- 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
- 528.8 s
- total steps
- 107
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
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step 5
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step 11
Raw transcript
step 19
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step 34
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step 41
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step 48
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step 56
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step 58
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step 71
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step 79
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step 106
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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 · 9.25 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, 0.7921, 0.6041, -0.3782, -0.0216, -0.0376, 0.9995, -0.0177, 0.791, 0.6086, -0.3767, -0.0235, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1809 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2956 right_y=0.0025 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3744, 10.359, 1.8193, -0.0269, 0.1978, -0.0659, -0.6632, -1.1145, 9.9077, 1.79, -0.0171, -0.0269, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7be1fcd3ed423743087439b59f6fb95dcd8926ea0247e81ff092d70a008b419a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:36ec8331b12c51bd94ff70ff01787bf62f87da9b632abbfd6729013b8d067dfc"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:96edfebc7f63a8cbd8f1f626270c8cd3e331b2a5c6d5c3351c7d2d09b112cb81"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 9.674 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I'll start by moving the right arm toward the blue puzzle piece to get a better view of its position.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.05, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with a knob ahead of the right arm and the board with a circular groove to its left. Moving the right arm forward and down to localize the gripper relative to the piece.\"}",
"name": "move_to"
},
"id": "toolu_01SJEgsHwVqxrJicKFStmQm3",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01SJEgsHwVqxrJicKFStmQm3"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6056, -0.3809, -0.0216, -0.0414, 0.9994, 0.2039, 1.1412, 0.506, -0.0498, 0.1257, 0.0765, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0072 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3298 right_y=0.0492 right_z=0.0999 right_yaw=0.0468 right_pitch=-0.1196 right_roll=-0.0227 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 6.9402, 1.746, -0.0513, -0.022, -0.0171, 0.253, -3.8769, 6.5983, 1.9756, 0.3394, 0.2173, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2676daef4e4a2566e3203e29e42031dc2bca6db084acbc80e6251b9e3eae562f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7468bee412b487b6e6d209e34042e35610a19aa7b20aa5f3600663158a3784de"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed99ba5bf61f1cb1c7dd55ae2c8d31a2ff6b64b60f9cd3d8b78c94f0520040b5"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 6.986 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, 0.7921, 0.6041, -0.3782, -0.0216, -0.0376, 0.9995, -0.0177, 0.791, 0.6086, -0.3767, -0.0235, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1809 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2956 right_y=0.0025 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3744, 10.359, 1.8193, -0.0269, 0.1978, -0.0659, -0.6632, -1.1145, 9.9077, 1.79, -0.0171, -0.0269, -0.105]",
"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\": 0.05, \"right_z\": 0.05, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue piece with its knob roughly centered ahead of the gripper. Moving forward and lower to hover just above the knob.\"}",
"name": "move_to"
},
"id": "toolu_0153joyYtKzXKvqSWMdiwPpB",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_0153joyYtKzXKvqSWMdiwPpB"
}{
