- 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
- 426.4 s
- total steps
- 110
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
give_up
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 8
Raw transcript
step 12
Raw transcript
step 18
Raw transcript
step 23
Raw transcript
step 28
Raw transcript
step 32
Raw transcript
step 36
Raw transcript
step 40
Raw transcript
step 43
Raw transcript
step 45
Raw transcript
step 47
Raw transcript
step 49
Raw transcript
step 59
Raw transcript
step 69
Raw transcript
step 79
Raw transcript
step 97
Raw transcript
step 101
Raw transcript
step 109
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 · 38.09 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, 0.7925, 0.6044, -0.3786, -0.0216, -0.0406, 0.999, -0.0185, 0.7914, 0.6102, -0.3759, -0.0219, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.002 right_z=0.1844 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -1.4017, 10.3453, 1.8242, -0.0659, 0.1587, -0.1197, -0.7316, -1.1692, 9.8803, 1.7216, -0.0611, -0.0562, -0.1148]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dcf68ed9ae6cae8ddabfa8770b23291302226fa1e60289a107781da967c8f25e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:23f138e9cb7cbd7f1c060c536a1b9c1263915240393036198b9765094e4fd27f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e211a141157652e5c56248754cdb5cb99e64a83f39fd9a29c1c0b07d4955b678"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 9.179 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I'll start by moving the right arm above where I estimate the blue piece to be (slightly to the arm's left, at roughly the same forward distance), keeping the gripper open.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.3, \"right_y\": 0.09, \"right_z\": 0.13, \"right_gripper\": 1.0}, \"note\": \"Top camera shows the blue round piece with a knob about 9 cm to the right arm's left and the board with the circular groove further left toward center. Moving the right gripper over the estimated piece position and lowering a little to get a better view.\"}",
"name": "move_to"
},
"id": "toolu_014Lsq8Q6mUont7o2nEggUWi",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_014Lsq8Q6mUont7o2nEggUWi"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6064, -0.3809, -0.0216, -0.0418, 0.9989, 0.4919, 0.976, 0.4778, -0.1699, 0.3511, 0.2333, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1795 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9989 right_x=0.2926 right_y=0.0919 right_z=0.1203 right_yaw=0.0651 right_pitch=-0.0635 right_roll=-0.0268 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.7162, 6.8991, 1.7167, -0.0611, -0.0611, -0.0171, 0.2393, -2.6598, 6.4889, 1.9707, 0.3541, 0.149, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d5680fa70519c5a1014db94cdd68da411bf11f82258bbe447213ea83fcf34e6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e7a6c15d2579e11459486674d24c2a8040e41caf8a604a416af61d580f317465"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 8):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dea0a24e53b762d95bc41d28ed27bc0110d8a8693ead87cd11c79139c2215866"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 10.09 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, 0.7925, 0.6044, -0.3786, -0.0216, -0.0406, 0.999, -0.0185, 0.7914, 0.6102, -0.3759, -0.0219, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=0.002 right_z=0.1844 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -1.4017, 10.3453, 1.8242, -0.0659, 0.1587, -0.1197, -0.7316, -1.1692, 9.8803, 1.7216, -0.0611, -0.0562, -0.1148]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.315, \"right_y\": 0.092, \"right_z\": 0.06, \"right_gripper\": 1.0}, \"note\": \"Wrist camera shows the blue piece with its knob just ahead of the open gripper fingers. Moving slightly forward and lowering toward the knob to check alignment before the grasp.\"}",
"name": "move_to"
},
"id": "toolu_019TKGnCVddmEUCFA8LmEPvE",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_019TKGnCVddmEUCFA8LmEPvE"
}{
