- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 272.9 s
- total steps
- 105
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
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 9
Raw transcript
step 13
Raw transcript
step 17
Raw transcript
step 20
Raw transcript
step 26
Raw transcript
step 29
Raw transcript
step 38
Raw transcript
step 42
Raw transcript
step 45
Raw transcript
step 50
Raw transcript
step 53
Raw transcript
step 56
Raw transcript
step 60
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step 63
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step 72
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step 81
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step 83
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step 86
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step 95
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step 104
Raw transcript
Trial 0 Wire
Tools (trial initial)
[
{
"function": {
"description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
"name": "move_to",
"parameters": {
"properties": {
"note": {
"description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
"type": "string"
},
"targets": {
"description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
"type": "object"
}
},
"required": [
"targets",
"note"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Declare the task finished. The trial ends; a scorer judges success.",
"name": "done",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"summary": {
"type": "string"
}
},
"required": [
"summary",
"hindsight"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Stop trying; the task cannot be completed. The trial ends.",
"name": "give_up",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"reason": {
"type": "string"
}
},
"required": [
"reason",
"hindsight"
],
"type": "object"
}
},
"type": "function"
}
]call 0 attempt 0 · /chat/completions · status 200 · 13.76 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the 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, 0.7918, 0.6033, -0.3786, -0.0219, -0.0376, 0.9993, -0.0185, 0.7902, 0.609, -0.3752, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.2513, 10.3453, 1.8291, -0.0757, 0.1978, -0.0855, -0.6359, -1.1009, 9.8803, 1.79, -0.0464, -0.022, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b27e79467e0a069e7da627d996be477c4d0530384748b8cf2e4a9a1bd625860"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:18a7a397e9348aad828ae0b43ecb15e787a8376229d2ca5968e4732b61f33106"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:428c8d811aac578de42dd5267c42001d3b44579cc91bd5515f0a0c038dfa8040"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 30.85 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.1, \"right_z\": 0.2, \"right_gripper\": 1}, \"note\": \"I see a blue round puzzle piece with a knob on the table (right camera) and a white board with a circular groove nearby (top camera). Moving the right arm forward and slightly left at a safe height to localize the gripper relative to the piece.\"}",
"name": "move_to"
},
"id": "toolu_01MPf6Cq6CkjqbjXMAwujRHA",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01MPf6Cq6CkjqbjXMAwujRHA"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, 0.4294, 1.145, 0.7918, -0.3119, 0.3153, 0.2001, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1788 left_yaw=0.0017 left_pitch=-0.0076 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3386 right_y=0.0987 right_z=0.1772 right_yaw=0.0508 right_pitch=-0.0709 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.6205, 7.0222, 1.7265, -0.0562, -0.0317, -0.0171, 0.3897, -4.0821, 9.4701, 1.956, 0.2662, 0.1978, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f17c151c16859508b16cbe039ccc793788486e5fe9f98f6e9a5dd21ccf2dd6ec"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4b50699b9697b419cc5d54a7b4eb5e7d214964998530df6af4dc00f69f33a13e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:76fc03d99ec0071f34d7c8790eb4642895bceb1de12cff13861de7933e341877"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 10.26 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.7918, 0.6033, -0.3786, -0.0219, -0.0376, 0.9993, -0.0185, 0.7902, 0.609, -0.3752, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.0018 right_z=0.1843 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.2513, 10.3453, 1.8291, -0.0757, 0.1978, -0.0855, -0.6359, -1.1009, 9.8803, 1.79, -0.0464, -0.022, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.32, \"right_y\": 0.06, \"right_z\": 0.12}, \"note\": \"The wrist camera shows the blue piece slightly right and below center, so it's a bit closer and to the right of the gripper. Lowering and shifting toward the piece to refine alignment.\"}",