"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, 0.804, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, 0.1627, 1.5715, 0.5743, 0.218, 0.091, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.0145 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3757 right_y=0.049 right_z=0.0301 right_yaw=0.0486 right_pitch=-0.2162 right_roll=-0.034 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.1179, 1.6923, -0.0317, -0.0122, -0.0073, -0.9915, -6.5846, 7.4872, 1.7314, -0.0513, 0.0122, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7e60d5d4763b686ed2452a23c1a12be9e10c10dbf650cfa385f2dfc68f5c932c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b1480433fdb652e3da4b80c7f859bbc9793f539c132962b2c924222c2bafab0c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ac556e7ce50f1f23fd3a0f5b71d31b0110b861cf0fa249d47c94e2d6ba635963"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 7.687 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, 0.7982, 0.6056, -0.3809, -0.0216, -0.0414, 0.9994, 0.2039, 1.1412, 0.506, -0.0498, 0.1257, 0.0765, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0072 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3298 right_y=0.0492 right_z=0.0999 right_yaw=0.0468 right_pitch=-0.1196 right_roll=-0.0227 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 6.9402, 1.746, -0.0513, -0.022, -0.0171, 0.253, -3.8769, 6.5983, 1.9756, 0.3394, 0.2173, -0.105]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.05, \"right_z\": 0.02, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The knob is centered in the wrist camera, slightly ahead of the gripper. Moving forward and down to position the open jaws around the knob, keeping the tool vertical.\"}",
"name": "move_to"
},
"id": "toolu_01YRfeds4FTEntiqUGkvjVHw",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01YRfeds4FTEntiqUGkvjVHw"
}{
"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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1581, 1.599, 0.588, 0.2779, 0.0845, 0.0402, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3883 right_y=0.0504 right_z=0.0357 right_yaw=0.0547 right_pitch=-0.1709 right_roll=-0.0301 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.3231, 1.7314, -0.0855, -0.0659, -0.0122, -0.759, -6.694, 7.1726, 1.8486, 0.0464, -0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:344102d089fc7fdc62c9e1e3457e75f0edba5ecbd945475de093b79131fa9729"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ae276bce6507472de75035e56a2f6f4a9d4bded086a07d10ac66fd81c5ceae28"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef975b42a60676def5a1a15a35a779e82bd82486053da3bf203b85a9cde986e3"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 11.29 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, 0.804, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, 0.1627, 1.5715, 0.5743, 0.218, 0.091, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.0145 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3757 right_y=0.049 right_z=0.0301 right_yaw=0.0486 right_pitch=-0.2162 right_roll=-0.034 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.1179, 1.6923, -0.0317, -0.0122, -0.0073, -0.9915, -6.5846, 7.4872, 1.7314, -0.0513, 0.0122, -0.105]\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\": 0.45, \"right_y\": 0.055, \"right_z\": 0.01, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The knob is still slightly ahead of the gripper in the wrist view; the last motion was clamped short. Continuing forward and down to bring the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01GZVzbmpuVS7UrHXtjYipKW",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01GZVzbmpuVS7UrHXtjYipKW"
}{
"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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.1555, 1.9087, 0.6559, 0.6216, 0.0776, 0.0227, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0023 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4363 right_y=0.0581 right_z=0.002 right_yaw=0.0685 right_pitch=-0.0701 right_roll=-0.0297 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5248, 7.1316, 1.7216, -0.0757, -0.0611, -0.0073, -1.0188, -7.1043, 5.1487, 1.37, 0.0855, -0.0122, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:082ec566528c94d0271e480a52023b6bff5ea51f7b97bed7d04fa50e917ff1e6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:81b8e92c6f0c46499b1cde3f255eb2993cf4441ea1c2a78a4030ccd3f6bf4250"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:32d06224372e51fd34a7cd2a40add2a88e0011fee87c1211935407baa5ba0482"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 14.72 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1581, 1.599, 0.588, 0.2779, 0.0845, 0.0402, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3883 right_y=0.0504 right_z=0.0357 right_yaw=0.0547 right_pitch=-0.1709 right_roll=-0.0301 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.3231, 1.7314, -0.0855, -0.0659, -0.0122, -0.759, -6.694, 7.1726, 1.8486, 0.0464, -0.022, -0.105]\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\": 0.455, \"right_y\": 0.058, \"right_z\": -0.01, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the knob at the bottom center between the jaws' path. Descending slightly and edging forward so the open jaws straddle the knob before closing.\"}",