"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, 0.8013, 0.6044, -0.3809, -0.0216, -0.0414, 0.9989, 0.4442, 1.2385, 0.3462, 0.1146, 0.3244, 0.2131, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.178 left_yaw=0.0004 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9989 right_x=0.2969 right_y=0.0829 right_z=0.042 right_yaw=0.0449 right_pitch=-0.1713 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2513, 7.159, 1.6923, -0.0269, -0.0269, -0.0073, -0.8274, -4.9983, 6.694, 2.0977, 0.0952, -0.0366, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6cfc8edb7b4bd1e9df2cdc46806315af487269badaa5e36c9aeb6ddca2ad0db6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5737a5b34013acacaad41759021d4da87105c2453f599ef2058760327881fd4e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 12):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7930234a0f7ac07da5a37d6d99932b3ea92be751494ced54f5d967f973c9bb76"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 9.784 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, 0.799, 0.6064, -0.3809, -0.0216, -0.0418, 0.9989, 0.4919, 0.976, 0.4778, -0.1699, 0.3511, 0.2333, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1795 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9989 right_x=0.2926 right_y=0.0919 right_z=0.1203 right_yaw=0.0651 right_pitch=-0.0635 right_roll=-0.0268 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.7162, 6.8991, 1.7167, -0.0611, -0.0611, -0.0171, 0.2393, -2.6598, 6.4889, 1.9707, 0.3541, 0.149, -0.1099]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.088, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still ahead of the fingers in the wrist view and the tool has pitched back slightly. Moving forward ~3 cm and leveling the tool so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01BmuJGfuArYcDbBtaSERg7d",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01BmuJGfuArYcDbBtaSERg7d"
}{
"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, 0.6044, -0.3805, -0.0212, -0.0414, 0.9989, 0.4446, 1.2655, 0.3195, 0.2173, 0.3134, 0.1982, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3021 right_y=0.0876 right_z=0.0417 right_yaw=0.0652 right_pitch=-0.1294 right_roll=-0.0563 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.3607, 7.0769, 1.7021, -0.0269, -0.0513, -0.0122, -0.6085, -3.8769, 5.5726, 1.5946, 0.1929, 0.0562, -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:940b20911f2de691e29ba35c93f652a397ebf06ac9822101a904dbc003a78fd8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ba84a3854862b6180c1019cefce1be9128b71f5434c6c7f8898eac481ed759f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c31736c46cbeb5a1069813444f2e64e30946c9432a3c92c7b0640bf837136b28"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 11.34 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, 0.8013, 0.6044, -0.3809, -0.0216, -0.0414, 0.9989, 0.4442, 1.2385, 0.3462, 0.1146, 0.3244, 0.2131, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.178 left_yaw=0.0004 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9989 right_x=0.2969 right_y=0.0829 right_z=0.042 right_yaw=0.0449 right_pitch=-0.1713 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.2513, 7.159, 1.6923, -0.0269, -0.0269, -0.0073, -0.8274, -4.9983, 6.694, 2.0977, 0.0952, -0.0366, -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\": 0.36, \"right_y\": 0.09, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm is lagging its x target (reached 0.302 vs 0.33 commanded) and the knob is still ahead of the jaws in the wrist camera. Commanding a further forward target to overcome the sag and bring the knob between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01Lgz86SVYhED5NgQJCg225J",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01Lgz86SVYhED5NgQJCg225J"
}{
"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, 0.8051, 0.6044, -0.3801, -0.0216, -0.0414, 0.9989, 0.4446, 1.2652, 0.3187, 0.2173, 0.3138, 0.1982, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1771 left_yaw=0.0004 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3019 right_y=0.0874 right_z=0.0416 right_yaw=0.0649 right_pitch=-0.1296 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4838, 7.3231, 1.7216, -0.022, -0.0611, -0.0073, -0.4171, -3.8222, 5.6957, 1.5995, 0.2515, 0.0659, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:529253ddad7e0a62bcb2d40ec21eca7b1578ac9cc287aec8a564431f03d5b8c9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5dc8165c630408bdbb3d3c3bd5e694cf113b80b197ce05b0c0cd22ecf884d628"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d1eb0c3d1c1149196d445982c0735eb4d309f4e7c001afeac72d7816c6680116"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 