"name": "move_to"
},
"id": "toolu_01TQ8Y2pgkXGnV1iZfxf6PjP",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01TQ8Y2pgkXGnV1iZfxf6PjP"
}{
"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, 0.8005, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2985, 1.0779, 0.5217, -0.1787, 0.2382, 0.1421, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1779 left_yaw=0.0017 left_pitch=-0.0103 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3116 right_y=0.056 right_z=0.1042 right_yaw=0.0125 right_pitch=-0.154 right_roll=-0.0533 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.1145, 7.0496, 1.7265, -0.0659, -0.0757, -0.0122, -0.8957, -4.8615, 8.1162, 2.1563, 0.1001, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8a43e4c121f290cac9cbb132654b8f72d805d668b5545fb3b5904b32e71ee861"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ca11e1a70237a314a40d9c642d45253b4f977a041a9b2b669d3c795e4f538505"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3c534d1295fe4d70fc4c93f045d4df85b47e7557d9e62e2e8dd47562b5147a5e"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 12.08 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.7979, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, 0.4294, 1.145, 0.7918, -0.3119, 0.3153, 0.2001, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1788 left_yaw=0.0017 left_pitch=-0.0076 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3386 right_y=0.0987 right_z=0.1772 right_yaw=0.0508 right_pitch=-0.0709 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.6205, 7.0222, 1.7265, -0.0562, -0.0317, -0.0171, 0.3897, -4.0821, 9.4701, 1.956, 0.2662, 0.1978, -0.0855]",
"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\": 0.05, \"right_z\": 0.05}, \"note\": \"The wrist camera now shows the blue puzzle piece nearly centered with its knob visible. Lowering toward it and nudging slightly forward to line the gripper over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01CdWh32XMZyg3rRJLg22WwR",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01CdWh32XMZyg3rRJLg22WwR"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2836, 1.1179, 0.4618, -0.0902, 0.2096, 0.1196, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.0017 left_pitch=-0.011 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3104 right_y=0.0559 right_z=0.0827 right_yaw=0.0334 right_pitch=-0.1707 right_roll=-0.0546 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2239, 7.0632, 1.7021, -0.0904, -0.0415, -0.0073, 0.1983, -3.3709, 6.6393, 1.8193, 0.2711, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:03a9ab16c4bc8c5c9e05e6c1efe34c4f2c884d3ef02da9669f8d99a31db9c54a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b07e569811d94308bbcec5b3b95cf9d3d683b4eeed4af25c9c1f5af05093f3d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:58fe04de65cb62b3dd317e1093275db90da27578b337e42046f9e4d8341a25f1"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 11.34 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8005, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2985, 1.0779, 0.5217, -0.1787, 0.2382, 0.1421, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1779 left_yaw=0.0017 left_pitch=-0.0103 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3116 right_y=0.056 right_z=0.1042 right_yaw=0.0125 right_pitch=-0.154 right_roll=-0.0533 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.1145, 7.0496, 1.7265, -0.0659, -0.0757, -0.0122, -0.8957, -4.8615, 8.1162, 2.1563, 0.1001, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.05, \"right_z\": 0.04}, \"note\": \"The piece with its knob is close to the gripper's view center, just slightly forward. Continuing to descend toward grasp height; the approver clamped my last step so I'm re-issuing the lower target.\"}",
"name": "move_to"
},
"id": "toolu_01WNqHEhRgmMdJnXLPcF8Z9q",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01WNqHEhRgmMdJnXLPcF8Z9q"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2836, 1.1179, 0.4618, -0.0883, 0.2131, 0.1196, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.0017 left_pitch=-0.011 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3107 right_y=0.0554 right_z=0.0831 right_yaw=0.0305 right_pitch=-0.1683 right_roll=-0.0564 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.1692, 7.3641, 1.7167, -0.0757, -0.0122, -0.0122, 0.1299, -3.3162, 6.653, 1.8535, 0.232, 0.105, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:109ce3ac3b31298c3ba34b929d33a6d5f1841148597bf85ebdd7008ffb6be194"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f135b1da52fc7a46246d65b9550c897628f42c6f7ae058f1ebb60b683753d95b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 