"name": "move_to"
},
"id": "toolu_01VkcavBvLBi9KEZzRf5nDkZ",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01VkcavBvLBi9KEZzRf5nDkZ"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1555, 1.9999, 0.6746, 0.7803, 0.0742, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4543 right_y=0.0616 right_z=0.0015 right_yaw=0.0781 right_pitch=0.0156 right_roll=-0.0309 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3744, 7.0769, 1.6874, -0.0757, -0.0806, -0.0122, -0.9915, -6.4068, 4.7248, 1.326, 0.0171, -0.0122, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:112fcb36751146a842589907d55d338c1489e8eaf518848900cb4952a6de0412"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c4f06cf770257134fb247409792b074cdd827395bfd2fe33596b0ad1ef40684"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7630f8af6dd3878d32752c51f0dbeb0de527a171d5d22de0ac32351c81f874b7"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 10.01 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, 0.8093, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.1555, 1.9087, 0.6559, 0.6216, 0.0776, 0.0227, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0023 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4363 right_y=0.0581 right_z=0.002 right_yaw=0.0685 right_pitch=-0.0701 right_roll=-0.0297 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5248, 7.1316, 1.7216, -0.0757, -0.0611, -0.0073, -1.0188, -7.1043, 5.1487, 1.37, 0.0855, -0.0122, -0.105]\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\": 0.458, \"right_y\": 0.063, \"right_z\": -0.018, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The blue piece is now at the bottom edge of the wrist camera, meaning the gripper is nearly above the knob. Descending to grasp height with jaws open.\"}",
"name": "move_to"
},
"id": "toolu_01FVMRAA88FJA98aFnrx8py6",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01FVMRAA88FJA98aFnrx8py6"
}{
"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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.1574, 2.0399, 0.6868, 0.8463, 0.0742, 0.0093, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9995 right_x=0.4621 right_y=0.0637 right_z=0.0019 right_yaw=0.0805 right_pitch=0.0536 right_roll=-0.029 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4974, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122, 0.1436, -6.2701, 4.9026, 1.116, 0.0024, -0.0269, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b310c6d9cf8e7bab12fe12a8a862413e3ac553b10c717bcb39f056584441e172"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4548fdd5f2fdaa5f340b72253e07cf80be53cdf2f9b7857b46f840ed6cb2dcc6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:19937e58bd99d8308b2f4291a7760ea99688fc7728ff29f95c5e19c089495c57"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 16.97 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, 0.8101, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1555, 1.9999, 0.6746, 0.7803, 0.0742, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4543 right_y=0.0616 right_z=0.0015 right_yaw=0.0781 right_pitch=0.0156 right_roll=-0.0309 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3744, 7.0769, 1.6874, -0.0757, -0.0806, -0.0122, -0.9915, -6.4068, 4.7248, 1.326, 0.0171, -0.0122, -0.105]",
"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\": 0.065, \"right_z\": -0.02, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The blue disc is centered at the bottom of the wrist view but the z did not track down; commanding lower again to bring the jaws around the center knob before closing.\"}",
"name": "move_to"
},
"id": "toolu_01PQkfTsfWcdv6bF89pwq7Nf",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01PQkfTsfWcdv6bF89pwq7Nf"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1585, 2.067, 0.7105, 0.8688, 0.0742, 0.0059, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0023 left_pitch=-0.0244 left_roll=-0.003 left_gripper=0.9994 right_x=0.4697 right_y=0.0654 right_z=0.0023 right_yaw=0.0834 right_pitch=0.0726 right_roll=-0.0306 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.388, 7.1316, 1.6874, -0.0757, -0.0464, -0.0171, -0.2803, -6.2291, 4.9983, 1.3162, -0.022, 0.0171, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6dc60c680905e752e33f0b6cbaf995dbcb4fc8c4211d103bcc5afc3dd3c5b29b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:006ab07c0737c41c322e35e958a03c676c6b3f7cbbb842cc832983d74e516812"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:12315a46480369aef6ed097d45162ae77549676a91f4464fb7be47761dff9302"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 13.82 