11.15 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, 0.8024, 0.6044, -0.3805, -0.0212, -0.0414, 0.9989, 0.4446, 1.2655, 0.3195, 0.2173, 0.3134, 0.1982, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1777 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3021 right_y=0.0876 right_z=0.0417 right_yaw=0.0652 right_pitch=-0.1294 right_roll=-0.0563 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.3607, 7.0769, 1.7021, -0.0269, -0.0513, -0.0122, -0.6085, -3.8769, 5.5726, 1.5946, 0.1929, 0.0562, -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\": 0.35, \"right_y\": 0.09, \"right_z\": 0.08, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command\\u2014possibly the fingertips are resting on the table and the IK is stalled. Lifting to 8 cm while moving forward so the fingers clear the surface and can travel over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01BJs3KfvzfcsmA7rLhYqhvk",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01BJs3KfvzfcsmA7rLhYqhvk"
}{
"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, 0.6044, -0.3809, -0.0216, -0.0418, 0.9989, 0.3698, 1.3323, 0.3904, 0.2779, 0.2516, 0.1596, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0175 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3319 right_y=0.0854 right_z=0.0572 right_yaw=0.0646 right_pitch=-0.0822 right_roll=-0.0274 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.4291, 7.0632, 1.6972, -0.0708, -0.0757, -0.0122, -0.5538, -3.6444, 8.1983, 1.9463, 0.0317, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:62d24300c5318452be408268d4887e7827d08243f8366fe0e34df7646e6916c2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7de17e5897d28cb81cd1024c66031988091010fea3698ec9643f925a2bdbaa34"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e8c0bb4eb5704f2122ff18669fb3c5cf739518e24e20b53373bcd9d7b65bfcc3"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 9.459 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, 0.8051, 0.6044, -0.3801, -0.0216, -0.0414, 0.9989, 0.4446, 1.2652, 0.3187, 0.2173, 0.3138, 0.1982, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1771 left_yaw=0.0004 left_pitch=-0.0149 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3019 right_y=0.0874 right_z=0.0416 right_yaw=0.0649 right_pitch=-0.1296 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4838, 7.3231, 1.7216, -0.022, -0.0611, -0.0073, -0.4171, -3.8222, 5.6957, 1.5995, 0.2515, 0.0659, -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\": 0.375, \"right_y\": 0.088, \"right_z\": 0.055, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered horizontally in the wrist view but still a few cm ahead of the fingertips. Moving ~4 cm further forward and slightly down so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01WSGuC3eZWEuybgtCYcbfrw",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01WSGuC3eZWEuybgtCYcbfrw"
}{
"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, 0.8085, 0.6041, -0.3809, -0.0212, -0.0414, 0.9989, 0.3225, 1.5345, 0.416, 0.4232, 0.2085, 0.1364, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0195 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3501 right_y=0.0822 right_z=0.0262 right_yaw=0.065 right_pitch=-0.12 right_roll=-0.0284 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, -0.6085, -5.8872, 7.8154, 2.0879, 0.1099, -0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a48cb3c3b227352917baea15714e19597bc68692ba8af04a892b83679e8d9fc2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1a7d87499bfb6477ab7658629111784459d21952b9d2b8c6420fa62d735f0b5f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8cdb6fc7e622553c46db4b6aae23a351e131079664d7c369d7179f9dc620d561"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 7.866 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, 0.6044, -0.3809, -0.0216, -0.0418, 0.9989, 0.3698, 1.3323, 0.3904, 0.2779, 0.2516, 0.1596, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0175 left_roll=-0.0006 left_gripper=0.9989 right_x=0.3319 right_y=0.0854 right_z=0.0572 right_yaw=0.0646 right_pitch=-0.0822 right_roll=-0.0274 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.4291, 7.0632, 1.6972, -0.0708, -0.0757, -0.0122, -0.5538, -3.6444, 8.1983, 1.9463, 0.0317, -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\": 0.086, \"right_z\": 0.05, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still ahead of the fingertips (z sagged to 2.6 cm, x reached 0.35). Pushing another ~5 cm forward while asking for a slightly higher z to compensate for the sag, so the knob ends up between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01GeMMieLvhUxPPgt1znZuJf",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01GeMMieLvhUxPPgt1znZuJf"