20):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d4ad9ee7389e631b46ad87a5f138ba437bc2d8d2989e1cc3116fa7e2d0e841c"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 10.34 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2836, 1.1179, 0.4618, -0.0902, 0.2096, 0.1196, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.0017 left_pitch=-0.011 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3104 right_y=0.0559 right_z=0.0827 right_yaw=0.0334 right_pitch=-0.1707 right_roll=-0.0546 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2239, 7.0632, 1.7021, -0.0904, -0.0415, -0.0073, 0.1983, -3.3709, 6.6393, 1.8193, 0.2711, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.32, \"right_y\": 0.05, \"right_z\": 0.03, \"right_pitch\": 0, \"right_roll\": 0}, \"note\": \"The arm didn't descend further\\u2014z stalled around 0.083, likely an IK posture issue with the drifted pitch/roll. Commanding level tool orientation and a lower z to get down over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01E3jzyTLLFfDRpbLfNGohKx",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01E3jzyTLLFfDRpbLfNGohKx"
}{
"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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, 0.2573, 1.214, 0.3668, 0.0822, 0.1921, 0.1154, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0019 left_pitch=-0.0118 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3081 right_y=0.0499 right_z=0.047 right_yaw=0.0234 right_pitch=-0.1919 right_roll=-0.0505 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.1145, 7.0085, 1.7314, -0.0073, -0.0415, -0.0073, -0.3897, 0.0889, 2.7692, 0.2613, -0.0562, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:57a027b9c6e2fec7da379614c0739a5298df82694ad589ca1a7462cca6dd5bf4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33a9194a8d75e811db4402eefea719428f06f7336d20212b9001da5dd6477682"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d16d79425db61a6d1448951143f2296cbf1ab0cb25e4b3f713fdb81b80411e1"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 9.504 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, 0.2836, 1.1179, 0.4618, -0.0883, 0.2131, 0.1196, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.0017 left_pitch=-0.011 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3107 right_y=0.0554 right_z=0.0831 right_yaw=0.0305 right_pitch=-0.1683 right_roll=-0.0564 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.1692, 7.3641, 1.7167, -0.0757, -0.0122, -0.0122, 0.1299, -3.3162, 6.653, 1.8535, 0.232, 0.105, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.335, \"right_y\": 0.038, \"right_z\": 0.01}, \"note\": \"The wrist camera shows the knob slightly above and right of image center, so the piece is a bit farther forward and to the arm's right. Moving forward, slightly right, and down to grasp height around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01SeUzYAh35zue3cCQrfxHmL",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01SeUzYAh35zue3cCQrfxHmL"
}{
"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, 0.8059, 0.6037, -0.3817, -0.0216, -0.0418, 0.9992, 0.1871, 1.4677, 0.3176, 0.3447, 0.1368, 0.078, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1762 left_yaw=0.0019 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3158 right_y=0.0389 right_z=-0.0011 right_yaw=0.0192 right_pitch=-0.24 right_roll=-0.0469 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.4017, 7.0496, 1.7167, -0.0464, -0.0659, -0.0122, -0.4034, -4.4513, 5.7231, 1.4725, 0.1392, -0.0269, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f834d663cc8a9a989e2b819101a3d3be55581a186669b1a59034ad601145872e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de9785a98506029ed14569e2bcca9841fda1ffd62752a3a01fe1a27831c2cf92"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8b00a8ed00c598fd3dcbca6a71dc7146b117538dba7a4401f952f35162490d6b"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 7.752 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, 0.2573, 1.214, 0.3668, 0.0822, 0.1921, 0.1154, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0019 left_pitch=-0.0118 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3081 right_y=0.0499 right_z=0.047 right_yaw=0.0234 right_pitch=-0.1919 right_roll=-0.0505 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.1145, 7.0085, 1.7314, -0.0073, -0.0415, -0.0073, -0.3897, 0.0889, 2.7692, 0.2613, -0.0562, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.037, \"right_z\": 0.005, \"right_pitch\": 0}, \"note\": \"The wrist camera shows the knob well forward of the fingertips and roughly centered horizontally. Moving forward ~3.5 cm at knob height, and leveling the pitch which has drifted to -0.24.\"}",
"name": "move_to"
},