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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.1574, 2.0399, 0.6868, 0.8463, 0.0742, 0.0093, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9995 right_x=0.4621 right_y=0.0637 right_z=0.0019 right_yaw=0.0805 right_pitch=0.0536 right_roll=-0.029 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4974, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122, 0.1436, -6.2701, 4.9026, 1.116, 0.0024, -0.0269, -0.105]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.468, \"right_y\": 0.065, \"right_z\": -0.02, \"right_pitch\": 0.1, \"right_gripper\": 1}, \"note\": \"The blue disc sits between the jaw tips in the wrist view, but z isn't tracking down. Allowing a small forward pitch and re-commanding the descent so the jaws drop around the center knob.\"}",
"name": "move_to"
},
"id": "toolu_01AamZZpC5cAEBCdsZYzAcse",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01AamZZpC5cAEBCdsZYzAcse"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1585, 2.1231, 0.7147, 0.9733, 0.0738, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9994 right_x=0.4763 right_y=0.0666 right_z=0.0011 right_yaw=0.0863 right_pitch=0.1251 right_roll=-0.0316 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6777, -0.0757, -0.0757, -0.0122, -0.253, -6.8444, 2.5094, 0.4908, -0.0171, 0.0317, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:58ff34f7d42d25598889caf0e6149d5e200df2149ae597cae36783aa9198749f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e9dcd0eae2f8b4693e9be1336e9ce0d8468dde2a5d74ff76413e1fe8c3722be1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:277a188a773933246fc11da603baa62233f8b74b8dfd6b7a303b8c7bd717349b"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 12.85 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, 0.8135, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1585, 2.067, 0.7105, 0.8688, 0.0742, 0.0059, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0023 left_pitch=-0.0244 left_roll=-0.003 left_gripper=0.9994 right_x=0.4697 right_y=0.0654 right_z=0.0023 right_yaw=0.0834 right_pitch=0.0726 right_roll=-0.0306 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.388, 7.1316, 1.6874, -0.0757, -0.0464, -0.0171, -0.2803, -6.2291, 4.9983, 1.3162, -0.022, 0.0171, -0.105]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.3}, \"note\": \"The blue disc has passed below the wrist camera's field of view, suggesting the knob is now between the jaws at table height. Closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_013w8DfbJM1HMTuCphJJd2Rb",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_013w8DfbJM1HMTuCphJJd2Rb"
}{
"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, 0.8158, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.1585, 2.1574, 0.7029, 1.0824, 0.07, 0.0029, 0.3058]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1736 left_yaw=0.0019 left_pitch=-0.0267 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4791 right_y=0.0677 right_z=0.0061 right_yaw=0.0875 right_pitch=0.1878 right_roll=-0.0231 right_gripper=0.3058\nstate[joint_eff]: [-0.3624, -1.5385, 7.0769, 1.6874, -0.0366, -0.0464, -0.0122, -0.0889, -7.5829, 2.9333, 1.3602, 0.0366, -0.0073, 0.2271]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2afdf697717fc6afb650f0bf27a817e3d815d2a9270d78d821dc9760b21b0190"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d39370b4407bd7fb4282398a219e2ae821f5e9e681102afefa8119cc84e67a34"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 41):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:71eb9c588f7fbb66adfda6d91749f054be41e2c4f80af60c8109eb4adc1c0b4a"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 16.35 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, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1585, 2.1231, 0.7147, 0.9733, 0.0738, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9994 right_x=0.4763 right_y=0.0666 right_z=0.0011 right_yaw=0.0863 right_pitch=0.1251 right_roll=-0.0316 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6777, -0.0757, -0.0757, -0.0122, -0.253, -6.8444, 2.5094, 0.4908, -0.0171, 0.0317, -0.1001]\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_z\": 0.1, \"right_gripper\": 0.3}, \"note\": \"The gripper closed to about 0.3, which may have caught the knob. Lifting the arm to check whether the blue piece comes up with it.\"}",
"name": "move_to"
},