}{
"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, 0.8097, 0.6041, -0.3805, -0.0212, -0.0414, 0.9989, 0.3202, 1.5459, 0.4316, 0.487, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1756 left_yaw=0.0001 left_pitch=-0.0202 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0399 right_yaw=0.0782 right_pitch=-0.0555 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.2547, 1.6923, -0.0611, -0.0122, -0.0073, -0.6769, -5.641, 6.7761, 2.0733, 0.0611, 0.022, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bdf6e0ffde80ed8858a8cb58c29c081f9b32d4850055b2f6869ecb227811971e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:11e905d06b2206f07f3add923114d4cfeec372e496909605e9f11a3b567e3daa"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:46b60a899c29c0b750a0bb83d0e93c9a74694d4cffc5a5475f55a8c0327353dd"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 10.49 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, 0.8085, 0.6041, -0.3809, -0.0212, -0.0414, 0.9989, 0.3225, 1.5345, 0.416, 0.4232, 0.2085, 0.1364, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0195 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3501 right_y=0.0822 right_z=0.0262 right_yaw=0.065 right_pitch=-0.12 right_roll=-0.0284 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, -0.6085, -5.8872, 7.8154, 2.0879, 0.1099, -0.0708, -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\": 0.41, \"right_y\": 0.088, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Progress per command is only ~1.5 cm due to clamping; the knob is still just ahead of the fingertips in the wrist view. Continuing forward to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Y3AVWBHezt5hu8hAmRyqHR",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Y3AVWBHezt5hu8hAmRyqHR"
}{
"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, 0.8097, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, 0.3202, 1.5459, 0.4316, 0.4866, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=0.0004 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0398 right_yaw=0.0782 right_pitch=-0.0559 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.347, 7.0632, 1.7363, -0.0806, 0.0024, -0.0122, -0.7453, -5.5179, 6.8855, 2.0635, 0.0855, 0.0122, -0.1148]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3378fa72b5d633a80b9f2708713b51b90eafde84f2ea19429abf492d2c276fe5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fd034b92501e4f612a47a501253e62a025e24b58c13cf83ea290a66df8c166eb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8902fc4905bb6f29d6bb7b1b63c02e09dcbb4806f798414494a9ddb09627300b"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 7.186 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, 0.8097, 0.6041, -0.3805, -0.0212, -0.0414, 0.9989, 0.3202, 1.5459, 0.4316, 0.487, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1756 left_yaw=0.0001 left_pitch=-0.0202 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0399 right_yaw=0.0782 right_pitch=-0.0555 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.2547, 1.6923, -0.0611, -0.0122, -0.0073, -0.6769, -5.641, 6.7761, 2.0733, 0.0611, 0.022, -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\": 0.088, \"right_z\": 0.075, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm stalled again with no motion; earlier it only advanced when I also lifted. Raising to 7.5 cm while moving forward so the IK unsticks and the fingers pass over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01FKbHPNK8gAAipN6uxNPKQ7",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01FKbHPNK8gAAipN6uxNPKQ7"
}{
"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, 0.8097, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.3202, 1.5459, 0.4316, 0.487, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0202 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0399 right_yaw=0.0782 right_pitch=-0.0555 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7753, -0.0464, -0.0708, -0.0122, -0.8, -5.7368, 6.9402, 2.0098, 0.0513, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d2a871e3d3e177cff39177713bd18f018b50eda65e451480151bbe87a60c6d83"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:35f4d57cdcf0d77ac8a899f7724e9b09367d674ef1690c237f765e7ac1ad54c6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94b5035fb37fcf1d29f3f68b8f590c145e37d0587aeff33eae81e4e5d51105d8"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 14.62 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, 0.8097, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, 0.3202, 1.5459, 0.4316, 0.4866, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=0.0004 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0398 right_yaw=0.0782 right_pitch=-0.0559 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.347, 7.0632, 1.7363, -0.0806, 0.0024, -0.0122, -0.7453, -5.5179, 6.8855, 2.0635, 0.0855, 0.0122, -0.1148]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.088, \"right_z\": 0.06}, \"note\": \"The arm hasn't moved for two commands; perhaps the combined pitch/roll targets are making IK stall. Dropping the orientation targets and asking for a small 1.7 cm forward, 2 cm up step to get the arm moving again.\"}",
"name": "move_to"
},
"id": "toolu_018KWqN9KpjQoew1275Hiiuc",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_018KWqN9KpjQoew1275Hiiuc"
}{
"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, 0.8097, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.3153, 1.5459, 0.4709, 0.4164, 0.1886, 0.1165, 0.999]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1755 left_yaw=0.0004 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.999 right_x=0.3662 right_y=0.0884 right_z=0.04 right_yaw=0.086 right_pitch=-0.0876 right_roll=-0.0232 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.1419, 7.2684, 1.6923, -0.0464, -0.0024, -0.0073, -1.1282, -6.8718, 8.2803, 2.083, 0.1929, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:446f690630db22bfc77a2793398316d35b6e08b1087d7f687e46319c4607a86b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8752d4415c725b7f5d26dd10dbdb4cf7861470e99242a845141281586c2618c9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4f6cb69d29abc5b976832af51396e9bc9977a5100ed1e0d85b7d63c16aeca7cd"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 9.398 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, 0.8097, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.3202, 1.5459, 0.4316, 0.487, 0.2005, 0.1226, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0202 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3633 right_y=0.0872 right_z=0.0399 right_yaw=0.0782 right_pitch=-0.0555 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7753, -0.0464, -0.0708, -0.0122, -0.8, -5.7368, 6.9402, 2.0098, 0.0513, 0.0269, -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\": 0.385, \"right_y\": 0.088, \"right_z\": 0.02}, \"note\": \"The knob appears centered between the finger pads in the wrist camera, just slightly ahead. Lowering the grasp point to 2 cm above the table with a small forward nudge so the jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Gts7Zia8bojYPX5D3qdtRb",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Gts7Zia8bojYPX5D3qdtRb"
}{
"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, 0.8093, 0.6041, -0.3813, -0.0212, -0.0418, 0.9989, 0.3046, 1.6329, 0.5152, 0.458, 0.1749, 0.1108, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0206 left_roll=-0.0008 left_gripper=0.9989 right_x=0.3807 right_y=0.0912 right_z=0.0321 right_yaw=0.0899 right_pitch=-0.0906 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0051, 7.1043, 1.6874, -0.0415, -0.0513, -0.0171, -1.2376, -6.0513, 4.9983, 1.4628, 0.1001, -0.0757, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:690e22c4d2eeb91c522e3c7de0d1532ceb8dafc37c1e54cc6463c35aa466db15"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e29cbda87a332ec612b9fb585ef5a595462784d882fdb5a51191c5dce736e976"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:48ee4ded17b433db452686d974d1ccb3c15d1a8aea41c8068fa039186e833909"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 9.499 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, 0.8097, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.3153, 1.5459, 0.4709, 0.4164, 0.1886, 0.1165, 0.999]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1755 left_yaw=0.0004 left_pitch=-0.0206 left_roll=-0.0002 left_gripper=0.999 right_x=0.3662 right_y=0.0884 right_z=0.04 right_yaw=0.086 right_pitch=-0.0876 right_roll=-0.0232 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.1419, 7.2684, 1.6923, -0.0464, -0.0024, -0.0073, -1.1282, -6.8718, 8.2803, 2.083, 0.1929, -0.0464, -0.022]\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\": 0.385, \"right_y\": 0.091, \"right_z\": 0.012}, \"note\": \"The knob now sits between the two finger pads in the wrist view. Lowering another 2 cm so the jaws are around the knob's body before closing.\"}",
"name": "move_to"
},
"id": "toolu_01LJXRSQKK8yDQswArGjAENc",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01LJXRSQKK8yDQswArGjAENc"
}{
"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, -0.3805, -0.0216, -0.0414, 0.9989, 0.2966, 1.7069, 0.5003, 0.5064, 0.1596, 0.0998, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0233 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3765 right_y=0.0895 right_z=0.0086 right_yaw=0.0998 right_pitch=-0.1322 right_roll=-0.0274 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.6068, 7.0496, 1.746, -0.0659, -0.0659, -0.0073, 0.212, -8.4171, 5.5043, 1.6972, 0.1343, 0.0269, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a02fff1e96c0f09e91d2c762784557bbb808e165f24cb6d8e548db94163627b7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0dc537a0f459c33fce91ae2a65869b111ad9ca2be13824754faa2ba13eeedda7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9a9e5c5d943d5fb9dc8e263720f999774352f9d5e193eae9b628dcf2a4a45722"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 17.12 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, 0.8093, 0.6041, -0.3813, -0.0212, -0.0418, 0.9989, 0.3046, 1.6329, 0.5152, 0.458, 0.1749, 0.1108, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0003 left_pitch=-0.0206 left_roll=-0.0008 left_gripper=0.9989 right_x=0.3807 right_y=0.0912 right_z=0.0321 right_yaw=0.0899 right_pitch=-0.0906 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.0051, 7.1043, 1.6874, -0.0415, -0.0513, -0.0171, -1.2376, -6.0513, 4.9983, 1.4628, 0.1001, -0.0757, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The knob is centered between the finger pads and the grasp point is now ~1 cm above the table. Closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01VvcLJUNWtvwZNAdQrj4147",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01VvcLJUNWtvwZNAdQrj4147"
}{
"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, -0.3805, -0.0216, -0.0418, 0.9989, 0.297, 1.7065, 0.5003, 0.5053, 0.1596, 0.0998, 0.0116]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0233 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3763 right_y=0.0896 right_z=0.0085 right_yaw=0.1001 right_pitch=-0.1329 right_roll=-0.0275 right_gripper=0.0116\nstate[joint_eff]: [-0.3761, -1.3744, 7.0359, 1.7656, -0.0562, -0.0611, -0.0122, 0.3624, -8.4444, 5.5726, 1.707, 0.2564, 0.0659, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ebe670a4a59c5c18257d591d4062543b9c1d29efdd5d4e227383e56ce138346e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f0077c39444733470b1cb05687557f7023e7b5a63e72a3d51c47ae0f3128dec2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ad5b64208aa346839756545487af455309115d4fedc2d5373badfe25f992167e"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 7.028 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0414, 0.9989, 0.2966, 1.7069, 0.5003, 0.5064, 0.1596, 0.0998, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0004 left_pitch=-0.0233 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3765 right_y=0.0895 right_z=0.0086 right_yaw=0.0998 right_pitch=-0.1322 right_roll=-0.0274 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.6068, 7.0496, 1.746, -0.0659, -0.0659, -0.0073, 0.212, -8.4171, 5.5043, 1.6972, 0.1343, 0.0269, -0.0171]",