"id": "toolu_01HqwRVmBvGsYoHPttULLxzK",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01HqwRVmBvGsYoHPttULLxzK"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.1761, 1.4982, 0.3378, 0.3775, 0.1291, 0.0547, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0019 left_pitch=-0.0171 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3258 right_y=0.0385 right_z=0.0017 right_yaw=0.0281 right_pitch=-0.2192 right_roll=-0.0547 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.4017, 7.2137, 1.6825, -0.0611, -0.0562, -0.0122, -0.6359, -4.5744, 5.8462, 1.8437, 0.0073, -0.0415, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2e6538c66d4c3f3e2ff78adbad035d8a562232030deb5f55f0581add2bc49768"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0d37c81fca12f137974b9dc88b73f010144920289c2a20db2ea2e52a44d638c4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fea5c4a2999c8e25831e321a568ac67f3647e3ed98f07cf83e0498b32a0e5de3"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 7.059 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8059, 0.6037, -0.3817, -0.0216, -0.0418, 0.9992, 0.1871, 1.4677, 0.3176, 0.3447, 0.1368, 0.078, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1762 left_yaw=0.0019 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3158 right_y=0.0389 right_z=-0.0011 right_yaw=0.0192 right_pitch=-0.24 right_roll=-0.0469 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.4017, 7.0496, 1.7167, -0.0464, -0.0659, -0.0122, -0.4034, -4.4513, 5.7231, 1.4725, 0.1392, -0.0269, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.365, \"right_y\": 0.035, \"right_z\": 0.005}, \"note\": \"The knob is still a few centimeters forward of the fingertips in the wrist view; x only reached 0.326 of my 0.35 target. Pushing forward another 4 cm at knob height with fingers open.\"}",
"name": "move_to"
},
"id": "toolu_01KqRzdtrM48Qpu3oQvYXDgW",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01KqRzdtrM48Qpu3oQvYXDgW"
}{
"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, 0.8101, 0.6033, -0.3817, -0.0216, -0.0418, 0.9992, 0.1448, 1.6161, 0.4469, 0.3958, 0.1017, 0.0357, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3572 right_y=0.0376 right_z=0.0021 right_yaw=0.0312 right_pitch=-0.2127 right_roll=-0.0478 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.9778, 7.0906, 1.7118, -0.0122, -0.0317, -0.0122, -0.6496, -5.6274, 5.6684, 1.4335, -0.0171, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:21f8df4edb212454f9dadd98047e74345f835a36f930eff993eb64a49be90058"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8d50c4528a5b807aa624362ee746ab97e21373b4de99d94381ae54d92c963bbd"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8b1a9570f81be733e92c71cbac17c88f05ebc45926a05bbadb2dcfa8b74c2f6b"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 9.199 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.1761, 1.4982, 0.3378, 0.3775, 0.1291, 0.0547, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0019 left_pitch=-0.0171 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3258 right_y=0.0385 right_z=0.0017 right_yaw=0.0281 right_pitch=-0.2192 right_roll=-0.0547 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.4017, 7.2137, 1.6825, -0.0611, -0.0562, -0.0122, -0.6359, -4.5744, 5.8462, 1.8437, 0.0073, -0.0415, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.037, \"right_z\": 0.003}, \"note\": \"The knob is now centered in the wrist camera but still a few centimeters ahead of the fingertips. Advancing forward ~3 cm so the knob sits between the open jaws.\"}",
"name": "move_to"
},
"id": "toolu_01DA1wUgbJArj1QZAcg1TcBs",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01DA1wUgbJArj1QZAcg1TcBs"
}{
"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, 0.8108, 0.6033, -0.3805, -0.0216, -0.0418, 0.9992, 0.1387, 1.6409, 0.4751, 0.3801, 0.0959, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3624 right_y=0.0371 right_z=0.0 right_yaw=0.0333 right_pitch=-0.2254 right_roll=-0.0498 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.4154, 7.0769, 1.7558, -0.0171, -0.0464, -0.0073, -0.3487, -4.6838, 5.9419, 1.6728, -0.0171, -0.0513, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7299ed2a3c7543f92b44c7ffe9e3db4d10b773c4ba3e3b12f1910dbc70bcc548"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9cbf35d76b5310b8e629c93561c4248f18cb905a285e036b1ad2a1b0196c6651"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fd3df2b7111ad0801584172c3c59c607a1df44318f175f1b3394c7725a9e11b5"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 8.05 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8101, 0.6033, -0.3817, -0.0216, -0.0418, 0.9992, 0.1448, 1.6161, 0.4469, 0.3958, 0.1017, 0.0357, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3572 right_y=0.0376 right_z=0.0021 right_yaw=0.0312 right_pitch=-0.2127 right_roll=-0.0478 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -0.9778, 7.0906, 1.7118, -0.0122, -0.0317, -0.0122, -0.6496, -5.6274, 5.6684, 1.4335, -0.0171, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.037, \"right_z\": 0.0, \"right_pitch\": -0.1}, \"note\": \"The knob is centered in the wrist view but the arm stalled at x\\u22480.362; the wrist pitch keeps sagging to -0.22 which limits forward reach. Commanding a farther forward target with less downward pitch to bring the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01C1fPtHkGbcS2r62TwgQLxv",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01C1fPtHkGbcS2r62TwgQLxv"
}{
"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, 0.8108, 0.6033, -0.3809, -0.0216, -0.0418, 0.9992, 0.1387, 1.6413, 0.4751, 0.3805, 0.0952, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1748 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3625 right_y=0.0373 right_z=-0.0 right_yaw=0.0339 right_pitch=-0.2254 right_roll=-0.0493 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.2103, 7.0632, 1.6923, -0.0562, -0.0757, -0.0122, -0.3761, -5.0393, 5.8325, 1.6044, -0.022, -0.0171, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:58973ffffdb7d622d0df4da5d4667180799f6fc4d0aa4c9fec6c8b85ff3cb812"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ee03473ca55f5de0a294e7207910b386b2a2b0c40079028e43cf4bed7864d93e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c33c886caed3c1a081fb6cfdfe11531097823b48a8987a616cf759372d3ff37c"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 9.527 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8108, 0.6033, -0.3805, -0.0216, -0.0418, 0.9992, 0.1387, 1.6409, 0.4751, 0.3801, 0.0959, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3624 right_y=0.0371 right_z=0.0 right_yaw=0.0333 right_pitch=-0.2254 right_roll=-0.0498 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.4154, 7.0769, 1.7558, -0.0171, -0.0464, -0.0073, -0.3487, -4.6838, 5.9419, 1.6728, -0.0171, -0.0513, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.037, \"right_z\": 0.025, \"right_pitch\": -0.3}, \"note\": \"The arm is stuck at x\\u22480.362, z=0 \\u2014 likely the fingertips are dragging on the table. Lifting slightly to 2.5 cm while pitching down more so the fingers point toward the knob, then advancing forward.\"}",
"name": "move_to"
},
"id": "toolu_011QZBEdvaitdgbtU7PaSDav",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_011QZBEdvaitdgbtU7PaSDav"
}{
"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, 0.8108, 0.6033, -0.3809, -0.0216, -0.0418, 0.9992, 0.1387, 1.6413, 0.4751, 0.3805, 0.0952, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1748 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3625 right_y=0.0373 right_z=-0.0 right_yaw=0.0339 right_pitch=-0.2254 right_roll=-0.0493 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.347, 7.0632, 1.6923, -0.0757, -0.0659, -0.0073, -0.4718, -5.135, 5.8188, 1.6093, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0572571770045ca0f6f9d5b7f41b8dddf7efffc9dba935f3b58d757d0444ab14"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:488b8fccd016ec75fdcdc454021b9bcdd445bb4120d1ec8eb834e7606f655479"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:72073e72c84db86135702673a6e552977c0d140f57829e9a1d3bc13401f513dd"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 8.378 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8108, 0.6033, -0.3809, -0.0216, -0.0418, 0.9992, 0.1387, 1.6413, 0.4751, 0.3805, 0.0952, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1748 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3625 right_y=0.0373 right_z=-0.0 right_yaw=0.0339 right_pitch=-0.2254 right_roll=-0.0493 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.2103, 7.0632, 1.6923, -0.0562, -0.0757, -0.0122, -0.3761, -5.0393, 5.8325, 1.6044, -0.022, -0.0171, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.04}, \"note\": \"The arm hasn't moved at all for two commands\\u2014likely wedged with fingertips touching the table. Commanding only a straight lift to 4 cm to free it before advancing again.\"}",
"name": "move_to"
},
"id": "toolu_01U5YqLJTcSKuLB3guAZb3N4",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01U5YqLJTcSKuLB3guAZb3N4"
}{
"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, 0.6033, -0.3805, -0.0216, -0.0414, 0.9992, 0.1387, 1.5208, 0.5129, 0.226, 0.0925, 0.028, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0229 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3612 right_y=0.0376 right_z=0.0273 right_yaw=0.0369 right_pitch=-0.2218 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.3744, 7.0359, 1.7802, -0.0513, -0.0855, -0.0122, -0.3624, -6.3248, 7.4462, 1.5018, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9e99cf5208003ed8e9646e156b35341d4509d68d9ed49e9e3dcc80dbef5a0e21"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9002514632e6ea14d4cbbee2daed6f8058d969c5423658840ed5d65b308f49e9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:873f588ee647d8eaa650df04289505d6dc86c0bfd0f086f7f59cfeaac37bc9bd"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 7.668 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8108, 0.6033, -0.3809, -0.0216, -0.0418, 0.9992, 0.1387, 1.6413, 0.4751, 0.3805, 0.0952, 0.0292, 0.9992]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1748 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3625 right_y=0.0373 right_z=-0.0 right_yaw=0.0339 right_pitch=-0.2254 right_roll=-0.0493 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.347, 7.0632, 1.6923, -0.0757, -0.0659, -0.0073, -0.4718, -5.135, 5.8188, 1.6093, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.033, \"right_z\": 0.03}, \"note\": \"Lift succeeded and the knob sits just ahead of the open fingertips, slightly right of the gap center. Advancing ~5 cm forward with a small rightward shift so the knob ends up between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_014ppxYMD2ys9EYU3rv6ATEi",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_014ppxYMD2ys9EYU3rv6ATEi"
}{
"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, 0.8162, 0.6029, -0.3817, -0.0216, -0.0418, 0.9992, 0.1093, 1.6714, 0.654, 0.1677, 0.0677, 0.0063, 0.9992]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.173 left_yaw=0.0019 left_pitch=-0.0278 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3876 right_y=0.0341 right_z=0.0129 right_yaw=0.0396 right_pitch=-0.2915 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.5521, 7.2547, 1.707, -0.0317, -0.0317, -0.0122, -0.8137, -6.5846, 7.6239, 1.79, 0.0464, -0.0317, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dafc1ea25778a3f1fb705e32deb9fa69aa5ac30a42378ef36686a9e7e751d4d6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ba6a9f82b1a138f3427fcfdc3fbb6164104af85f2ef599a110000da836b55d33"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 60):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63d07d790f535c2b281b89a051ad8150b3ac3c537c1c0972aa2c66ca3e0b90d8"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 10.12 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6033, -0.3805, -0.0216, -0.0414, 0.9992, 0.1387, 1.5208, 0.5129, 0.226, 0.0925, 0.028, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0229 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3612 right_y=0.0376 right_z=0.0273 right_yaw=0.0369 right_pitch=-0.2218 right_roll=-0.0478 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.3744, 7.0359, 1.7802, -0.0513, -0.0855, -0.0122, -0.3624, -6.3248, 7.4462, 1.5018, 0.0952, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.031, \"right_z\": 0.005}, \"note\": \"The knob is now nearly between the jaws, just slightly right and ahead. Moving forward and down a touch so the jaws surround the knob before closing.\"}",
"name": "move_to"
},
"id": "toolu_019YsY5kLEkow9DeyqFQcbEf",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_019YsY5kLEkow9DeyqFQcbEf"
}{
"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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.1017, 1.7638, 0.7193, 0.1913, 0.0631, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=0.0019 left_pitch=-0.0301 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4063 right_y=0.0339 right_z=0.0039 right_yaw=0.0482 right_pitch=-0.2957 right_roll=-0.0625 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.2786, 6.9949, 1.7021, -0.0611, -0.0611, -0.0122, -1.1829, -6.3795, 6.5983, 1.4676, -0.0855, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2afa64709fb0f9146b7200bf1f5b54b3062564ccf47fd09c9edb2c532408445f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:133c336b18b4f5e63bc9be5e039a64b9a420dd849d05ce578626160ea97f469a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:96f1066ee77e954b6613373a03f252bf14b48371270c1b3dc0f1e22f5242acf6"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 6.538 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8162, 0.6029, -0.3817, -0.0216, -0.0418, 0.9992, 0.1093, 1.6714, 0.654, 0.1677, 0.0677, 0.0063, 0.9992]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.173 left_yaw=0.0019 left_pitch=-0.0278 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3876 right_y=0.0341 right_z=0.0129 right_yaw=0.0396 right_pitch=-0.2915 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.5521, 7.2547, 1.707, -0.0317, -0.0317, -0.0122, -0.8137, -6.5846, 7.6239, 1.79, 0.0464, -0.0317, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.031, \"right_z\": 0.0, \"right_gripper\": 0.1}, \"note\": \"The knob now sits between the open jaws, just slightly ahead. Advancing the last ~1.5 cm while closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01WfoypUudYWqyziZXjSWZQs",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01WfoypUudYWqyziZXjSWZQs"
}{
"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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.0917, 1.7744, 0.7376, 0.1902, 0.0498, -0.0151, 0.1046]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1721 left_yaw=0.0019 left_pitch=-0.0309 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4118 right_y=0.0327 right_z=0.0057 right_yaw=0.0498 right_pitch=-0.2897 right_roll=-0.0512 right_gripper=0.1046\nstate[joint_eff]: [-0.0889, -1.3607, 6.9949, 1.7558, -0.0611, -0.0611, -0.0122, -0.4991, -6.7077, 6.5436, 1.4383, 0.0708, 0.0611, 0.1441]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c665b2fcf2de0ca9ce7ce884ac7e7bdedc41b6c0396b0eafb54057c974d2f486"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b25de242731df94f44dfe7f49fcef8add4e4d65c53159ee8e17638e6e725659e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ab8ef5e83639901e26812b045cafcf963029319596a3680a6f0eb137a8af5d26"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 25.31 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.1017, 1.7638, 0.7193, 0.1913, 0.0631, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=0.0019 left_pitch=-0.0301 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4063 right_y=0.0339 right_z=0.0039 right_yaw=0.0482 right_pitch=-0.2957 right_roll=-0.0625 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.2786, 6.9949, 1.7021, -0.0611, -0.0611, -0.0122, -1.1829, -6.3795, 6.5983, 1.4676, -0.0855, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 1, \"right_x\": 0.44, \"right_y\": 0.03, \"right_z\": 0.0}, \"note\": \"The gripper closed empty\\u2014the knob is still just ahead of the closed fingertips in the wrist view. Reopening and advancing another ~3 cm so the jaws actually straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_017YAVqpyfyDE5yPP6qLUqqf",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_017YAVqpyfyDE5yPP6qLUqqf"
}{
"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, 0.6029, -0.3809, -0.0212, -0.0418, 0.9992, 0.0845, 1.8538, 0.8284, 0.1925, 0.0441, -0.0399, 0.9948]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1721 left_yaw=0.0016 left_pitch=-0.0309 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4368 right_y=0.0328 right_z=0.0049 right_yaw=0.0613 right_pitch=-0.2767 right_roll=-0.0636 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.4291, 6.9949, 1.7167, -0.0171, -0.0611, -0.0122, -1.0598, -6.5436, 7.0222, 1.37, -0.0415, 0.1636, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 81):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a9188458fe0cbfbb4ef27a8f1944cf41bc3731a82e10f23f87cffc66898a9a18"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 81):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c660eb0bfd979200e4789984b16016025eb9d60bca7736d9a6a9e830ae54d66"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 81):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f3a2959563941bf1b2ca8c790ab2f9c725762a83d3377d3f1afd8d11920f9f1"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 6.3 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.0917, 1.7744, 0.7376, 0.1902, 0.0498, -0.0151, 0.1046]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1721 left_yaw=0.0019 left_pitch=-0.0309 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4118 right_y=0.0327 right_z=0.0057 right_yaw=0.0498 right_pitch=-0.2897 right_roll=-0.0512 right_gripper=0.1046\nstate[joint_eff]: [-0.0889, -1.3607, 6.9949, 1.7558, -0.0611, -0.0611, -0.0122, -0.4991, -6.7077, 6.5436, 1.4383, 0.0708, 0.0611, 0.1441]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.455, \"right_y\": 0.015, \"right_z\": 0.0}, \"note\": \"The knob is now visible to the right of the jaws in the wrist view, so the piece sits a bit to the arm's right and slightly ahead. Shifting right ~2 cm and forward ~2 cm with jaws open to straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01CewcUS8WQBjkTrgZxCG63j",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01CewcUS8WQBjkTrgZxCG63j"
}{
"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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.062, 1.882, 0.8635, 0.1944, 0.025, -0.0654, 0.9959]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1721 left_yaw=0.0019 left_pitch=-0.0309 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4472 right_y=0.0269 right_z=0.0053 right_yaw=0.0697 right_pitch=-0.2688 right_roll=-0.0668 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.6825, -0.0562, -0.0513, -0.0122, -1.7162, -6.9128, 6.5026, 1.3797, 0.0122, 0.0269, 0.0904]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c12b1c26f21648381dfae025f41eafdc0aea19c114c45e1716bacb5580de4435"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8af41ac910bc744b000bef0eeefea06212d71459b73d022ed130b0ee8aeb8291"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 83):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26c7def68186eb584b82dffabb1306e58348f8924901c822d615052b8a38054b"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 10.8 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6029, -0.3809, -0.0212, -0.0418, 0.9992, 0.0845, 1.8538, 0.8284, 0.1925, 0.0441, -0.0399, 0.9948]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1721 left_yaw=0.0016 left_pitch=-0.0309 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4368 right_y=0.0328 right_z=0.0049 right_yaw=0.0613 right_pitch=-0.2767 right_roll=-0.0636 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.4291, 6.9949, 1.7167, -0.0171, -0.0611, -0.0122, -1.0598, -6.5436, 7.0222, 1.37, -0.0415, 0.1636, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
"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\": 0.0, \"right_z\": 0.0}, \"note\": \"The knob still sits clearly to the right of the fingers in the wrist camera. Shifting further right (~2.5 cm) and forward so the open jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_014xDBf5s6jFNoDYmmJfpVF6",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_014xDBf5s6jFNoDYmmJfpVF6"
}{
"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, 0.8211, 0.6029, -0.3809, -0.0212, -0.0418, 0.9992, 0.0032, 1.9171, 0.9081, 0.1951, -0.0093, -0.115, 0.9956]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1718 left_yaw=0.0016 left_pitch=-0.032 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4604 right_y=0.0067 right_z=0.0057 right_yaw=0.0681 right_pitch=-0.2592 right_roll=-0.0763 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.4838, 7.0085, 1.6825, -0.0171, -0.0562, -0.0122, -1.1556, -6.8444, 6.7761, 1.4432, -0.1099, -0.0024, -0.0415]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dfe4fe0ab88867ee2dfdd5aef830d1d688c6f1daa408ecdc01f21165dc73fc08"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d640fb22f3c2be3b2d64bf6d45a272beeca77e1343270c6ee41d08527dbc6a8d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:44ecf14801f89fd56eeadb02919e1511fac6c0c9a5cc88275395ff1953735874"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 21.1 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 53 changed as sent
message 53 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, 0.062, 1.882, 0.8635, 0.1944, 0.025, -0.0654, 0.9959]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1721 left_yaw=0.0019 left_pitch=-0.0309 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4472 right_y=0.0269 right_z=0.0053 right_yaw=0.0697 right_pitch=-0.2688 right_roll=-0.0668 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.6825, -0.0562, -0.0513, -0.0122, -1.7162, -6.9128, 6.5026, 1.3797, 0.0122, 0.0269, 0.0904]",
"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\": -0.012, \"right_z\": 0.0, \"right_gripper\": 0.15}, \"note\": \"The knob remains a couple centimeters right and ahead of the jaws in the wrist camera. Making a final combined move right and forward, then closing the gripper on the knob \\u2014 this is my last chance within budget.\"}",
"name": "move_to"
},
"id": "toolu_01Q8JdtPzKW7Qr9cQtp6CdQn",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01Q8JdtPzKW7Qr9cQtp6CdQn"
}{
"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, 0.8211, 0.6029, -0.3809, -0.0216, -0.0418, 0.9992, -0.0135, 1.9263, 0.9199, 0.202, -0.0277, -0.139, 0.1552]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1718 left_yaw=0.0019 left_pitch=-0.032 left_roll=-0.003 left_gripper=0.9992 right_x=0.4649 right_y=0.0022 right_z=0.0071 right_yaw=0.0803 right_pitch=-0.2495 right_roll=-0.0806 right_gripper=0.1552\nstate[joint_eff]: [-0.3624, -1.388, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.5949, -7.6103, 6.7897, 1.4188, -0.0562, 0.1538, 0.1978]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d913b26adaf97ed07b025a5f53739611d48d7a16bc23132db592561bf1ddda3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:501264b65b5e2eb1333e784a805cc19c9bdd2016d7d9464413920d291dd872d0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8f398106cc40d25a2349cb12199e347f8521e8384b6815aa7872bf84c3bb4ff6"
},
"type": "image_url"
}
],
"role": "user"
}