"id": "toolu_015skQqCxi2iJ4qiiBsnuKQD",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_015skQqCxi2iJ4qiiBsnuKQD"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1585, 1.8175, 0.7341, 0.762, 0.0662, -0.0017, 0.3013]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0023 left_pitch=-0.0305 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4814 right_y=0.0687 right_z=0.102 right_yaw=0.0925 right_pitch=0.2383 right_roll=-0.0226 right_gripper=0.3013\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7558, -0.0757, -0.0562, -0.0122, -0.2393, -7.1726, 6.2564, 1.4432, -0.0122, -0.0024, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d941650ef0965bf118b6756efdc533b4626a2fcfd70cb70707ba13c66920331"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ee8391060c1a928675d9bfeef1fb07432a6f493a6502f467e50ca582604a32e6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:585b07e11f50c5b36c16586cb7910e01a189fa2afe79cc1816853cafd9e619f4"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 43.47 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, 0.8158, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.1585, 2.1574, 0.7029, 1.0824, 0.07, 0.0029, 0.3058]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1736 left_yaw=0.0019 left_pitch=-0.0267 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4791 right_y=0.0677 right_z=0.0061 right_yaw=0.0875 right_pitch=0.1878 right_roll=-0.0231 right_gripper=0.3058\nstate[joint_eff]: [-0.3624, -1.5385, 7.0769, 1.6874, -0.0366, -0.0464, -0.0122, -0.0889, -7.5829, 2.9333, 1.3602, 0.0366, -0.0073, 0.2271]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.48, \"right_y\": 0.068, \"right_z\": -0.015, \"right_pitch\": 0.15, \"right_gripper\": 1}, \"note\": \"The lift shows the blue piece is still on the table (visible in the left camera), so the grasp missed. Reopening the gripper and descending again to the same spot, slightly lower this time.\"}",
"name": "move_to"
},
"id": "toolu_01FauBhUWqz3wAZ9gzWivhf9",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01FauBhUWqz3wAZ9gzWivhf9"
}{
"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, 0.8253, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1585, 2.1731, 0.7227, 1.0702, 0.0597, -0.0101, 0.9949]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.171 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4826 right_y=0.0701 right_z=0.0023 right_yaw=0.1034 right_pitch=0.1795 right_roll=-0.032 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.4838, 7.241, 1.6728, -0.0464, -0.0562, -0.0122, -0.4991, -7.3094, 3.959, 1.0476, -0.0513, 0.3346, -0.1832]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3f6f2aea3befb32bb6e40ea62e5846e2cb447b28154b5c5efbbc53d5bf1fe669"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8110e42110b7f3ea373606eaaaa95c40b7522b7766a0a97d9b227454036916c9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 56):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78da297c6b84df0cb8530d9206fa98ac91957eacc5e6022ae35f2b5e654c60a2"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 12.9 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, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1585, 1.8175, 0.7341, 0.762, 0.0662, -0.0017, 0.3013]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0023 left_pitch=-0.0305 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4814 right_y=0.0687 right_z=0.102 right_yaw=0.0925 right_pitch=0.2383 right_roll=-0.0226 right_gripper=0.3013\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7558, -0.0757, -0.0562, -0.0122, -0.2393, -7.1726, 6.2564, 1.4432, -0.0122, -0.0024, 0.1197]\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\": 0.462, \"right_y\": 0.068, \"right_z\": -0.02, \"right_pitch\": 0.15, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue piece just below the bottom edge of view, suggesting I overshot forward slightly on the last attempt. Backing up ~2 cm and descending fully so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_019YCoEbLcUMuuAS3KKKkhv5",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_019YCoEbLcUMuuAS3KKKkhv5"
}{
"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, 0.8265, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.1593, 2.1929, 0.6884, 1.1633, 0.0593, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1707 left_yaw=0.0019 left_pitch=-0.0374 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4774 right_y=0.0697 right_z=0.0038 right_yaw=0.1064 right_pitch=0.2183 right_roll=-0.0338 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.1556, 7.2274, 1.7216, -0.0366, -0.0562, -0.0122, 0.3487, -7.4735, 2.6325, 0.9988, 0.022, 0.0659, -0.1294]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:489c0f6e7dce1aed889c78425d4af7860d67f0a3aad0336b2fbd389400acc0d2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bd8fcc7c1d2e3d65f84594026b6280d5de715d458075d1c08c07cd7064415332"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:72cfaab3ead2cd9ca4ca0a4f0c031fdba15604e9925a52d3900471fecbd4e04d"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 