input_tokens": 626, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 845, "output_tokens_details": { "thinking_tokens": 703 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXJy1opPwLFZhAnvRyQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016ZfLQdAQDj7ahAEcS4rTqz", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.35, "z": 0.72, "pitch": 0.0 }, "note": "Drawer still not moving; perhaps the gripper is above the drawer top or beside it. Lower to probe the drawer height / find contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1334, "cache_read_input_tokens": 15065, "cache_creation": { "ephemeral_5m_input_tokens": 1334, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 859, "output_tokens_details": { "thinking_tokens": 713 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXLKD22ECM5rWpMJUnz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RRPfsJQcnQ659WeK27jzzL", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.5, "z": 0.88, "pitch": 0.0 }, "note": "No contact at (0.45,0.35,0.72): drawer is further left (+y). Retreat and shift to y=0.5 at drawer-top height to line up with the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1352, "cache_read_input_tokens": 16399, "cache_creation": { "ephemeral_5m_input_tokens": 1352, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 599, "output_tokens_details": { "thinking_tokens": 440 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXMBhrR9YimmtRqzDHM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SfzmTzg5x3uGjvLyPW1d1g", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.62, "z": 0.85, "pitch": 0.0 }, "note": "Re-reading the exterior camera: it views from +y, so the drawer is pulled out toward +y and its front faces +y. Move beyond the drawer front (y=0.62) at x=0.45 to prepare a -y push." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1092, "cache_read_input_tokens": 17751, "cache_creation": { "ephemeral_5m_input_tokens": 1092, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1054, "output_tokens_details": { "thinking_tokens": 880 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXNVRF9dSu22SQKzFyU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PVWVRGZU3dJyoZoDbqfbv6", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Positioned beyond the drawer front on the +y side; push in -y toward the cabinet to close the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1542, "cache_read_input_tokens": 18843, "cache_creation": { "ephemeral_5m_input_tokens": 1542, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 283, "output_tokens_details": { "thinking_tokens": 146 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXP26hjhb2HaZdJbzDp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B7tT83ax8nLsZYqzeQe2dz", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.02, "z": 0.8, "pitch": 0.0 }, "note": "Gripper occludes the drawer front in the exterior view, so the drawer front is at y<0.2 facing +y. Lower slightly and continue pushing in -y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 20385, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 693, "output_tokens_details": { "thinking_tokens": 538 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.01443, -0.77752, 0.00859, -2.3651, -0.04977, 1.69502, -0.02926 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33821, -0.00479, 1.02144 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99283, 0.05042, 0.10836 ], [ 0.05643, -0.99699, -0.05313 ], [ 0.10535, 0.05886, -0.99269 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 16.614697667770088, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.05, "pitch": -1.2 }, "note": "Gripper points down; wrist cam sees only floor. Tilt gripper to look forward to locate the open drawer of the table/cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.01443, -0.77752, 0.00859, -2.3651, -0.04977, 1.69502, -0.02926 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33821, -0.00479, 1.02144 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99283, 0.05042, 0.10836 ], [ 0.05643, -0.99699, -0.05313 ], [ 0.10535, 0.05886, -0.99269 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 4.804382957518101, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.0, "z": 1.05, "pitch": -0.7 }, "note": "Previous pitch unreachable; try a smaller forward tilt to see the cabinet." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ -0.00368, -1.10224, 0.02166, -2.76345, -0.08186, 2.22677, 0.03009 ], "gripper_open": 1.0, "tcp_xyz": [ 0.36001, -0.00864, 1.00347 ], "tcp_roll_pitch_yaw": [ -0.0106, -0.46101, -0.02628 ], "tcp_rotation_matrix": [ [ 0.84381, -0.01191, 0.53651 ], [ 0.03538, -0.99634, -0.07777 ], [ 0.53548, 0.08461, -0.8403 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 8.006811300292611, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.2, "pitch": -0.5 }, "note": "Wrist view is too close to a gray surface; raise and pull back to get an overview of the cabinet and drawer." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.0008, -1.08038, 0.03774, -2.24013, -0.06308, 1.76419, 0.01038 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30041, -5e-05, 1.19879 ], "tcp_roll_pitch_yaw": [ -0.01059, -0.49999, -0.02627 ], "tcp_rotation_matrix": [ [ 0.82231, -0.01521, 0.56884 ], [ 0.03595, -0.99626, -0.07861 ], [ 0.56791, 0.08509, -0.81868 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 54 }, "api_seconds": 11.209557703696191, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 0.95, "pitch": -0.9 }, "note": "Drawer appears pulled out toward the robot; its front is below. Lower and tilt to view the drawer front face and find its height/x position." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.0008, -1.08038, 0.03774, -2.24013, -0.06308, 1.76419, 0.01038 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30041, -5e-05, 1.19879 ], "tcp_roll_pitch_yaw": [ -0.01059, -0.49999, -0.02627 ], "tcp_rotation_matrix": [ [ 0.82231, -0.01521, 0.56884 ], [ 0.03595, -0.99626, -0.07861 ], [ 0.56791, 0.08509, -0.81868 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 53 }, "api_seconds": 4.203881869092584, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.95, "pitch": -0.5 }, "note": "Pitch -0.9 unreachable; keep pitch -0.5 and just lower to see the drawer front." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ 0.02299, -1.45568, 0.05203, -3.01916, -0.0636, 2.1655, 0.05292 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29999, -0.0, 0.95126 ], "tcp_roll_pitch_yaw": [ -0.01062, -0.49981, -0.02626 ], "tcp_rotation_matrix": [ [ 0.82241, -0.0152, 0.56869 ], [ 0.03596, -0.99626, -0.07863 ], [ 0.56775, 0.08511, -0.81879 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 52 }, "api_seconds": 16.8144462807104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.0, "z": 0.8, "pitch": -0.3, "gripper": 0.0 }, "note": "Drawer top is at ~z0.9 just ahead. Pull back and drop below the top to face the drawer front; close gripper to make a pushing tool." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ 0.02299, -1.45568, 0.05203, -3.01916, -0.0636, 2.1655, 0.05292 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29999, -0.0, 0.95126 ], "tcp_roll_pitch_yaw": [ -0.01062, -0.49981, -0.02626 ], "tcp_rotation_matrix": [ [ 0.82241, -0.0152, 0.56869 ], [ 0.03596, -0.99626, -0.07863 ], [ 0.56775, 0.08511, -0.81879 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 51 }, "api_seconds": 5.605125427246094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 0.85, "pitch": -0.3, "gripper": 0.0 }, "note": "Unreachable close to base; try slightly further forward and a bit higher while still below the drawer top." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ 0.02299, -1.45568, 0.05203, -3.01916, -0.0636, 2.1655, 0.05292 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29999, -0.0, 0.95126 ], "tcp_roll_pitch_yaw": [ -0.01062, -0.49981, -0.02626 ], "tcp_rotation_matrix": [ [ 0.82241, -0.0152, 0.56869 ], [ 0.03596, -0.99626, -0.07863 ], [ 0.56775, 0.08511, -0.81879 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 50 }, "api_seconds": 12.40980471111834, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32, "y": 0.0, "z": 0.88, "pitch": 0.0, "gripper": 0.0 }, "note": "Forward-tilt poses low near base are unreachable. Instead use downward-pointing closed gripper to hook just below the drawer top in front of its face, then push +x." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ 0.01484, -0.93469, 0.0399, -2.76874, -0.04846, 1.93949, 0.02995 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30241, 0.0008, 0.896 ], "tcp_roll_pitch_yaw": [ -0.01675, -0.00186, -0.02911 ], "tcp_rotation_matrix": [ [ 0.99391, 0.02127, 0.10813 ], [ 0.02927, -0.99691, -0.07292 ], [ 0.10624, 0.07564, -0.99146 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 49 }, "api_seconds": 11.809163052588701, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.2, "z": 0.9, "pitch": 0.0 }, "note": "Gripper appears just right of the drawer in exterior view; drawer likely at +y. Shift left to be in front of the drawer face while staying at hook height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ 0.17889, -0.72326, 0.41213, -2.58384, 0.16524, 1.95844, 0.41952 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30002, 0.19869, 0.89998 ], "tcp_roll_pitch_yaw": [ -0.01682, -4e-05, -0.02896 ], "tcp_rotation_matrix": [ [ 0.9941, 0.02155, 0.10633 ], [ 0.02941, -0.9969, -0.07292 ], [ 0.10443, 0.07562, -0.99165 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 48 }, "api_seconds": 10.008356056176126, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Gripper is at the drawer front near its top; lower slightly so fingertips are below the drawer top edge before pushing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.18387, -0.68276, 0.44768, -2.6821, 0.18377, 2.09617, 0.43365 ], "gripper_open": 0.0, "tcp_xyz": [ 0.29996, 0.19994, 0.85108 ], "tcp_roll_pitch_yaw": [ -0.01694, 0.00023, -0.02898 ], "tcp_rotation_matrix": [ [ 0.99413, 0.02156, 0.10606 ], [ 0.02941, -0.9969, -0.07304 ], [ 0.10415, 0.07573, -0.99167 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 47 }, "api_seconds": 4.6037554405629635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Fingertips are now just below the drawer top edge in front of its face. Push forward in +x to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ -0.00796, -0.22535, 0.45521, -2.33374, -0.01622, 2.19594, 0.42405 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4487, 0.19996, 0.84999 ], "tcp_roll_pitch_yaw": [ -0.0169, 9e-05, -0.02912 ], "tcp_rotation_matrix": [ [ 0.99412, 0.0214, 0.10618 ], [ 0.02926, -0.9969, -0.07302 ], [ 0.10429, 0.0757, -0.99166 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 46 }, "api_seconds": 23.219893338158727, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Drawer didn't move; gripper seems to have passed beside the drawer's right side (drawer further +y). Retreat in -x before shifting left." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the table.", "joint_positions": [ 0.21443, -0.74178, 0.45196, -2.71869, 0.20623, 2.07263, 0.44477 ], "gripper_open": 0.0, "tcp_xyz": [ 0.2813, 0.20004, 0.85004 ], "tcp_roll_pitch_yaw": [ -0.01696, -0.00012, -0.02899 ], "tcp_rotation_matrix": [ [ 0.99409, 0.02152, 0.1064 ], [ 0.0294, -0.99689, -0.07307 ], [ 0.1045, 0.07577, -0.99163 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 45 }, "api_seconds": 4.403849084861577, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "y": 0.35, "z": 0.85, "pitch": 0.0 }, "note": "Shift further left (+y) to get centered in front of the drawer face; wrist view should show gray drawer filling more of the image." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the table.", "joint_positions": [ 0.16291, -0.40657, 0.74378, -2.41071, 0.16624, 2.11123, 0.75547 ], "gripper_open": 0.0, "tcp_xyz": [ 0.28, 0.34871, 0.85 ], "tcp_roll_pitch_yaw": [ -0.01701, -1e-05, -0.02884 ], "tcp_rotation_matrix": [ [ 0.9941, 0.02168, 0.1063 ], [ 0.02956, -0.99689, -0.07311 ], [ 0.10438, 0.07582, -0.99164 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 44 }, "api_seconds": 15.614145076833665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.35, "z": 0.85, "pitch": 0.0 }, "note": "Exterior view shows the gripper in front of the drawer face now. Push forward in +x to test whether the drawer slides closed." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the table.", "joint_positions": [ -0.01764, 0.06318, 0.73777, -2.03689, -0.19544, 2.10737, 0.79112 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44874, 0.34991, 0.84997 ], "tcp_roll_pitch_yaw": [ -0.01696, 0.00014, -0.02908 ], "tcp_rotation_matrix": [ [ 0.99412, 0.02145, 0.10614 ], [ 0.02931, -0.9969, -0.07307 ], [ 0.10424, 0.07575, -0.99166 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 43 }, "api_seconds": 18.014089887961745, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.35, "z": 0.72, "pitch": 0.0 }, "note": "Drawer still not moving; perhaps the gripper is above the drawer top or beside it. Lower to probe the drawer height / find contact." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "close the table.", "joint_positions": [ 0.04028, 0.2865, 0.67197, -2.15001, -0.43643, 2.36405, 0.9789 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44995, 0.34992, 0.72119 ], "tcp_roll_pitch_yaw": [ -0.01711, 0.00027, -0.02917 ], "tcp_rotation_matrix": [ [ 0.99414, 0.02137, 0.10599 ], [ 0.02924, -0.99689, -0.07323 ], [ 0.1041, 0.0759, -0.99167 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 42 }, "api_seconds": 11.209188340231776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.5, "z": 0.88, "pitch": 0.0 }, "note": "No contact at (0.45,0.35,0.72): drawer is further left (+y). Retreat and shift to y=0.5 at drawer-top height to line up with the drawer face." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "close the table.", "joint_positions": [ 0.24379, 0.15158, 0.8791, -1.88021, -0.2632, 1.94563, 1.19343 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30069, 0.49934, 0.87925 ], "tcp_roll_pitch_yaw": [ -0.01694, -0.00011, -0.02891 ], "tcp_rotation_matrix": [ [ 0.99409, 0.0216, 0.1064 ], [ 0.02948, -0.99689, -0.07304 ], [ 0.10449, 0.07575, -0.99164 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 41 }, "api_seconds": 17.21360412798822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.62, "z": 0.85, "pitch": 0.0 }, "note": "Re-reading the exterior camera: it views from +y, so the drawer is pulled out toward +y and its front faces +y. Move beyond the drawer front (y=0.62) at x=0.45 to prepare a -y push." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "close the table.", "joint_positions": [ 0.67975, 0.89887, 0.65492, -0.84286, -0.6246, 1.59594, 1.1314 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44895, 0.6192, 0.85006 ], "tcp_roll_pitch_yaw": [ -0.01703, 0.00018, -0.02881 ], "tcp_rotation_matrix": [ [ 0.99412, 0.02172, 0.10612 ], [ 0.02959, -0.99688, -0.07312 ], [ 0.1042, 0.07583, -0.99166 ] ], "simulated_seconds_remaining": 11.484, "calls_remaining_including_this": 40 }, "api_seconds": 6.404940750449896, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.2, "z": 0.85, "pitch": 0.0 }, "note": "Positioned beyond the drawer front on the +y side; push in -y toward the cabinet to close the drawer." } } } ] } } ] }, "execution": { "steps": 47, "motion_seconds": 3.1020000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "close the table.", "joint_positions": [ -0.16293, -0.24032, 0.60452, -2.32805, 0.03018, 2.19524, 0.3902 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45004, 0.20128, 0.85 ], "tcp_roll_pitch_yaw": [ -0.01706, 2e-05, -0.02908 ], "tcp_rotation_matrix": [ [ 0.99411, 0.02144, 0.10626 ], [ 0.02933, -0.99689, -0.07318 ], [ 0.10436, 0.07586, -0.99164 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 39 }, "api_seconds": 13.216004797257483, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.02, "z": 0.8, "pitch": 0.0 }, "note": "Gripper occludes the drawer front in the exterior view, so the drawer front is at y<0.2 facing +y. Lower slightly and continue pushing in -y." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 046 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 46, "source_episode_index": 243, "house_index": 219, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 15, "api_calls": 16, "wall_seconds": 137.0187430381775, "usage": { "input_tokens": 34, "cache_creation_input_tokens": 14882, "cache_read_input_tokens": 107967, "output_tokens": 6441 }, "estimated_cost_usd": 0.53540675 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXH1JfogVMMf31f3QqE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GKEhWFWvMUuCSYvAn1CWWg", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1776, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 104 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXHU5Ux5soqNE2Yasmz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DFGVctGSzEPeMZ8UTmot4F", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.85, "pitch": -0.8 }, "note": "Wrist camera only sees the tabletop; lowering and tilting to look forward to find the open drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 559, "cache_read_input_tokens": 1776, "cache_creation": { "ephemeral_5m_input_tokens": 559, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 386, "output_tokens_details": { "thinking_tokens": 259 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXJ1pTJPNKuGce37yPA", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Q7rxJUrzFJDT8zfRybsnV1", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.9, "pitch": -0.5 }, "note": "Previous pose unreachable; try smaller tilt and less drop to look forward at the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 2335, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXJHQZtCK9qboz9g8Ry", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017YEPxukHbzidgub3n9ZCGG", "name": "move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Pitch negative unreachable; try positive pitch to tilt camera toward the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 3206, "cache_creation": { "ephemeral_5m_input_tokens": 608, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 33 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXJbJqZsaCHoEZqVMkK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TLAcbmfsHZwjhRrC1zFkfa", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 1.15, "pitch": -0.7 }, "note": "Positive pitch looked back at the robot; move up and back with negative pitch to view forward over the table edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 630, "cache_read_input_tokens": 3814, "cache_creation": { "ephemeral_5m_input_tokens": 630, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 333, "output_tokens_details": { "thinking_tokens": 206 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXK7ivrhjL94HEMR2od", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013ZYG1p4u7RpqgdXsbVPP8q", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 0.95, "pitch": -0.9 }, "note": "Forward view shows a dark drawer-like structure with a knob; lower the camera to see the drawer front better." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 4444, "cache_creation": { "ephemeral_5m_input_tokens": 825, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 729, "output_tokens_details": { "thinking_tokens": 601 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXL2ukCAnpB2TGVBji3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CLf7RhDmD8Gcts2iHtY6Ho", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 0.92, "pitch": -0.6 }, "note": "Low pose near base unreachable; try a further-forward low pose to look at the drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1216, "cache_read_input_tokens": 5269, "cache_creation": { "ephemeral_5m_input_tokens": 1216, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 254, "output_tokens_details": { "thinking_tokens": 132 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXLY6ffyPsN5godHevP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G2qjhcqdqqrByksuFc43DE", "name": "move_to", "input": { "targets": { "x": 0.34, "z": 0.98, "pitch": 0.0 }, "note": "Testing whether lower z is reachable at neutral pitch to understand the workspace/table height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 6485, "cache_creation": { "ephemeral_5m_input_tokens": 741, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 222, "output_tokens_details": { "thinking_tokens": 99 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXLusbe3CZqLgSRBAD2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019D1bUZuRB6DbZDaVpbhuiE", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Tabletop appears just below; descending further to find the table surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 709, "cache_read_input_tokens": 7226, "cache_creation": { "ephemeral_5m_input_tokens": 709, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 27 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXMV2eBRPnAggg5Eukf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hqwj7AvzKv9y588c6kZGCX", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Still above the granite surface; continue descending to find the table height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 616, "cache_read_input_tokens": 7935, "cache_creation": { "ephemeral_5m_input_tokens": 616, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 148, "output_tokens_details": { "thinking_tokens": 54 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXMnT99C1WGuRnzvN8A", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CXyxKrRq6M3bzStDTM1frZ", "name": "move_to", "input": { "targets": { "z": 0.95, "yaw": -1.0, "pitch": -0.5 }, "note": "The granite seems to be the floor, with a dark structure at right of the wrist view; yaw right and tilt to look at it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 8551, "cache_creation": { "ephemeral_5m_input_tokens": 636, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 446, "output_tokens_details": { "thinking_tokens": 312 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXNRpSqtvPionDMHpsa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cvshefjiwx2yByXFxz9aKk", "name": "move_to", "input": { "targets": { "z": 1.1, "yaw": -1.0, "pitch": -0.9 }, "note": "Dark structure at right of wrist view; raise and tilt more forward to get an overview of the table and drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 936, "cache_read_input_tokens": 9187, "cache_creation": { "ephemeral_5m_input_tokens": 936, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 833, "output_tokens_details": { "thinking_tokens": 703 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXPZMQQWuPEX5DfEPCM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011efsL5PWGgtfGFT59dPWXM", "name": "move_to", "input": { "targets": { "y": -0.2 }, "note": "Dark box with knob visible at right of wrist view; shift right (-y) to bring it into center view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1324, "cache_read_input_tokens": 10123, "cache_creation": { "ephemeral_5m_input_tokens": 1324, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 498, "output_tokens_details": { "thinking_tokens": 391 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXQJSVw2AeSRnqUHhy6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017vaXFZ6W8jF5DyD8MwKZis", "name": "move_to", "input": { "targets": { "y": 0.0, "yaw": 1.0, "pitch": -0.9 }, "note": "Exterior suggests the table/drawer is to the robot's left (+y) and the drawer protrudes toward -x; yaw left to look at it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 988, "cache_read_input_tokens": 11447, "cache_creation": { "ephemeral_5m_input_tokens": 988, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 810, "output_tokens_details": { "thinking_tokens": 668 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXRLDgNZ1ktnjjDDh9N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WFfKnRp5uZ697Dee8iz7ck", "name": "move_to", "input": { "targets": { "x": 0.2, "y": 0.2, "z": 0.95, "pitch": 0.0, "yaw": 0.0, "gripper": 0.0 }, "note": "Drawer front is very close facing -x; reposition behind it with fingers pointing down and closed to push in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1299, "cache_read_input_tokens": 12435, "cache_creation": { "ephemeral_5m_input_tokens": 1299, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 660, "output_tokens_details": { "thinking_tokens": 503 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXSNnjU5EDuY1ttutss", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011u71egog7AC9HQNvJg8jfm", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Drawer appears ahead in wrist view; push forward in +x with closed gripper to close it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 13734, "cache_creation": { "ephemeral_5m_input_tokens": 1148, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 607, "output_tokens_details": { "thinking_tokens": 501 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.01415, -0.79616, -0.04062, -2.29484, -0.0656, 1.65724, -0.09889 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33688, -0.02564, 1.05799 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9845, 0.07862, 0.1568 ], [ 0.08571, -0.99556, -0.03892 ], [ 0.15304, 0.05176, -0.98686 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.812555873766541, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.85, "pitch": -0.8 }, "note": "Wrist camera only sees the tabletop; lowering and tilting to look forward to find the open drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.01415, -0.79616, -0.04062, -2.29484, -0.0656, 1.65724, -0.09889 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33688, -0.02564, 1.05799 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9845, 0.07862, 0.1568 ], [ 0.08571, -0.99556, -0.03892 ], [ 0.15304, 0.05176, -0.98686 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.403217799961567, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.9, "pitch": -0.5 }, "note": "Previous pose unreachable; try smaller tilt and less drop to look forward at the drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ 0.01415, -0.79616, -0.04062, -2.29484, -0.0656, 1.65724, -0.09889 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33688, -0.02564, 1.05799 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9845, 0.07862, 0.1568 ], [ 0.08571, -0.99556, -0.03892 ], [ 0.15304, 0.05176, -0.98686 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 3.60349156614393, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Pitch negative unreachable; try positive pitch to tilt camera toward the drawer front." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.01734, -0.37779, -0.03839, -1.91009, -0.06265, 1.19563, -0.12195 ], "gripper_open": 0.9984, "tcp_xyz": [ 0.33678, -0.02552, 1.0582 ], "tcp_roll_pitch_yaw": [ 0.00026, 0.49559, 0.00053 ], "tcp_rotation_matrix": [ [ 0.93879, 0.09418, -0.33136 ], [ 0.08617, -0.99552, -0.03884 ], [ -0.33353, 0.00791, -0.9427 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 54 }, "api_seconds": 6.607268466614187, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 1.15, "pitch": -0.7 }, "note": "Positive pitch looked back at the robot; move up and back with negative pitch to view forward over the table edge." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.00375, -1.52274, -0.04424, -2.63073, -0.07415, 1.96225, -0.09014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25027, -0.02553, 1.14971 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.69578, 0.00052 ], "tcp_rotation_matrix": [ [ 0.6575, 0.02785, 0.75294 ], [ 0.086, -0.99556, -0.03827 ], [ 0.74853, 0.08992, -0.65697 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 53 }, "api_seconds": 12.410887495614588, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.95, "pitch": -0.9 }, "note": "Forward view shows a dark drawer-like structure with a knob; lower the camera to see the drawer front better." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ 0.00375, -1.52274, -0.04424, -2.63073, -0.07415, 1.96225, -0.09014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25027, -0.02553, 1.14971 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.69578, 0.00052 ], "tcp_rotation_matrix": [ [ 0.6575, 0.02785, 0.75294 ], [ 0.086, -0.99556, -0.03827 ], [ 0.74853, 0.08992, -0.65697 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 52 }, "api_seconds": 6.806136201135814, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.92, "pitch": -0.6 }, "note": "Low pose near base unreachable; try a further-forward low pose to look at the drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ 0.00375, -1.52274, -0.04424, -2.63073, -0.07415, 1.96225, -0.09014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25027, -0.02553, 1.14971 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.69578, 0.00052 ], "tcp_rotation_matrix": [ [ 0.6575, 0.02785, 0.75294 ], [ 0.086, -0.99556, -0.03827 ], [ 0.74853, 0.08992, -0.65697 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 51 }, "api_seconds": 4.40445421077311, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.34, "z": 0.98, "pitch": 0.0 }, "note": "Testing whether lower z is reachable at neutral pitch to understand the workspace/table height." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ 0.01572, -0.83826, -0.0495, -2.51939, -0.07486, 1.84234, -0.08934 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33961, -0.02553, 0.98067 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.00283, 0.00052 ], "tcp_rotation_matrix": [ [ 0.98401, 0.079, 0.15961 ], [ 0.08618, -0.99553, -0.03857 ], [ 0.15585, 0.05171, -0.98643 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 50 }, "api_seconds": 7.606407736428082, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Tabletop appears just below; descending further to find the table surface height." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ 0.01078, -0.83776, -0.05768, -2.72162, -0.08592, 2.04471, -0.08146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33957, -0.02553, 0.90117 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.00255, 0.00052 ], "tcp_rotation_matrix": [ [ 0.98406, 0.07901, 0.15934 ], [ 0.08618, -0.99553, -0.03857 ], [ 0.15558, 0.05169, -0.98647 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 49 }, "api_seconds": 3.803436099551618, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Still above the granite surface; continue descending to find the table height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ 7e-05, -0.72638, -0.06895, -2.92264, -0.10694, 2.35651, -0.06882 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3395, -0.02553, 0.80118 ], "tcp_roll_pitch_yaw": [ 0.00026, -0.0022, 0.00052 ], "tcp_rotation_matrix": [ [ 0.98411, 0.07903, 0.15898 ], [ 0.08618, -0.99553, -0.03858 ], [ 0.15523, 0.05167, -0.98653 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 48 }, "api_seconds": 8.006599134765565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "yaw": -1.0, "pitch": -0.5 }, "note": "The granite seems to be the floor, with a dark structure at right of the wrist view; yaw right and tilt to look at it." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ -0.3401, -1.06795, 0.54087, -2.76469, -0.11827, 2.09666, 0.9885 ], "gripper_open": 0.994, "tcp_xyz": [ 0.33926, -0.02574, 0.94901 ], "tcp_roll_pitch_yaw": [ -0.00219, -0.49754, -0.99531 ], "tcp_rotation_matrix": [ [ 0.50332, -0.81151, 0.29684 ], [ -0.61776, -0.57813, -0.53305 ], [ 0.60419, 0.08492, -0.7923 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 47 }, "api_seconds": 14.81178084667772, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1, "yaw": -1.0, "pitch": -0.9 }, "note": "Dark structure at right of wrist view; raise and tilt more forward to get an overview of the table and drawer." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ -0.44269, -1.23262, 0.60466, -2.60685, -0.32258, 2.07516, 0.98666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33929, -0.02573, 1.09904 ], "tcp_roll_pitch_yaw": [ -0.00204, -0.89739, -1.00001 ], "tcp_rotation_matrix": [ [ 0.33955, -0.83388, 0.43515 ], [ -0.36963, -0.54371, -0.75349 ], [ 0.86492, 0.09501, -0.49284 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 46 }, "api_seconds": 9.80804340261966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.2 }, "note": "Dark box with knob visible at right of wrist view; shift right (-y) to bring it into center view." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the table.", "joint_positions": [ -0.61504, -1.1323, 0.24992, -2.73919, -0.53944, 2.4549, 0.81055 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33927, -0.1987, 1.09898 ], "tcp_roll_pitch_yaw": [ -0.002, -0.89718, -1.00021 ], "tcp_rotation_matrix": [ [ 0.33957, -0.83396, 0.43498 ], [ -0.36985, -0.54359, -0.75347 ], [ 0.86481, 0.09498, -0.49303 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 45 }, "api_seconds": 13.013819419778883, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0, "yaw": 1.0, "pitch": -0.9 }, "note": "Exterior suggests the table/drawer is to the robot's left (+y) and the drawer protrudes toward -x; yaw left to look at it." } } } ] } } ] }, "execution": { "steps": 45, "motion_seconds": 2.97, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "close the table.", "joint_positions": [ 0.77627, -1.58616, -0.75195, -2.62458, -0.27595, 2.1028, -0.70101 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33931, -0.00042, 1.09898 ], "tcp_roll_pitch_yaw": [ -0.0017, -0.89999, 0.99534 ], "tcp_rotation_matrix": [ [ 0.19575, 0.83896, 0.50777 ], [ 0.45972, -0.53588, 0.70816 ], [ 0.86622, 0.09481, -0.49059 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 44 }, "api_seconds": 13.811008269898593, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.2, "z": 0.95, "pitch": 0.0, "yaw": 0.0, "gripper": 0.0 }, "note": "Drawer front is very close facing -x; reposition behind it with fingers pointing down and closed to push in +x." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "close the table.", "joint_positions": [ 0.4981, -1.02566, 0.28385, -2.64459, 0.11464, 1.7405, 0.56145 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20047, 0.19937, 0.95043 ], "tcp_roll_pitch_yaw": [ -0.00041, -0.00248, 0.00308 ], "tcp_rotation_matrix": [ [ 0.98384, 0.08156, 0.15937 ], [ 0.0888, -0.99529, -0.03883 ], [ 0.15545, 0.05236, -0.98646 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 43 }, "api_seconds": 10.008901569992304, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Drawer appears ahead in wrist view; push forward in +x with closed gripper to close it." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 047 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 47, "source_episode_index": 567, "house_index": 322, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 13, "api_calls": 13, "wall_seconds": 150.60518717765808, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 13552, "cache_read_input_tokens": 87936, "output_tokens": 6302 }, "estimated_cost_usd": 0.506764 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXRaSwwx2ZuVbxH8KjV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KuYiQPTWwa7oMt69RwQAoa", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 1.05 }, "note": "Initial view: a wooden table with what appears to be a drawer pulled out toward the robot. Moving slightly forward/up to get a clearer wrist view of the drawer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1777, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 469, "output_tokens_details": { "thinking_tokens": 330 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXSYRRnQ6Kvobfp6Npu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HS4X4dC4jybBb6DN9fNPjj", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.0, "pitch": -1.0 }, "note": "Wrist cam looks straight down, only shows wood top. Pitching the gripper to look forward-down and backing up to see the drawer front face and estimate its position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 959, "cache_read_input_tokens": 1777, "cache_creation": { "ephemeral_5m_input_tokens": 959, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1072, "output_tokens_details": { "thinking_tokens": 927 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXTu89xfMKt3jTq7hAM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019UiPh2uyV8TTunGXRpQ45J", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.0, "pitch": -0.6 }, "note": "Full -1.0 pitch was unreachable; trying a gentler forward tilt to get a view of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1560, "cache_read_input_tokens": 2736, "cache_creation": { "ephemeral_5m_input_tokens": 1560, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 143, "output_tokens_details": { "thinking_tokens": 14 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXUnDxDkjsoudkmsxu6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WUTAXdQmJ5qdJgTpf7wEPZ", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 0.85, "pitch": -0.3 }, "note": "Drawer face is visible ahead and below, slightly right. Lowering the gripper behind the face (x=0.3) to mid-drawer height to prepare a push in +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 4296, "cache_creation": { "ephemeral_5m_input_tokens": 631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 949, "output_tokens_details": { "thinking_tokens": 800 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXW3qq5ezJk7yU95vKq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ld6K5dwAm2zdmt3K67GbFC", "name": "move_to", "input": { "targets": { "y": -0.12, "z": 0.78 }, "note": "Drawer appears to the right and below in wrist view; shifting right (-y) and lower to center on the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1442, "cache_read_input_tokens": 4927, "cache_creation": { "ephemeral_5m_input_tokens": 1442, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 374, "output_tokens_details": { "thinking_tokens": 254 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXWp5NFJ5iZpcbMiPiK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ft9LBVH9oH5k45sb1bXZzA", "name": "move_to", "input": { "targets": { "y": 0.15, "z": 0.8 }, "note": "Moving -y pushed the drawer further right in wrist view, so image-right is +y; the drawer is to the robot's left. Moving to y=+0.15 to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 6369, "cache_creation": { "ephemeral_5m_input_tokens": 863, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 267, "output_tokens_details": { "thinking_tokens": 129 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXXGCknb9XzEpa7xa3D", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JScoTsQhSAFE97v47fa7TV", "name": "move_to", "input": { "targets": { "y": 0.05, "z": 0.82 }, "note": "Big jump failed IK; moving in a smaller step toward +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 756, "cache_read_input_tokens": 7232, "cache_creation": { "ephemeral_5m_input_tokens": 756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 104, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXXaMeV6VfcxQxLNc3N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YcBczb9AV1QEcWvBhJDeby", "name": "move_to", "input": { "targets": { "x": 0.36, "y": 0.0, "z": 0.85, "pitch": 0.0 }, "note": "Arm is folded near joint limits at this close, low pose. Moving slightly forward and back to a vertical gripper to regain reachability before shifting left." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 593, "cache_read_input_tokens": 7988, "cache_creation": { "ephemeral_5m_input_tokens": 593, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 245, "output_tokens_details": { "thinking_tokens": 95 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXY5QPXuhQeLMuTiM4z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EiC4qmeornL8qNbAej73Zg", "name": "move_to", "input": { "targets": { "y": 0.15, "z": 0.95 }, "note": "Drawer top visible to the +y side. Moving left and up to look down on the drawer and locate its front edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 8581, "cache_creation": { "ephemeral_5m_input_tokens": 734, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 441, "output_tokens_details": { "thinking_tokens": 323 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXYufnGx4xPiJbD98ca", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013v9oGLV1joviDUP1nE4CS6", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 0.95, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper collided with the drawer's corner (roll deflected, opening dropped). Backing off toward the robot to reset orientation before approaching the drawer face from the -x side." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 931, "cache_read_input_tokens": 9315, "cache_creation": { "ephemeral_5m_input_tokens": 931, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1051, "output_tokens_details": { "thinking_tokens": 874 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXaGL1yEge34NfeG8Gr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QxJjgixBXdsBqT5coywT9e", "name": "move_to", "input": { "targets": { "y": 0.12 }, "note": "Testing whether the drawer extends to x=0.25: moving left toward +y at this x; if blocked, the drawer front is closer than 0.25." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1539, "cache_read_input_tokens": 10246, "cache_creation": { "ephemeral_5m_input_tokens": 1539, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 409, "output_tokens_details": { "thinking_tokens": 286 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXbFjahfu1imvK4EEj1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M81Ww8Rartt32w8B9BatGJ", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "No collision; drawer corner visible at lower right of wrist view. Moving further +y to get in front of the drawer face center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 899, "cache_read_input_tokens": 11785, "cache_creation": { "ephemeral_5m_input_tokens": 899, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 373, "output_tokens_details": { "thinking_tokens": 259 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXc4599MYW79grBNBxU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cdxf6TuaqEyqdszQWzNWcx", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Drawer top fills the lower half of the wrist view (forward +x). Lowering to the drawer's face height at x=0.25, which should be clear of the face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 868, "cache_read_input_tokens": 12684, "cache_creation": { "ephemeral_5m_input_tokens": 868, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 405, "output_tokens_details": { "thinking_tokens": 279 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the table.", "joint_positions": [ 0.02072, -0.78324, -0.05312, -2.32963, 0.05382, 1.49884, -0.05222 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29302, 0.00537, 1.02174 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99824, 0.03657, -0.04673 ], [ 0.04074, -0.99494, 0.09179 ], [ -0.04314, -0.09353, -0.99468 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.810723696835339, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 1.05 }, "note": "Initial view: a wooden table with what appears to be a drawer pulled out toward the robot. Moving slightly forward/up to get a clearer wrist view of the drawer." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the table.", "joint_positions": [ 0.03434, -0.44371, -0.06098, -2.01825, 0.06485, 1.52646, -0.05758 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39875, 0.00537, 1.04962 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00015, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99823, 0.03656, -0.04688 ], [ 0.04075, -0.99494, 0.09179 ], [ -0.04329, -0.09354, -0.99467 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 56 }, "api_seconds": 18.21437907218933, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.0, "pitch": -1.0 }, "note": "Wrist cam looks straight down, only shows wood top. Pitching the gripper to look forward-down and backing up to see the drawer front face and estimate its position." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the table.", "joint_positions": [ 0.03434, -0.44371, -0.06098, -2.01825, 0.06485, 1.52646, -0.05758 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39875, 0.00537, 1.04962 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00015, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99823, 0.03656, -0.04688 ], [ 0.04075, -0.99494, 0.09179 ], [ -0.04329, -0.09354, -0.99467 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 55 }, "api_seconds": 11.609111650846899, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.0, "pitch": -0.6 }, "note": "Full -1.0 pitch was unreachable; trying a gentler forward tilt to get a view of the drawer face." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the table.", "joint_positions": [ 0.01649, -1.12725, -0.05032, -2.7697, 0.06849, 2.18838, -0.10877 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35025, 0.00538, 1.00033 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.59562, 4e-05 ], "tcp_rotation_matrix": [ [ 0.85054, 0.0828, 0.51935 ], [ 0.04078, -0.99494, 0.09183 ], [ 0.52432, -0.05693, -0.84961 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 54 }, "api_seconds": 16.81354067288339, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.85, "pitch": -0.3 }, "note": "Drawer face is visible ahead and below, slightly right. Lowering the gripper behind the face (x=0.3) to mid-drawer height to prepare a push in +x." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the table.", "joint_positions": [ 0.00197, -1.07887, -0.05814, -2.99635, 0.05897, 2.16877, -0.11182 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3003, 0.00538, 0.85086 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.30167, 5e-05 ], "tcp_rotation_matrix": [ [ 0.96597, 0.06276, 0.25091 ], [ 0.04079, -0.99494, 0.09182 ], [ 0.2554, -0.07846, -0.96365 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 53 }, "api_seconds": 10.007840353064239, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.12, "z": 0.78 }, "note": "Drawer appears to the right and below in wrist view; shifting right (-y) and lower to center on the drawer face." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the table.", "joint_positions": [ -0.19499, -0.81682, -0.36912, -3.02776, -0.10373, 2.42972, -0.45907 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3003, -0.11881, 0.78064 ], "tcp_roll_pitch_yaw": [ 0.00018, -0.30155, -0.00011 ], "tcp_rotation_matrix": [ [ 0.96601, 0.06263, 0.2508 ], [ 0.04064, -0.99494, 0.09194 ], [ 0.25529, -0.07862, -0.96366 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 52 }, "api_seconds": 6.0052345441654325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "z": 0.8 }, "note": "Moving -y pushed the drawer further right in wrist view, so image-right is +y; the drawer is to the robot's left. Moving to y=+0.15 to center it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "close the table.", "joint_positions": [ -0.19499, -0.81682, -0.36912, -3.02776, -0.10373, 2.42972, -0.45907 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3003, -0.11881, 0.78064 ], "tcp_roll_pitch_yaw": [ 0.00018, -0.30155, -0.00011 ], "tcp_rotation_matrix": [ [ 0.96601, 0.06263, 0.2508 ], [ 0.04064, -0.99494, 0.09194 ], [ 0.25529, -0.07862, -0.96366 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 51 }, "api_seconds": 4.203767953440547, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 0.82 }, "note": "Big jump failed IK; moving in a smaller step toward +y." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "close the table.", "joint_positions": [ -0.19499, -0.81682, -0.36912, -3.02776, -0.10373, 2.42972, -0.45907 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3003, -0.11881, 0.78064 ], "tcp_roll_pitch_yaw": [ 0.00018, -0.30155, -0.00011 ], "tcp_rotation_matrix": [ [ 0.96601, 0.06263, 0.2508 ], [ 0.04064, -0.99494, 0.09194 ], [ 0.25529, -0.07862, -0.96366 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 50 }, "api_seconds": 6.4055665247142315, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.0, "z": 0.85, "pitch": 0.0 }, "note": "Arm is folded near joint limits at this close, low pose. Moving slightly forward and back to a vertical gripper to regain reachability before shifting left." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the table.", "joint_positions": [ 0.03088, -0.54383, -0.08159, -2.61242, 0.05343, 2.02126, -0.10128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35967, -0.00079, 0.84957 ], "tcp_roll_pitch_yaw": [ 0.00013, -0.00214, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99833, 0.03678, -0.0446 ], [ 0.04076, -0.99493, 0.09192 ], [ -0.04099, -0.09358, -0.99477 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 49 }, "api_seconds": 10.809041460044682, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "z": 0.95 }, "note": "Drawer top visible to the +y side. Moving left and up to look down on the drawer and locate its front edge." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the table.", "joint_positions": [ 0.1557, -0.52206, 0.12967, -2.37185, -0.33116, 1.67209, 0.20072 ], "gripper_open": 0.8092, "tcp_xyz": [ 0.35849, 0.01559, 0.94525 ], "tcp_roll_pitch_yaw": [ -0.51107, 0.05252, 0.08805 ], "tcp_rotation_matrix": [ [ 0.98872, 0.13789, -0.05846 ], [ 0.10178, -0.90494, -0.41319 ], [ -0.10988, 0.40258, -0.90876 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 48 }, "api_seconds": 18.014273297041655, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 0.95, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Gripper collided with the drawer's corner (roll deflected, opening dropped). Backing off toward the robot to reset orientation before approaching the drawer face from the -x side." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the table.", "joint_positions": [ 0.15284, -0.9797, -0.16007, -2.61037, -0.04366, 1.5914, 0.02903 ], "gripper_open": 0.9707, "tcp_xyz": [ 0.25025, -0.00044, 0.94862 ], "tcp_roll_pitch_yaw": [ -0.0061, 0.004, 0.00052 ], "tcp_rotation_matrix": [ [ 0.99804, 0.03673, -0.05076 ], [ 0.041, -0.99548, 0.08569 ], [ -0.04738, -0.08761, -0.99503 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 47 }, "api_seconds": 13.010994677431881, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Testing whether the drawer extends to x=0.25: moving left toward +y at this x; if blocked, the drawer front is closer than 0.25." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the table.", "joint_positions": [ 0.2623, -0.90952, 0.06346, -2.59028, 0.14755, 1.65743, 0.24708 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.25026, 0.11869, 0.94861 ], "tcp_roll_pitch_yaw": [ -0.00623, 0.00403, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99803, 0.03684, -0.05079 ], [ 0.0411, -0.99549, 0.08556 ], [ -0.04741, -0.08748, -0.99504 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 46 }, "api_seconds": 10.4112788727507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "No collision; drawer corner visible at lower right of wrist view. Moving further +y to get in front of the drawer face center." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "close the table.", "joint_positions": [ 0.33943, -0.70907, 0.28954, -2.45694, 0.29209, 1.76316, 0.4658 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25025, 0.2487, 0.9486 ], "tcp_roll_pitch_yaw": [ -0.00632, 0.00403, 0.00075 ], "tcp_rotation_matrix": [ [ 0.99802, 0.03696, -0.0508 ], [ 0.04122, -0.99549, 0.08546 ], [ -0.04742, -0.08739, -0.99505 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 45 }, "api_seconds": 8.60709227528423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Drawer top fills the lower half of the wrist view (forward +x). Lowering to the drawer's face height at x=0.25, which should be clear of the face." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 048 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 48, "source_episode_index": 869, "house_index": 423, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 6, "api_calls": 8, "wall_seconds": 101.77869176864624, "usage": { "input_tokens": 18, "cache_creation_input_tokens": 8889, "cache_read_input_tokens": 29292, "output_tokens": 5147 }, "estimated_cost_usd": 0.3759655 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXUh7cP3WHAXpLPYdir", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AGLW1D3SrbZTGY2NdYAgzp", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Scene is dark; moving forward and down to get a better view of the drawer with the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1781, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 289, "output_tokens_details": { "thinking_tokens": 175 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXVBCZJm2GnZrEUWoJS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016VKvHZXUF7CVnTHwoCS6M2", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 785, "cache_read_input_tokens": 1781, "cache_creation": { "ephemeral_5m_input_tokens": 785, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 77, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXVT1aXJ4vwPKNQXZM8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Jhxy8ma4khQaupaXoYS29r", "name": "move_to", "input": { "targets": { "z": 1.12 }, "note": "Motion seemed obstructed; gripper appears to be right above the dark drawer body. Lifting up first to clear it and get a view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 515, "cache_read_input_tokens": 2566, "cache_creation": { "ephemeral_5m_input_tokens": 515, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 286, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXVwy7442VctmcF6rhd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014VjNbP9HT4yyRGgthT2VfL", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Now above the drawer body. Moving forward to inspect where the drawer front/handle is." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 780, "cache_read_input_tokens": 3081, "cache_creation": { "ephemeral_5m_input_tokens": 780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 440, "output_tokens_details": { "thinking_tokens": 336 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXWf1R4AwPze9ZQMSLU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hx2hgq4x864esviFCjBStN", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 939, "cache_read_input_tokens": 3861, "cache_creation": { "ephemeral_5m_input_tokens": 939, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 243, "output_tokens_details": { "thinking_tokens": 219 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXX8cbD1jNkyHG9VRLu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019d45NCWJgsR8y63YsBNpsP", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Arm went to an awkward pitched pose near reach limits. Resetting orientation to look straight down from above the drawer to re-inspect it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 681, "cache_read_input_tokens": 4800, "cache_creation": { "ephemeral_5m_input_tokens": 681, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1748, "output_tokens_details": { "thinking_tokens": 1596 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXZMzKCBKGHsx9nPgKe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RHGqf4XrDDh3ETV3YKiQ4Z", "name": "move_to", "input": { "targets": { "x": 0.22, "z": 0.9 }, "note": "Drawer appears in front and below. Lowering behind the presumed drawer front to inspect at face height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2241, "cache_read_input_tokens": 5481, "cache_creation": { "ephemeral_5m_input_tokens": 2241, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 670, "output_tokens_details": { "thinking_tokens": 554 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXaSwkJjcsRbJTzZ8yx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MPkvie32sc6LcwzrgEMnPc", "name": "move_to", "input": { "targets": { "x": 0.2, "z": 1.08, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Controller drifted to a tilted pose above the drawer. The drawer front seems to be at x~0.3 near the robot. Retreating to x=0.2 above it with a level orientation before descending in front of the drawer face." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1167, "cache_read_input_tokens": 7722, "cache_creation": { "ephemeral_5m_input_tokens": 1167, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1394, "output_tokens_details": { "thinking_tokens": 1217 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.01804, -0.77723, 0.02899, -2.36569, -0.0066, 1.47585, 0.11883 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28061, 0.00076, 1.00156 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98696, -0.11507, -0.11252 ], [ -0.1188, -0.99255, -0.02707 ], [ -0.10857, 0.04008, -0.99328 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.2063032276928425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Scene is dark; moving forward and down to get a better view of the drawer with the wrist camera." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02352, -0.6571, 0.03927, -2.33816, -0.0123, 1.50304, 0.13479 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3033, 0.00061, 0.97986 ], "tcp_roll_pitch_yaw": [ -0.01237, 0.06491, -0.01208 ], "tcp_rotation_matrix": [ [ 0.97642, -0.1234, -0.17714 ], [ -0.13194, -0.99056, -0.03721 ], [ -0.17088, 0.05971, -0.98348 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 10.208792146295309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.12 }, "note": "Motion seemed obstructed; gripper appears to be right above the dark drawer body. Lifting up first to clear it and get a view." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02749, -0.54343, 0.03962, -1.89572, -0.01636, 1.15971, 0.12701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3005, 0.00158, 1.11588 ], "tcp_roll_pitch_yaw": [ -0.01143, 0.07959, -0.01095 ], "tcp_rotation_matrix": [ [ 0.97395, -0.12146, -0.19151 ], [ -0.1307, -0.99076, -0.03632 ], [ -0.18533, 0.06041, -0.98082 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 55 }, "api_seconds": 9.208241300657392, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Now above the drawer body. Moving forward to inspect where the drawer front/handle is." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.02937, -0.23816, 0.05196, -1.41031, -0.01451, 0.53057, 0.14633 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24121, 0.00561, 1.20203 ], "tcp_roll_pitch_yaw": [ -0.02338, 0.52762, -0.03428 ], "tcp_rotation_matrix": [ [ 0.79487, -0.10149, -0.59823 ], [ -0.14864, -0.98844, -0.0298 ], [ -0.58829, 0.11261, -0.80077 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 54 }, "api_seconds": 36.430679648183286, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Arm went to an awkward pitched pose near reach limits. Resetting orientation to look straight down from above the drawer to re-inspect it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.01652, -0.7653, 0.03407, -2.09042, -0.003, 1.20794, 0.12353 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24977, 0.00562, 1.10088 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00457, -0.00022 ], "tcp_rotation_matrix": [ [ 0.98643, -0.1151, -0.11706 ], [ -0.11903, -0.99252, -0.02718 ], [ -0.11305, 0.04075, -0.99275 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 53 }, "api_seconds": 14.212294393219054, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.9 }, "note": "Drawer appears in front and below. Lowering behind the presumed drawer front to inspect at face height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the drawer.", "joint_positions": [ -0.00976, -1.03872, 0.03517, -2.67422, -0.19218, 2.22361, 0.1313 ], "gripper_open": 0.9951, "tcp_xyz": [ 0.37639, -0.02293, 1.03625 ], "tcp_roll_pitch_yaw": [ -0.24815, -0.67989, 0.18319 ], "tcp_rotation_matrix": [ [ 0.82752, -0.08922, 0.55431 ], [ 0.00907, -0.98504, -0.1721 ], [ 0.56137, 0.14745, -0.81433 ] ], "simulated_seconds_remaining": 23.166, "calls_remaining_including_this": 52 }, "api_seconds": 24.020172633230686, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 1.08, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Controller drifted to a tilted pose above the drawer. The drawer front seems to be at x~0.3 near the robot. Retreating to x=0.2 above it with a level orientation before descending in front of the drawer face." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } ======================================================================== Fable 5.1 / Close / Episode 049 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 49, "source_episode_index": 487, "house_index": 318, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 12, "api_calls": 13, "wall_seconds": 179.51448559761047, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 16399, "cache_read_input_tokens": 92623, "output_tokens": 9023 }, "estimated_cost_usd": 0.67957325 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's closing task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to close it. Complete the closing task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. MODEL RESPONSES { "api_call": 1, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXdoAWSz71fb2a6KPvj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B3iij7FveEHbcB5Jf3k9Cm", "name": "observe", "input": {}, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 4, "cache_creation_input_tokens": 1779, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 337, "output_tokens_details": { "thinking_tokens": 313 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXeoPg2q26oZqUZsdL3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WDthz4fE5rU2ZzBLSVXRqQ", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 0.85 }, "note": "Drawer appears open beneath/behind gripper, desk top ahead. Lowering and moving back to inspect drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 771, "cache_read_input_tokens": 1779, "cache_creation": { "ephemeral_5m_input_tokens": 771, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 594, "output_tokens_details": { "thinking_tokens": 470 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXfbW5zK1191X9ZTRvF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FdX4aXtbpNx8kuDzeTRcd8", "name": "move_to", "input": { "targets": { "x": 0.15, "z": 0.8 }, "note": "Drawer front seems behind/left of gripper; moving back to see it better in the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1084, "cache_read_input_tokens": 2550, "cache_creation": { "ephemeral_5m_input_tokens": 1084, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 667, "output_tokens_details": { "thinking_tokens": 553 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXgZK972d7PvLF6RbzX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011JA6U4VZF9LLreMsKL5AWp", "name": "move_to", "input": { "targets": { "pitch": 0.6, "z": 0.9 }, "note": "Can't move further back; tilting camera to look backward/down toward the suspected drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1157, "cache_read_input_tokens": 3634, "cache_creation": { "ephemeral_5m_input_tokens": 1157, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 338, "output_tokens_details": { "thinking_tokens": 224 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXhCPaZX3qj8zyKCgBP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NVALEYGvqfiUP2UHLZJMCb", "name": "move_to", "input": { "targets": { "pitch": 0.0, "roll": 0.6, "z": 0.9, "x": 0.3 }, "note": "Exterior view suggests drawer pulled out toward +y. Tilting camera to look toward +y to find drawer front." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 4791, "cache_creation": { "ephemeral_5m_input_tokens": 830, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 846, "output_tokens_details": { "thinking_tokens": 705 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXiLaEMxw93A9vWvsvL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H3Cp8Qo7mAJ4arWmTmxW96", "name": "move_to", "input": { "targets": { "roll": 0.0, "x": 0.4, "y": 0.25, "z": 0.95 }, "note": "Drawer seems to extend toward +y. Moving above suspected drawer at +y with camera looking down to locate it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1341, "cache_read_input_tokens": 5621, "cache_creation": { "ephemeral_5m_input_tokens": 1341, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 669, "output_tokens_details": { "thinking_tokens": 531 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXjG5tNtjNDrRMhUwVM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013baxqHBmCfLQoDN9NhkQLC", "name": "move_to", "input": { "targets": { "y": 0.4 }, "note": "Testing camera orientation: shifting further +y to see how the drawer frame moves in the wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1164, "cache_read_input_tokens": 6962, "cache_creation": { "ephemeral_5m_input_tokens": 1164, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 773, "output_tokens_details": { "thinking_tokens": 665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXkKoA26on7EY3eUHWv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AmYW7BNQnFpTEghJh7s2KR", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Wrist view ambiguous; lowering slowly to get closer to drawer and check for contact/visibility." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1262, "cache_read_input_tokens": 8126, "cache_creation": { "ephemeral_5m_input_tokens": 1262, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 389, "output_tokens_details": { "thinking_tokens": 279 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXkya2PBXB1bewPvcLg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KkkQLRKK7t85pEYcS8KgkF", "name": "move_to", "input": { "targets": { "y": 0.3 }, "note": "Frame at image right likely the drawer at -y side; moving -y slightly to confirm and approach." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 879, "cache_read_input_tokens": 9388, "cache_creation": { "ephemeral_5m_input_tokens": 879, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 528, "output_tokens_details": { "thinking_tokens": 421 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXmmFdGSXAjoYQkE4Bx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LTX7pPTBDaq7HrdJkrjCpg", "name": "move_to", "input": { "targets": { "z": 0.72, "y": 0.27 }, "note": "Drawer frame is at -y/-x of gripper. Lowering near drawer to see its walls and determine push direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1018, "cache_read_input_tokens": 10267, "cache_creation": { "ephemeral_5m_input_tokens": 1018, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1182, "output_tokens_details": { "thinking_tokens": 1061 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXoHULzKtVmq4EahXL9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DhAxK6H5oVsZc6ys3FbSNw", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.15, "z": 0.97 }, "note": "Re-interpreted: exterior camera is behind robot; drawer opens toward -x with front near x~0.2, y~0.05-0.3. Moving above the drawer cavity to view it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1676, "cache_read_input_tokens": 11285, "cache_creation": { "ephemeral_5m_input_tokens": 1676, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1808, "output_tokens_details": { "thinking_tokens": 1655 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXqhkuC1Xj4myxXEsfU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R134ZDXgrHV2CQ1vdq5aBy", "name": "move_to", "input": { "targets": { "x": 0.32, "y": 0.12, "z": 0.8 }, "note": "Drawer body is behind (-x) the gripper. Lowering fingers just behind the drawer front into the cavity to push it closed toward +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2298, "cache_read_input_tokens": 12961, "cache_creation": { "ephemeral_5m_input_tokens": 2298, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 650, "output_tokens_details": { "thinking_tokens": 512 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-fable-5-1", "id": "msg_011CezXraRPqAnDKxd2B6QP9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XXykKM7FXWHYfFyA5p281y", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Fingers lowered at drawer height; pushing forward (+x) to slide the drawer closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1140, "cache_read_input_tokens": 15259, "cache_creation": { "ephemeral_5m_input_tokens": 1140, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "close the desk.", "joint_positions": [ -0.0012, -0.74355, 0.03737, -2.39683, 0.11228, 1.63751, -0.06712 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31942, 0.03899, 0.98941 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99631, 0.08396, -0.01787 ], [ 0.08519, -0.99263, 0.08619 ], [ -0.01051, -0.0874, -0.99612 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 24.41968785971403, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 0.85 }, "note": "Drawer appears open beneath/behind gripper, desk top ahead. Lowering and moving back to inspect drawer front." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "close the desk.", "joint_positions": [ 0.01435, -1.00814, 0.05316, -2.88572, 0.13773, 1.86113, -0.08306 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25056, 0.039, 0.85117 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00017, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99631, 0.08396, -0.01804 ], [ 0.08521, -0.99263, 0.08617 ], [ -0.01067, -0.08739, -0.99612 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 13.010861160233617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 0.8 }, "note": "Drawer front seems behind/left of gripper; moving back to see it better in the wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "close the desk.", "joint_positions": [ 0.01435, -1.00814, 0.05316, -2.88572, 0.13773, 1.86113, -0.08306 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25056, 0.039, 0.85117 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00017, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99631, 0.08396, -0.01804 ], [ 0.08521, -0.99263, 0.08617 ], [ -0.01067, -0.08739, -0.99612 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 55 }, "api_seconds": 8.206331016495824, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.6, "z": 0.9 }, "note": "Can't move further back; tilting camera to look backward/down toward the suspected drawer front." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "close the desk.", "joint_positions": [ -0.00719, -0.44477, 0.0241, -2.3782, 0.1116, 1.35833, -0.04161 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25828, 0.03431, 0.90819 ], "tcp_roll_pitch_yaw": [ -0.00277, 0.5603, -0.01633 ], "tcp_rotation_matrix": [ [ 0.83954, 0.00992, -0.54321 ], [ 0.07146, -0.99316, 0.09232 ], [ -0.53858, -0.11632, -0.83451 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 54 }, "api_seconds": 15.01259717065841, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.0, "roll": 0.6, "z": 0.9, "x": 0.3 }, "note": "Exterior view suggests drawer pulled out toward +y. Tilting camera to look toward +y to find drawer front." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "close the desk.", "joint_positions": [ -0.05258, -0.73219, -0.29252, -2.69026, 0.46927, 1.75521, -0.46802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29975, 0.03429, 0.90001 ], "tcp_roll_pitch_yaw": [ 0.59701, 0.00307, -0.0155 ], "tcp_rotation_matrix": [ [ 0.99749, 0.07005, -0.01047 ], [ 0.06091, -0.77297, 0.63151 ], [ 0.03615, -0.63056, -0.7753 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 53 }, "api_seconds": 12.210399716161191, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.0, "x": 0.4, "y": 0.25, "z": 0.95 }, "note": "Drawer seems to extend toward +y. Moving above suspected drawer at +y with camera looking down to locate it." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "close the desk.", "joint_positions": [ 0.05324, -0.33368, 0.40489, -2.16015, 0.22831, 1.8647, 0.30472 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39954, 0.24917, 0.94978 ], "tcp_roll_pitch_yaw": [ 0.00247, 0.00319, -0.01513 ], "tcp_rotation_matrix": [ [ 0.99745, 0.06864, -0.0197 ], [ 0.07013, -0.99356, 0.08896 ], [ -0.01347, -0.09012, -0.99584 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 14.211504480801523, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4 }, "note": "Testing camera orientation: shifting further +y to see how the drawer frame moves in the wrist image." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "close the desk.", "joint_positions": [ 0.13186, -0.03983, 0.60951, -1.87769, 0.10722, 1.889, 0.64037 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39949, 0.39874, 0.94975 ], "tcp_roll_pitch_yaw": [ 0.00244, 0.00324, -0.0149 ], "tcp_rotation_matrix": [ [ 0.99743, 0.06888, -0.01978 ], [ 0.07037, -0.99355, 0.08893 ], [ -0.01353, -0.09009, -0.99584 ] ], "simulated_seconds_remaining": 22.968, "calls_remaining_including_this": 51 }, "api_seconds": 8.408421970903873, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Wrist view ambiguous; lowering slowly to get closer to drawer and check for contact/visibility." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "close the desk.", "joint_positions": [ 0.1492, 0.09555, 0.61878, -2.13335, 0.02932, 2.25814, 0.67667 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39944, 0.39867, 0.80119 ], "tcp_roll_pitch_yaw": [ 0.00226, 0.00353, -0.01493 ], "tcp_rotation_matrix": [ [ 0.99743, 0.06881, -0.02007 ], [ 0.07033, -0.99357, 0.08875 ], [ -0.01383, -0.08993, -0.99585 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 50 }, "api_seconds": 10.408438657410443, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Frame at image right likely the drawer at -y side; moving -y slightly to confirm and approach." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "close the desk.", "joint_positions": [ 0.07069, -0.11015, 0.5388, -2.34005, 0.18473, 2.27043, 0.41994 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39905, 0.30152, 0.80085 ], "tcp_roll_pitch_yaw": [ 0.00182, 0.00434, -0.01424 ], "tcp_rotation_matrix": [ [ 0.99737, 0.06943, -0.02095 ], [ 0.07102, -0.99356, 0.08831 ], [ -0.01468, -0.08957, -0.99587 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 49 }, "api_seconds": 20.416155407205224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72, "y": 0.27 }, "note": "Drawer frame is at -y/-x of gripper. Lowering near drawer to see its walls and determine push direction." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "close the desk.", "joint_positions": [ 0.04707, 0.00042, 0.52257, -2.46763, 0.14204, 2.49291, 0.38713 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.399, 0.27041, 0.72115 ], "tcp_roll_pitch_yaw": [ 0.0017, 0.00466, -0.01435 ], "tcp_rotation_matrix": [ [ 0.99737, 0.06929, -0.02126 ], [ 0.07091, -0.99358, 0.0882 ], [ -0.01501, -0.08947, -0.99588 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 48 }, "api_seconds": 32.23293279949576, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.15, "z": 0.97 }, "note": "Re-interpreted: exterior camera is behind robot; drawer opens toward -x with front near x~0.2, y~0.05-0.3. Moving above the drawer cavity to view it." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "close the desk.", "joint_positions": [ 0.01713, -0.59812, 0.25802, -2.33636, 0.23888, 1.74861, 0.11853 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35031, 0.15058, 0.9689 ], "tcp_roll_pitch_yaw": [ 0.00178, 0.00436, -0.01441 ], "tcp_rotation_matrix": [ [ 0.99738, 0.06925, -0.02095 ], [ 0.07084, -0.99357, 0.08828 ], [ -0.0147, -0.08953, -0.99588 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 47 }, "api_seconds": 11.410817959345877, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32, "y": 0.12, "z": 0.8 }, "note": "Drawer body is behind (-x) the gripper. Lowering fingers just behind the drawer front into the cavity to push it closed toward +x." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "close the desk.", "joint_positions": [ 0.03764, -0.60749, 0.27453, -2.78168, 0.30029, 2.17308, 0.02154 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32017, 0.12022, 0.80122 ], "tcp_roll_pitch_yaw": [ 0.00174, 0.00468, -0.01442 ], "tcp_rotation_matrix": [ [ 0.99737, 0.06922, -0.02127 ], [ 0.07084, -0.99358, 0.08825 ], [ -0.01502, -0.08952, -0.99587 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 46 }, "api_seconds": 6.405724557116628, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Fingers lowered at drawer height; pushing forward (+x) to slide the drawer closed." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } }