- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5-1
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 322.4 s
- total steps
- 139
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
done
Operator judgements
partial
Grader notes
trial 03
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 7
Raw transcript
step 11
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step 18
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step 26
Raw transcript
step 30
Raw transcript
step 38
Raw transcript
step 47
Raw transcript
step 55
Raw transcript
step 73
Raw transcript
step 80
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step 83
Raw transcript
step 85
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step 94
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step 102
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step 108
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step 117
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step 120
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step 138
Raw transcript
Trial 0 Wire
Tools (trial initial)
[
{
"function": {
"description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
"name": "move_to",
"parameters": {
"properties": {
"note": {
"description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
"type": "string"
},
"targets": {
"description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
"type": "object"
}
},
"required": [
"targets",
"note"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Declare the task finished. The trial ends; a scorer judges success.",
"name": "done",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"summary": {
"type": "string"
}
},
"required": [
"summary",
"hindsight"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Stop trying; the task cannot be completed. The trial ends.",
"name": "give_up",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"reason": {
"type": "string"
}
},
"required": [
"reason",
"hindsight"
],
"type": "object"
}
},
"type": "function"
}
]call 0 attempt 0 · /chat/completions · status 200 · 19.72 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7933, 0.6044, -0.379, -0.0216, -0.0402, 0.999, -0.0151, 0.7918, 0.6102, -0.3748, -0.0235, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1806 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.999 right_x=0.296 right_y=0.0033 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.4017, 10.4, 1.8046, -0.0513, 0.2076, -0.1148, -0.841, -1.2239, 9.8393, 1.7216, -0.0366, -0.0415, -0.1148]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:300f0ff269c8d6e87c724317097f4ee3e8b7f530cfe3941bb000a74853cbce7b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cced4b80d9399f3ce199edceef5a64b9c907af7d2e0112dccf3c57d17235870e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:30e624745502afd84f9b72ca2b54b504f5d1a1900b437e56dd9fb3b2a71d431d"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 10.45 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece with its wooden knob roughly straight ahead and below the gripper, with the board off to the left. Moving the right arm forward and down toward the piece to get a closer look and refine its position.\"}",
"name": "move_to"
},
"id": "toolu_01G6d9iqyvdeyP7LZgr7238D",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01G6d9iqyvdeyP7LZgr7238D"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6048, -0.3813, -0.0216, -0.0414, 0.9989, -0.02, 1.3075, 0.5129, 0.1352, -0.0311, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1788 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3609 right_y=0.0019 right_z=0.0832 right_yaw=0.002 right_pitch=-0.1029 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.7314, -0.022, -0.0366, -0.022, -0.6359, -5.1624, 6.7624, 1.8632, -0.0611, -0.0806, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10a7d1488f5b0005bdef79bd1fb922b13301a273ce6ad5c543f9b6863c5f2ba4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6b220f912419fca82b675e0b0ca28ae4eff2a86fe1edeb3e016850315481ee82"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8e2fdc5f0596ea5f6d83272739a50b2b21f9d42deb740685cc3ab221586eb97f"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 11.77 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7933, 0.6044, -0.379, -0.0216, -0.0402, 0.999, -0.0151, 0.7918, 0.6102, -0.3748, -0.0235, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1806 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.999 right_x=0.296 right_y=0.0033 right_z=0.1845 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.4017, 10.4, 1.8046, -0.0513, 0.2076, -0.1148, -0.841, -1.2239, 9.8393, 1.7216, -0.0366, -0.0415, -0.1148]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.0, \"right_z\": 0.04, \"right_gripper\": 1.0}, \"note\": \"The piece is now larger and centered slightly ahead of the gripper in the right wrist view. Moving further forward and lower so the open jaws come down around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01C7oYTWjRxZrD8UzgmaVGPL",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01C7oYTWjRxZrD8UzgmaVGPL"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, -0.02, 1.6344, 0.5552, 0.3153, -0.0315, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0004 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3836 right_y=0.0015 right_z=0.0173 right_yaw=0.0025 right_pitch=-0.2074 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3333, 7.1043, 1.7021, -0.0415, -0.0464, -0.0073, -0.6085, -7.3504, 8.2393, 2.1026, -0.0757, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:67616eaccb9cd1454365036acd137feaa0746e7ae31a2989ea3363ebd3a6e2ba"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a74fa20d12f7ff17d6ace22450819419d1523dfc6e771a6455613bac591e2ed3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:39d69f7ebe2a1679febff43846bb7c0271a5627930da923329ddbb7b9aeba36b"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 11.15 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6048, -0.3813, -0.0216, -0.0414, 0.9989, -0.02, 1.3075, 0.5129, 0.1352, -0.0311, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1788 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3609 right_y=0.0019 right_z=0.0832 right_yaw=0.002 right_pitch=-0.1029 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.7314, -0.022, -0.0366, -0.022, -0.6359, -5.1624, 6.7624, 1.8632, -0.0611, -0.0806, -0.1099]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": 0.02, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is centered between the jaws in the wrist camera but appears a little ahead of the fingertips, and the arm sagged with a backward pitch. Correcting pitch to level and nudging forward so the jaws straddle the knob at grasp height.\"}",
"name": "move_to"
},
"id": "toolu_012GtoPeteXosoqAemz9yK4k",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_012GtoPeteXosoqAemz9yK4k"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8032, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.02, 1.6638, 0.5758, 0.374, -0.0353, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.0004 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9989 right_x=0.398 right_y=0.0018 right_z=0.0244 right_yaw=0.0058 right_pitch=-0.1574 right_roll=0.0097 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.3333, 7.0632, 1.6972, -0.0269, -0.0366, -0.0073, -0.5812, -7.3504, 7.0496, 1.8632, -0.0611, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d710a5a0249fd87a2b9d48754c3ede045cc146031308533fc4215f8bd23d0470"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:98069b6d735cd408e01b40391dfea71f38aafc27105a5651080dcfabc3be3789"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bb9c0209943ce2a82e5c61cfb98912f2d42fd912d1f98f7878a2577db9485291"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 9.757 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, -0.02, 1.6344, 0.5552, 0.3153, -0.0315, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0004 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3836 right_y=0.0015 right_z=0.0173 right_yaw=0.0025 right_pitch=-0.2074 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3333, 7.1043, 1.7021, -0.0415, -0.0464, -0.0073, -0.6085, -7.3504, 8.2393, 2.1026, -0.0757, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.01, \"right_gripper\": 0.2}, \"note\": \"The knob now sits centered between the two jaws in the right wrist view. Lowering slightly and closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Jz5rWv4vetfBaVhRbALAqD",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01Jz5rWv4vetfBaVhRbALAqD"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, -0.0204, 1.7164, 0.5663, 0.4122, -0.0368, -0.0227, 0.2044]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3958 right_y=0.002 right_z=0.0083 right_yaw=0.0105 right_pitch=-0.1813 right_roll=0.0062 right_gripper=0.2044\nstate[joint_eff]: [-0.212, -1.5932, 7.0632, 1.7265, -0.0415, -0.0806, -0.0122, -0.7453, -5.6957, 4.6838, 1.9365, -0.0464, 0.0073, 0.1929]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:898d86fb9e965b17f3e01eb6c5b65e0cca933b145f94774eac9b7e439bbbf484"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ca3c42fc5ef8d18a51d458f0736d2588b0bd877ba60f38ea4b25c63481956fb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3f0704c8676dbcc94b9954d79909ad635eea7782cda0190aa833366f9ee993c3"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 11.46 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8032, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.02, 1.6638, 0.5758, 0.374, -0.0353, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.0004 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9989 right_x=0.398 right_y=0.0018 right_z=0.0244 right_yaw=0.0058 right_pitch=-0.1574 right_roll=0.0097 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.3333, 7.0632, 1.6972, -0.0269, -0.0366, -0.0073, -0.5812, -7.3504, 7.0496, 1.8632, -0.0611, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.06, \"right_gripper\": 0.2}, \"note\": \"The gripper has closed to ~0.2 with the knob appearing right at the fingertips in the wrist view. Lifting a few centimeters to test whether the piece is actually held.\"}",
"name": "move_to"
},
"id": "toolu_01WdvTnr54hbF1eoxUg7bPQy",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01WdvTnr54hbF1eoxUg7bPQy"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, -0.0204, 1.586, 0.6388, 0.2096, -0.0395, -0.0311, 0.2014]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0006 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.999 right_x=0.3985 right_y=0.0024 right_z=0.0464 right_yaw=0.0173 right_pitch=-0.1807 right_roll=0.0017 right_gripper=0.2014\nstate[joint_eff]: [-0.1162, -1.1556, 7.0769, 1.7558, -0.0757, -0.0513, -0.0122, -0.9368, -7.747, 7.5829, 1.5409, -0.0317, 0.0171, 0.1245]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c7061e4f94fa815ab61dc9e724343a15c2ffc92d95f9be4580c0b86c609c5e43"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9dfe7665c7d3ab51ed2dbf2bb63450329b37103ed36432a2484a01270c6b5e2c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:03e707eb2bd6d7f9ac34871c677dfb031f84c7966560e6e994f5fdf79c90f559"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 9.496 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, -0.0204, 1.7164, 0.5663, 0.4122, -0.0368, -0.0227, 0.2044]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3958 right_y=0.002 right_z=0.0083 right_yaw=0.0105 right_pitch=-0.1813 right_roll=0.0062 right_gripper=0.2044\nstate[joint_eff]: [-0.212, -1.5932, 7.0632, 1.7265, -0.0415, -0.0806, -0.0122, -0.7453, -5.6957, 4.6838, 1.9365, -0.0464, 0.0073, 0.1929]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.0, \"right_z\": 0.03, \"right_gripper\": 1.0}, \"note\": \"The grasp missed: the wrist camera shows the piece still on the table with the knob ahead of the closed fingertips. Opening the gripper and moving about 4 cm further forward to position the jaws over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01VHGDKWgoHPo8JtKUZvxWen",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01VHGDKWgoHPo8JtKUZvxWen"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, -0.0204, 1.7679, 0.749, 0.2283, -0.0463, -0.0414, 0.9951]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4249 right_y=0.0031 right_z=0.0186 right_yaw=0.0293 right_pitch=-0.2334 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.4974, 7.1043, 1.7118, -0.0806, -0.0464, -0.0171, -0.7726, -7.1453, 7.5829, 1.9023, -0.0464, 0.0171, -0.2271]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9b54b520150f49a13adebfbc17e51c44f91d695ae410041632504c972ed1e9be"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:38b1f1c6b011ebe713053597cc9d35881bdc22888eb2317a7d933e47b739c532"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bbb50433e07d36af84d9372bb3f3a61686b4002d35d4c793967298bb33affd81"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 7.185 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, -0.0204, 1.586, 0.6388, 0.2096, -0.0395, -0.0311, 0.2014]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0006 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.999 right_x=0.3985 right_y=0.0024 right_z=0.0464 right_yaw=0.0173 right_pitch=-0.1807 right_roll=0.0017 right_gripper=0.2014\nstate[joint_eff]: [-0.1162, -1.1556, 7.0769, 1.7558, -0.0757, -0.0513, -0.0122, -0.9368, -7.747, 7.5829, 1.5409, -0.0317, 0.0171, 0.1245]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.0, \"right_z\": 0.0, \"right_gripper\": 0.15}, \"note\": \"The knob now appears between the two jaws in the right wrist camera. Lowering to table level and closing the gripper to grab the knob.\"}",
"name": "move_to"
},
"id": "toolu_01CCNDsbVMJ15TESH13fVRqw",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01CCNDsbVMJ15TESH13fVRqw"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.0204, 1.8351, 0.7555, 0.3111, -0.0505, -0.0586, 0.2068]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4349 right_y=0.0036 right_z=0.0079 right_yaw=0.042 right_pitch=-0.211 right_roll=-0.0095 right_gripper=0.2068\nstate[joint_eff]: [-0.1573, -1.347, 7.1863, 1.7314, -0.0659, -0.0513, -0.0073, -0.9231, -5.9282, 6.612, 1.3748, -0.0806, 0.0269, 1.3065]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7832c49311c0f4501e72efe961c1ff9c43c077a0aef4ce75c2b1bb1f2bee1983"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:83a7dcc0eb1576f2a72d087930c46bcc32a07af7d6d9b7fca6b9b84db95ddd47"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:17bea24171e9bd6ec490986bf569bce6fc7cac79184118da3601a7cbf7a34d10"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 26.51 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, -0.0204, 1.7679, 0.749, 0.2283, -0.0463, -0.0414, 0.9951]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4249 right_y=0.0031 right_z=0.0186 right_yaw=0.0293 right_pitch=-0.2334 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.4974, 7.1043, 1.7118, -0.0806, -0.0464, -0.0171, -0.7726, -7.1453, 7.5829, 1.9023, -0.0464, 0.0171, -0.2271]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 0.15}, \"note\": \"The jaws now clamp the wooden knob in the wrist view and the gripper effort rose to ~1.3, indicating a solid grasp. Lifting the piece well clear of the table.\"}",
"name": "move_to"
},
"id": "toolu_0176vkTnenApz7kCz5cUGSro",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_0176vkTnenApz7kCz5cUGSro"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.0204, 1.6108, 0.9463, -0.1291, -0.0574, -0.065, 0.1561]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4335 right_y=0.0049 right_z=0.0964 right_yaw=0.0519 right_pitch=-0.2357 right_roll=-0.0076 right_gripper=0.1561\nstate[joint_eff]: [-0.1846, -1.2923, 7.0632, 1.707, -0.0513, -0.0366, -0.0073, -1.1009, -9.7846, 9.0598, 1.5897, -0.0317, -0.0708, 0.6129]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:95b58329e78fb943031d3fd856cd80ae62b0aa030ce703c0dad0ddf4b42fef9c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:54eccaa3b96cd6b3e35e0022c35d5514e317bfd85f6862d8ad0237af99969213"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e49001155b49c1f7f722cc80a5702949612dd68119965d5c66387538219c7e95"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 17.91 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.0204, 1.8351, 0.7555, 0.3111, -0.0505, -0.0586, 0.2068]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4349 right_y=0.0036 right_z=0.0079 right_yaw=0.042 right_pitch=-0.211 right_roll=-0.0095 right_gripper=0.2068\nstate[joint_eff]: [-0.1573, -1.347, 7.1863, 1.7314, -0.0659, -0.0513, -0.0073, -0.9231, -5.9282, 6.612, 1.3748, -0.0806, 0.0269, 1.3065]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.22, \"right_z\": 0.12, \"right_gripper\": 0.15}, \"note\": \"The piece is lifted and held in the right gripper; in the top camera the board with the circular groove sits about 25 cm to the left (+y) of the right gripper at a similar forward distance. Traversing sideways toward the board while staying high.\"}",
"name": "move_to"
},
"id": "toolu_01AFCiT9HDWGEWeAdug2abpA",
"type": "function"
}
]
}{
"content": "executing move_to over 18 steps (1.8s)",
"role": "tool",
"tool_call_id": "toolu_01AFCiT9HDWGEWeAdug2abpA"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, 0.5831, 1.8023, 1.2594, -0.3401, 0.3241, 0.3473, 0.1548]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4232 right_y=0.216 right_z=0.1104 right_yaw=0.0954 right_pitch=-0.2655 right_roll=-0.0188 right_gripper=0.1548\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7167, -0.0269, -0.0415, -0.0073, 0.3624, -8.7043, 8.7179, 1.3651, 0.4274, 0.2173, 0.4811]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4730af26b3075b10192d8fdcf0617ef1fd51d60dc726d4f777b0fe7aa5216f5e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ef7a62ad3b2bba205ac7c701b14740c09f37957a4cfed27d32ab55286c7932d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4d6c466b47d82346cd83b1bc905fc5fcf13a097c7bb973a0c1ae70ff16bca891"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 8.622 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, -0.0204, 1.6108, 0.9463, -0.1291, -0.0574, -0.065, 0.1561]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4335 right_y=0.0049 right_z=0.0964 right_yaw=0.0519 right_pitch=-0.2357 right_roll=-0.0076 right_gripper=0.1561\nstate[joint_eff]: [-0.1846, -1.2923, 7.0632, 1.707, -0.0513, -0.0366, -0.0073, -1.1009, -9.7846, 9.0598, 1.5897, -0.0317, -0.0708, 0.6129]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.3, \"right_z\": 0.07, \"right_gripper\": 0.15}, \"note\": \"The right wrist camera now shows the board's circular groove to the lower-left of the held piece, roughly 9 cm left and a few cm forward. Shifting left and forward while descending partway to align the piece over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01XP7NcM64MU7eD4Kz65oi2e",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01XP7NcM64MU7eD4Kz65oi2e"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3813, -0.0216, -0.0418, 0.9989, 0.6891, 2.1227, 1.5482, -0.3653, 0.3649, 0.408, 0.1548]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0225 left_roll=-0.0005 left_gripper=0.9989 right_x=0.451 right_y=0.2946 right_z=0.0643 right_yaw=0.1267 right_pitch=-0.2983 right_roll=-0.0353 right_gripper=0.1548\nstate[joint_eff]: [-0.253, -1.5658, 7.0359, 1.7265, -0.0269, -0.0415, -0.0073, 0.335, -11.3983, 7.9248, 1.2674, 0.3883, 0.188, 0.4811]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:41d833eb15c6b793b257d0a0e290dea3a8ca78f4a2c0b1689abfe74f1f493737"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e3abe9b045d70f087b0c1c49904ab7da58bfb1c10c2e0679cfb42452104cabd3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:86bf1583af5ff30c8e6473aedc92e5c7bac753768465eec49498c81a11c86ca6"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 8.265 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, 0.5831, 1.8023, 1.2594, -0.3401, 0.3241, 0.3473, 0.1548]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4232 right_y=0.216 right_z=0.1104 right_yaw=0.0954 right_pitch=-0.2655 right_roll=-0.0188 right_gripper=0.1548\nstate[joint_eff]: [-0.2803, -1.3197, 7.0769, 1.7167, -0.0269, -0.0415, -0.0073, 0.3624, -8.7043, 8.7179, 1.3651, 0.4274, 0.2173, 0.4811]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.465, \"right_y\": 0.315, \"right_z\": 0.03, \"right_gripper\": 0.15}, \"note\": \"The wrist camera shows the board directly under the held piece, with the groove edge visible slightly to the left of the piece. Shifting ~2 cm left and a bit forward while lowering to just above the board.\"}",
"name": "move_to"
},
"id": "toolu_01Byh8xJZecrZ6zU7J39HDpB",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01Byh8xJZecrZ6zU7J39HDpB"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.6983, 2.2215, 1.599, -0.3401, 0.363, 0.4145, 0.1548]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3072 right_z=0.035 right_yaw=0.1299 right_pitch=-0.3184 right_roll=-0.0424 right_gripper=0.1548\nstate[joint_eff]: [-0.3077, -1.4154, 7.4051, 1.7265, -0.0366, -0.0366, -0.0122, 0.5128, -11.7128, 8.7453, 1.2918, 0.2271, -0.0073, 0.4811]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f65e9d4fcca3764e2b89ab56c79db406c4e3e0d957babc3417cef6dbaab58fc9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:73e86983b90c3b48cf975c2349b5db7d1027295e6537fecd91d4a2f91c8486b2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dec608ef556e95ba8b75f7c563016715aee3f89760172a90ff6bf815086ff6d7"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 8.973 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3813, -0.0216, -0.0418, 0.9989, 0.6891, 2.1227, 1.5482, -0.3653, 0.3649, 0.408, 0.1548]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1746 left_yaw=0.0006 left_pitch=-0.0225 left_roll=-0.0005 left_gripper=0.9989 right_x=0.451 right_y=0.2946 right_z=0.0643 right_yaw=0.1267 right_pitch=-0.2983 right_roll=-0.0353 right_gripper=0.1548\nstate[joint_eff]: [-0.253, -1.5658, 7.0359, 1.7265, -0.0269, -0.0415, -0.0073, 0.335, -11.3983, 7.9248, 1.2674, 0.3883, 0.188, 0.4811]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.462, \"right_y\": 0.312, \"right_z\": 0.018, \"right_gripper\": 0.15}, \"note\": \"The piece is now hovering directly over the board, which fills the bottom of the wrist view beneath it. Lowering the piece onto the board surface so it can seat into the groove.\"}",
"name": "move_to"
},
"id": "toolu_01V6bZAL6snZgyDsuojuaYfE",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01V6bZAL6snZgyDsuojuaYfE"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.701, 2.2536, 1.6047, -0.3294, 0.363, 0.4122, 0.154]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3091 right_z=0.0216 right_yaw=0.131 right_pitch=-0.3316 right_roll=-0.0528 right_gripper=0.154\nstate[joint_eff]: [-0.3077, -1.388, 7.0359, 1.7509, -0.0855, -0.0757, -0.0073, 0.2256, -12.3966, 8.0889, 1.4383, 0.1978, 0.022, 0.398]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de0b6d44ca9df25c31916f1a4967b86be8027700edb0c2dda31850cf7b1a35d9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a43ed86f150fcd6022a0b9fbb790256e36480799c42c2801334381e9b0f8538c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:07f1a4f2df183939d9c3c05f68b47c01b9cd6aae12ed81e9802d22221e780b9d"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 7.802 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.6983, 2.2215, 1.599, -0.3401, 0.363, 0.4145, 0.1548]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3072 right_z=0.035 right_yaw=0.1299 right_pitch=-0.3184 right_roll=-0.0424 right_gripper=0.1548\nstate[joint_eff]: [-0.3077, -1.4154, 7.4051, 1.7265, -0.0366, -0.0366, -0.0122, 0.5128, -11.7128, 8.7453, 1.2918, 0.2271, -0.0073, 0.4811]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.462, \"right_y\": 0.312, \"right_z\": 0.012, \"right_gripper\": 1.0}, \"note\": \"The piece is resting on the board surface (z barely decreased and shoulder effort rose, indicating contact). Opening the gripper to release the piece while pressing gently down so it settles into the groove.\"}",
"name": "move_to"
},
"id": "toolu_0154TvaQKEfTUfoaCgi6yKuG",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_0154TvaQKEfTUfoaCgi6yKuG"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.701, 2.2536, 1.6047, -0.3294, 0.363, 0.4122, 0.9951]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3091 right_z=0.0216 right_yaw=0.131 right_pitch=-0.3316 right_roll=-0.0528 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -1.3744, 7.0769, 1.6874, -0.0757, -0.0659, -0.0073, 0.1709, -12.3966, 8.1436, 1.3895, 0.232, 0.0171, -0.2466]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9e3c5c75cf7aa460dd06048e8ba6ae6af78a2c8f0240c9f011577656366b243c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5e794d2534e043405f104fe91f09e5e9239d6aa30bf74b95fbe3e8e19b7f0be3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e01d0409029b663832740b072b4802d51f6ac1337d0cc61f63e9f85c75c813f9"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 22.6 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.701, 2.2536, 1.6047, -0.3294, 0.363, 0.4122, 0.154]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3091 right_z=0.0216 right_yaw=0.131 right_pitch=-0.3316 right_roll=-0.0528 right_gripper=0.154\nstate[joint_eff]: [-0.3077, -1.388, 7.0359, 1.7509, -0.0855, -0.0757, -0.0073, 0.2256, -12.3966, 8.0889, 1.4383, 0.1978, 0.022, 0.398]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.3, \"right_z\": 0.14, \"right_gripper\": 1.0}, \"note\": \"The gripper is open and the blue piece sits on the board below it. Lifting the arm up and slightly back to get a clear view of whether the piece is seated in the circular groove.\"}",
"name": "move_to"
},
"id": "toolu_01DTW6YbH3SKiZb1hEi9Bnrv",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01DTW6YbH3SKiZb1hEi9Bnrv"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.7029, 2.1174, 1.7576, -0.6525, 0.3626, 0.4118, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4443 right_y=0.299 right_z=0.1081 right_yaw=0.1268 right_pitch=-0.3603 right_roll=-0.0724 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -1.3607, 7.1043, 1.7265, -0.0513, -0.0659, -0.0122, 0.5128, -15.0496, 8.9504, 1.2381, 0.2076, 0.0464, -0.1832]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3e0a3a96d507114e5fb30d4f336fdc4cf4dbf81e1ea90ced841734dee207a71f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8b91bd39c4f05055b210bec5b414af97bda6b5278e7dca2c495540936a9ce6d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:30110e57163c41e459d6d03afc3f12bbb0e2b1c4744a78e3e189e71c8cc55f47"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 9.935 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.701, 2.2536, 1.6047, -0.3294, 0.363, 0.4122, 0.9951]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.458 right_y=0.3091 right_z=0.0216 right_yaw=0.131 right_pitch=-0.3316 right_roll=-0.0528 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -1.3744, 7.0769, 1.6874, -0.0757, -0.0659, -0.0073, 0.1709, -12.3966, 8.1436, 1.3895, 0.232, 0.0171, -0.2466]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.458, \"right_y\": 0.309, \"right_z\": 0.02, \"right_gripper\": 1.0}, \"note\": \"The piece is on the board but the top camera suggests it is offset toward the robot and not fully seated in the groove. Descending with open jaws back around the knob to re-grasp and nudge it forward.\"}",
"name": "move_to"
},
"id": "toolu_018aL93S5rqgkYy3z7xrAZC5",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_018aL93S5rqgkYy3z7xrAZC5"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.7017, 2.2585, 1.6539, -0.4591, 0.3588, 0.4107, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4483 right_y=0.3024 right_z=0.0204 right_yaw=0.118 right_pitch=-0.4052 right_roll=-0.1006 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.2239, 7.0769, 1.6923, -0.0659, -0.0659, -0.0073, -0.1983, -12.2872, 5.9145, 1.3455, 0.188, -0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d7565fd8202c3ec2eb3933228c76134e910ebfa885dfc3357345cbc3afba9eca"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:01a92da84085b65e4b4e664b380e7f98ee34b1495769062bee8ea04390409f70"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d9843532fd219f582dfdee7e4a3f3f9d58d4901faecca7d2e491483b712c2ec"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 10.88 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.7029, 2.1174, 1.7576, -0.6525, 0.3626, 0.4118, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4443 right_y=0.299 right_z=0.1081 right_yaw=0.1268 right_pitch=-0.3603 right_roll=-0.0724 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -1.3607, 7.1043, 1.7265, -0.0513, -0.0659, -0.0122, 0.5128, -15.0496, 8.9504, 1.2381, 0.2076, 0.0464, -0.1832]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.448, \"right_y\": 0.302, \"right_z\": 0.01, \"right_gripper\": 0.15}, \"note\": \"The wrist view shows the blue piece sitting toward the near edge of the board, so it needs to shift forward into the groove. Lowering slightly and closing on the knob to re-grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01XJzPGpJ6m5HUqkkPZ6Ef4e",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01XJzPGpJ6m5HUqkkPZ6Ef4e"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8139, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, 0.7017, 2.2681, 1.6417, -0.4335, 0.3588, 0.4084, 0.1549]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1743 left_yaw=0.0004 left_pitch=-0.0233 left_roll=-0.0002 left_gripper=0.9989 right_x=0.4488 right_y=0.3029 right_z=0.0141 right_yaw=0.1202 right_pitch=-0.4021 right_roll=-0.0997 right_gripper=0.1549\nstate[joint_eff]: [-0.1709, -1.2786, 7.4188, 1.7314, -0.0904, -0.0366, -0.0122, -0.0615, -12.506, 5.8598, 1.2332, 0.1978, 0.0073, 0.2076]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 117):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1934ca0b3aa0e460d223562ddc9576adf720ad5a80efd47ba6d2579035d3a818"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 117):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1dc5df5d496c3a1d979b209526fc48b0c2b0ad64308f9483caaf1a63bb751e4c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 117):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6c49bc27f4efc5d784783581f5c82a36a6d214abe0fa17686d536acf4bdbf13d"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 9.135 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.7017, 2.2585, 1.6539, -0.4591, 0.3588, 0.4107, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0006 left_pitch=-0.0229 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4483 right_y=0.3024 right_z=0.0204 right_yaw=0.118 right_pitch=-0.4052 right_roll=-0.1006 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.2239, 7.0769, 1.6923, -0.0659, -0.0659, -0.0073, -0.1983, -12.2872, 5.9145, 1.3455, 0.188, -0.0317, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.478, \"right_y\": 0.305, \"right_z\": 0.035, \"right_gripper\": 0.15}, \"note\": \"The gripper has closed to the same width as the earlier knob grasp, so the piece is likely held; the wrist view shows the groove lies forward of the piece's current spot. Lifting slightly and moving ~3 cm forward to center the piece over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01BbcW9btk574WAEAyPEP945",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01BbcW9btk574WAEAyPEP945"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8192, 0.6037, -0.3813, -0.0212, -0.0418, 0.9989, 0.6804, 2.3177, 1.7924, -0.5171, 0.3397, 0.3843, 0.1512]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1726 left_yaw=0.0003 left_pitch=-0.0294 left_roll=-0.0006 left_gripper=0.9989 right_x=0.4706 right_y=0.3097 right_z=0.0306 right_yaw=0.1319 right_pitch=-0.3971 right_roll=-0.0894 right_gripper=0.1512\nstate[joint_eff]: [-0.3487, -1.812, 7.0632, 1.707, -0.0464, -0.0171, -0.0073, -0.9641, -12.2462, 8.0889, 0.9402, 0.232, -0.0611, 0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a4fcb57ee1b7ca54835829e193d4365bc8e9dedfc43b9d407e57e134014e2cf5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6e20ebe3cea2fd9d8c036db432db73ba62d0c3bcf7c7d942239b61bae7e94a86"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 120):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5124aa5a2c76bb03fbd1f0917b7d9c0ebd1de2458b819217424294276119cc6a"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 8.551 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8139, 0.6041, -0.3809, -0.0216, -0.0414, 0.9989, 0.7017, 2.2681, 1.6417, -0.4335, 0.3588, 0.4084, 0.1549]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1743 left_yaw=0.0004 left_pitch=-0.0233 left_roll=-0.0002 left_gripper=0.9989 right_x=0.4488 right_y=0.3029 right_z=0.0141 right_yaw=0.1202 right_pitch=-0.4021 right_roll=-0.0997 right_gripper=0.1549\nstate[joint_eff]: [-0.1709, -1.2786, 7.4188, 1.7314, -0.0904, -0.0366, -0.0122, -0.0615, -12.506, 5.8598, 1.2332, 0.1978, 0.0073, 0.2076]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.472, \"right_y\": 0.31, \"right_z\": 0.01, \"right_gripper\": 1.0}, \"note\": \"The piece is held and now sits over the board's circular groove area in the wrist view. Lowering it onto the board and opening the gripper to drop it into the groove.\"}",
"name": "move_to"
},
"id": "toolu_012fNiEbcbqUg3D2SENzFoQD",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_012fNiEbcbqUg3D2SENzFoQD"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6033, -0.3813, -0.0216, -0.0418, 0.9989, 0.6754, 2.3306, 1.7721, -0.4702, 0.3359, 0.3805, 0.9948]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1722 left_yaw=0.0006 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9989 right_x=0.474 right_y=0.3097 right_z=0.0217 right_yaw=0.1352 right_pitch=-0.3872 right_roll=-0.0811 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -1.1692, 7.0359, 1.6972, -0.022, -0.0611, -0.0073, -0.0752, -11.453, 5.6274, 1.3211, 0.1245, 0.0464, -0.0317]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 129):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:765592cc808112b68974635b31149f691e668ea2b4306c6ee912a21a53c4e16d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 129):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6fcce2283bc90cf80d59a1aa51db810882d95e232379ab5b34475e4c67b80a5c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 129):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b8fd3e7015fdce420b5903d1f1a4f793639d9aca118ffd4a7c9fbe1c04340da4"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 31.39 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 53 changed as sent
message 53 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8192, 0.6037, -0.3813, -0.0212, -0.0418, 0.9989, 0.6804, 2.3177, 1.7924, -0.5171, 0.3397, 0.3843, 0.1512]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1726 left_yaw=0.0003 left_pitch=-0.0294 left_roll=-0.0006 left_gripper=0.9989 right_x=0.4706 right_y=0.3097 right_z=0.0306 right_yaw=0.1319 right_pitch=-0.3971 right_roll=-0.0894 right_gripper=0.1512\nstate[joint_eff]: [-0.3487, -1.812, 7.0632, 1.707, -0.0464, -0.0171, -0.0073, -0.9641, -12.2462, 8.0889, 0.9402, 0.232, -0.0611, 0.1099]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.3, \"right_z\": 0.15, \"right_gripper\": 1.0}, \"note\": \"The gripper has released and the blue piece appears seated within the board's circular recess in the wrist view. Lifting the arm clear to leave the piece in place and check the result.\"}",
"name": "move_to"
},
"id": "toolu_01A6Gb8umypEZVAck8ScqWZw",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01A6Gb8umypEZVAck8ScqWZw"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6033, -0.3809, -0.0216, -0.0418, 0.9989, 0.688, 2.2059, 1.9594, -0.8211, 0.3359, 0.3817, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1723 left_yaw=0.0006 left_pitch=-0.0301 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4542 right_y=0.3026 right_z=0.1156 right_yaw=0.1385 right_pitch=-0.4204 right_roll=-0.1023 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.4017, 7.0632, 1.7021, -0.0659, -0.0366, -0.0073, 0.4171, -16.3761, 8.8274, 1.0183, 0.188, 0.0806, -0.1783]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 138):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2968ce873e329e572bb1f45a527081f3d08638fcace99ce2e7d4eba32e95fe02"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 138):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:816c9998223e8de7b0358a6b62ee124f6bc689d5c6f282c77387cd3474d4ff84"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 138):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:50b25807f35d4e1fe977a9989314b806b8182f7399d98f7f20e594a12f6ce91e"
},
"type": "image_url"
}
],
"role": "user"
}