"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\": 0.09, \"right_z\": 0.015, \"right_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.01) just short of the knob \\u2014 the wrist view shows the fingers touching below it. Re-opening and shifting ~3 cm forward so the knob is between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_015gsvRVCJaxZ1e95z9Rgmoe",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_015gsvRVCJaxZ1e95z9Rgmoe"
}{
"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, -0.3805, -0.0216, -0.0418, 0.9989, 0.2729, 1.7691, 0.6125, 0.4446, 0.1295, 0.07, 0.9954]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4012 right_y=0.0924 right_z=0.0106 right_yaw=0.1173 right_pitch=-0.1476 right_roll=-0.0331 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6825, -0.0708, -0.0366, -0.0122, -0.759, -6.2017, 6.8581, 1.6239, 0.0073, 0.0513, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0f1739f1c5299e88175a05a0d294b00259e185c387084fcebd58f2b88aba4c66"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a40007270b0e40d51fd4d77d0d73f99ffbbf6fb9d031eb75636c80c56dcabbcb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b0f58336eb1169c935903eb7b27919ab4857d1f8196f7e90aa9fa1f74578dd89"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 12.26 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.297, 1.7065, 0.5003, 0.5053, 0.1596, 0.0998, 0.0116]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0233 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3763 right_y=0.0896 right_z=0.0085 right_yaw=0.1001 right_pitch=-0.1329 right_roll=-0.0275 right_gripper=0.0116\nstate[joint_eff]: [-0.3761, -1.3744, 7.0359, 1.7656, -0.0562, -0.0611, -0.0122, 0.3624, -8.4444, 5.5726, 1.707, 0.2564, 0.0659, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The wrist camera now shows the wooden knob sitting directly between the two open finger pads. Closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01KW5wjYUs3XbeTiRsFQf4cE",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01KW5wjYUs3XbeTiRsFQf4cE"
}{
"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, -0.3805, -0.0216, -0.0418, 0.9989, 0.2707, 1.7702, 0.6132, 0.4339, 0.1287, 0.0662, 0.2376]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3999 right_y=0.0911 right_z=0.0084 right_yaw=0.1175 right_pitch=-0.1586 right_roll=-0.0372 right_gripper=0.2376\nstate[joint_eff]: [-0.2803, -1.388, 7.0769, 1.6923, -0.0757, -0.0806, -0.0122, 0.0068, -7.4872, 4.8479, 1.6728, 0.0171, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1c2ce44196e68bc917fa5686e8a79134593abf78d4764d36d5a1ea6095f413c5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1c2262cbcf0ee3461fcb7501ad7c6bd65756bb3790e99e3d2fc64f59b47e6579"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b9be921d1f0b1359ea56e757e42b01c6b210abe5fe59802da1be8b1d4f148c7a"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 14.13 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, -0.3805, -0.0216, -0.0418, 0.9989, 0.2729, 1.7691, 0.6125, 0.4446, 0.1295, 0.07, 0.9954]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4012 right_y=0.0924 right_z=0.0106 right_yaw=0.1173 right_pitch=-0.1476 right_roll=-0.0331 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6825, -0.0708, -0.0366, -0.0122, -0.759, -6.2017, 6.8581, 1.6239, 0.0073, 0.0513, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
"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\": 0.3, \"right_z\": 0.09}, \"note\": \"The gripper closed to 0.24 on the knob with rising effort, so the piece is grasped. Lifting it and carrying it left over the board, whose circular groove sits about 21 cm to the arm's left based on the top camera.\"}",
"name": "move_to"
},
"id": "toolu_01Pyh99s8PSSHYyYifFHEdWC",
"type": "function"
}
]
}{
"content": "executing move_to over 18 steps (1.8s)",
"role": "tool",
"tool_call_id": "toolu_01Pyh99s8PSSHYyYifFHEdWC"
}{
"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, 0.8173, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.7826, 1.9453, 1.2736, -0.1799, 0.4648, 0.4133, 0.2376]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1735 left_yaw=0.0006 left_pitch=-0.0278 left_roll=-0.0004 left_gripper=0.9989 right_x=0.405 right_y=0.2961 right_z=0.0808 right_yaw=0.1569 right_pitch=-0.1806 right_roll=-0.0467 right_gripper=0.2376\nstate[joint_eff]: [-0.2256, -1.6889, 7.1863, 1.6874, -0.0708, -0.0366, -0.0122, 0.335, -9.8256, 8.3077, 1.3016, 0.4811, 0.188, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:aebe59a493ba5a1758a61c9bec0c2cf41c7922028d9dce4f33bb9c05fd9b4670"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d1d281df6c809b076c4cd641c9e2f253a2cbcc4fe3e7c1d531f85a3671f6ebd6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d835cc8b9d8bf1d6cb4fa5903ea232f23abdb612a710e50304a711f5fff06c9f"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 12.32 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, -0.3805, -0.0216, -0.0418, 0.9989, 0.2707, 1.7702, 0.6132, 0.4339, 0.1287, 0.0662, 0.2376]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3999 right_y=0.0911 right_z=0.0084 right_yaw=0.1175 right_pitch=-0.1586 right_roll=-0.0372 right_gripper=0.2376\nstate[joint_eff]: [-0.2803, -1.388, 7.0769, 1.6923, -0.0757, -0.0806, -0.0122, 0.0068, -7.4872, 4.8479, 1.6728, 0.0171, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.315, \"right_z\": 0.03}, \"note\": \"The piece is hovering over the board; the wrist view shows the circular groove slightly to the left and behind the piece. Shifting ~2 cm back and left and lowering so the piece drops into the groove.\"}",
"name": "move_to"
},
"id": "toolu_0148BJ4q4Wh6vm8XiyJEJUrn",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_0148BJ4q4Wh6vm8XiyJEJUrn"
}{
"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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.8371, 2.0304, 1.2034, -0.0929, 0.4824, 0.4496, 0.2376]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1729 left_yaw=0.0006 left_pitch=-0.0297 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3826 right_y=0.3073 right_z=0.0288 right_yaw=0.1701 right_pitch=-0.2261 right_roll=-0.073 right_gripper=0.2376\nstate[joint_eff]: [-0.3077, -1.5521, 7.0632, 1.6874, -0.0855, -0.0708, -0.0122, 0.5538, -10.5778, 6.065, 1.6435, 0.4518, 0.1001, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8efeec269e252a272538561b2d4e3dd01f82991d8dd6b131228daacbdce97b5a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d051d06fca8f0590ebd2b18b6c3566ef63ef5e382b7ed72703d6ccd2a9f523f1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:86644b9335e0e528002337c9a6bfd525bb3a07976cb32f2a7fafb0ad288082af"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 14.95 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, 0.8173, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.7826, 1.9453, 1.2736, -0.1799, 0.4648, 0.4133, 0.2376]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1735 left_yaw=0.0006 left_pitch=-0.0278 left_roll=-0.0004 left_gripper=0.9989 right_x=0.405 right_y=0.2961 right_z=0.0808 right_yaw=0.1569 right_pitch=-0.1806 right_roll=-0.0467 right_gripper=0.2376\nstate[joint_eff]: [-0.2256, -1.6889, 7.1863, 1.6874, -0.0708, -0.0366, -0.0122, 0.335, -9.8256, 8.3077, 1.3016, 0.4811, 0.188, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.345, \"right_z\": 0.012, \"right_gripper\": 1.0}, \"note\": \"Wrist view shows the groove still ~3 cm to the left and ~2 cm ahead of the piece. Moving the piece left/forward into the groove while lowering and opening the gripper to release it there.\"}",
"name": "move_to"
},
"id": "toolu_01SwS9gkPuzzY6e8EysbcskF",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01SwS9gkPuzzY6e8EysbcskF"
}{
"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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9989, 0.8516, 2.0457, 1.1965, -0.0437, 0.4953, 0.4641, 0.9952]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9989 right_x=0.3826 right_y=0.315 right_z=0.027 right_yaw=0.1707 right_pitch=-0.1981 right_roll=-0.0532 right_gripper=0.9952\nstate[joint_eff]: [-0.3624, -1.306, 7.0906, 1.6874, -0.0317, -0.0513, -0.0122, 0.0479, -10.7419, 5.8462, 1.4676, 0.2759, 0.0415, -0.2466]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9acaebe2dd21986d0d5303bda508697c516bb15a7ae9295f990f2d16de40ddc9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:89b96891eb53b9f7c89ec848882ff8ac4524f1d4c5e726c32aa4a4134afe97ef"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 109):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9da8a3aaef7df241a7b31c63b87852701003ef411f99a3ee7bfeaf2a52c32abd"
},
"type": "image_url"
}
],
"role": "user"
}