30.43 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, 0.8253, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1585, 2.1731, 0.7227, 1.0702, 0.0597, -0.0101, 0.9949]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.171 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4826 right_y=0.0701 right_z=0.0023 right_yaw=0.1034 right_pitch=0.1795 right_roll=-0.032 right_gripper=0.9949\nstate[joint_eff]: [-0.0205, -1.4838, 7.241, 1.6728, -0.0464, -0.0562, -0.0122, -0.4991, -7.3094, 3.959, 1.0476, -0.0513, 0.3346, -0.1832]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.448, \"right_y\": 0.068, \"right_z\": -0.02, \"right_pitch\": 0.1, \"right_gripper\": 1}, \"note\": \"The wrist camera shows a blue sliver at the very bottom between the jaws, so the piece is slightly behind the grasp point. Pulling back ~3 cm while staying low so the knob ends up between the fingertips.\"}",
"name": "move_to"
},
"id": "toolu_017Lz8LEJzDF4jctX2F2hWhm",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_017Lz8LEJzDF4jctX2F2hWhm"
}{
"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, 0.8268, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1593, 2.1929, 0.667, 1.198, 0.0586, -0.0158, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1706 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4733 right_y=0.0692 right_z=0.0053 right_yaw=0.1077 right_pitch=0.2316 right_roll=-0.0343 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.4017, 7.0632, 1.6777, -0.0659, -0.0513, -0.0122, -0.0068, -7.1726, 2.359, 1.409, -0.0317, 0.0024, -0.1294]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6906ee397a8537a15d9d69e1e21d637c598a54577e619daa89cfd9bb80a212dc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:525467b2680cd01cf25e3c6ad9ac10319b5ea077bcc96e4f66ceae2eea2ec04a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94b3078a52d9543c491fad86df2f70f0f5eccd802dacf6a0bf2e1eed062a4419"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 9.73 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, 0.8265, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.1593, 2.1929, 0.6884, 1.1633, 0.0593, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1707 left_yaw=0.0019 left_pitch=-0.0374 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4774 right_y=0.0697 right_z=0.0038 right_yaw=0.1064 right_pitch=0.2183 right_roll=-0.0338 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.1556, 7.2274, 1.7216, -0.0366, -0.0562, -0.0122, 0.3487, -7.4735, 2.6325, 0.9988, 0.022, 0.0659, -0.1294]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.1}, \"note\": \"Both wrist cameras now show the blue piece directly below between the jaws, and z has bottomed out near the table. Closing the gripper firmly on the center knob.\"}",
"name": "move_to"
},
"id": "toolu_016Fs8E4BAECXMbXpSPnLxNK",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_016Fs8E4BAECXMbXpSPnLxNK"
}{
"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, 0.8268, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1593, 2.1948, 0.667, 1.224, 0.0589, -0.0151, 0.1428]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1706 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4751 right_y=0.0694 right_z=0.0105 right_yaw=0.1067 right_pitch=0.2556 right_roll=-0.0324 right_gripper=0.1428\nstate[joint_eff]: [-0.3214, -1.4154, 7.159, 1.7167, -0.0513, -0.0415, -0.0073, -0.0615, -9.5385, 3.6581, 1.6435, 0.1099, -0.0415, 0.525]\napprover: 9 step(s) modified (delta_clamped ×9).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8f073bf236e44462f7958d17b314124da6e15cfe0d934e010ccca52dc4e3404a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b2a52da6873c76e7171ae8a84f31efe791f616a7017a1b105dbe20f2f915a56"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e42e3afe11fcd2c6c33f75ebc9536f19e402d2630d451e4a7165b4a4b8d58c36"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 14.65 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, 0.8268, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1593, 2.1929, 0.667, 1.198, 0.0586, -0.0158, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1706 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4733 right_y=0.0692 right_z=0.0053 right_yaw=0.1077 right_pitch=0.2316 right_roll=-0.0343 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.4017, 7.0632, 1.6777, -0.0659, -0.0513, -0.0122, -0.0068, -7.1726, 2.359, 1.409, -0.0317, 0.0024, -0.1294]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.12, \"right_gripper\": 0.1}, \"note\": \"The gripper closed to ~0.14 with rising gripper effort, suggesting the knob is grasped. Lifting to verify the blue piece comes up with the gripper.\"}",
"name": "move_to"
},
"id": "toolu_0162pZQrJK7K1PYKNBt4mrx8",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_0162pZQrJK7K1PYKNBt4mrx8"
}{
"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, 0.8314, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1593, 1.7947, 0.6872, 0.7826, 0.0505, -0.0158, 0.1398]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1694 left_yaw=0.0023 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4704 right_y=0.0702 right_z=0.0986 right_yaw=0.1147 right_pitch=0.2345 right_roll=-0.0315 right_gripper=0.1398\nstate[joint_eff]: [0.0068, -1.2923, 7.2274, 1.7216, -0.0562, -0.0317, -0.0073, -0.2803, -10.0855, 8.1026, 1.9853, 0.0415, -0.0562, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:69d36a075f058421d8740f35faf53db3d52e134d04a2f076935d6ec9b8c555cd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4f37cd786cb2d056d54a31e05c6c469d615f0b9be1d3a5ab16ccff033a0b455"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c678105de2bbdccb625d6941c2c9c3139826660a01eab13c368534ed2ca43172"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 14.19 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, 0.8268, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1593, 2.1948, 0.667, 1.224, 0.0589, -0.0151, 0.1428]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1706 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4751 right_y=0.0694 right_z=0.0105 right_yaw=0.1067 right_pitch=0.2556 right_roll=-0.0324 right_gripper=0.1428\nstate[joint_eff]: [-0.3214, -1.4154, 7.159, 1.7167, -0.0513, -0.0415, -0.0073, -0.0615, -9.5385, 3.6581, 1.6435, 0.1099, -0.0415, 0.525]\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\": 0.42, \"right_y\": 0.2, \"right_z\": 0.12, \"right_gripper\": 0.1}, \"note\": \"The gripper effort rose and the blue piece is no longer on the table in the top view, so the knob appears grasped. Moving toward the white board with the circular groove, which lies to the arm's left.\"}",
"name": "move_to"
},
"id": "toolu_01LtP1dhEsvsj9wdgMjE4wSE",
"type": "function"
}
]
}{
"content": "executing move_to over 11 steps (1.1s)",
"role": "tool",
"tool_call_id": "toolu_01LtP1dhEsvsj9wdgMjE4wSE"
}{
"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, 0.8314, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.5938, 1.7523, 0.7113, 0.6346, 0.4202, 0.1146, 0.1398]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1694 left_yaw=0.0023 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4162 right_y=0.1983 right_z=0.0993 right_yaw=0.1639 right_pitch=0.1892 right_roll=-0.0561 right_gripper=0.1398\nstate[joint_eff]: [-0.1983, -1.4838, 7.1726, 1.7558, -0.0464, -0.0562, -0.0122, 0.3624, -9.5795, 7.9521, 1.7363, 0.2955, 0.1148, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6bf94a7e6595d1bab78698141611df77555e09ef1e5263654376117cef664405"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5d73f097ad4b3e278c884ca817f48eac9bc7d110fda2d303d4eb68514d9c98e0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cfdfa2ce4c693ca39d69ae7484460719ca293c7ea2806bda2abfbe423068e058"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 13.21 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, 0.8314, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1593, 1.7947, 0.6872, 0.7826, 0.0505, -0.0158, 0.1398]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1694 left_yaw=0.0023 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4704 right_y=0.0702 right_z=0.0986 right_yaw=0.1147 right_pitch=0.2345 right_roll=-0.0315 right_gripper=0.1398\nstate[joint_eff]: [0.0068, -1.2923, 7.2274, 1.7216, -0.0562, -0.0317, -0.0073, -0.2803, -10.0855, 8.1026, 1.9853, 0.0415, -0.0562, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.28, \"right_z\": 0.08, \"right_gripper\": 0.1}, \"note\": \"The top camera shows the white board with the circular groove to the left of the gripper, which is holding the blue piece. Continuing left over the board and lowering slightly to line up the drop.\"}",
"name": "move_to"
},
"id": "toolu_01CGYPTNDiferGPveQjT8gDk",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01CGYPTNDiferGPveQjT8gDk"
}{
"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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.7624, 1.9568, 0.9047, 0.5869, 0.5442, 0.1734, 0.1398]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4157 right_y=0.2754 right_z=0.0745 right_yaw=0.2016 right_pitch=0.164 right_roll=-0.0758 right_gripper=0.1398\nstate[joint_eff]: [-0.3624, -1.5932, 7.0496, 1.6972, -0.0855, -0.0366, -0.0122, 0.4034, -8.9368, 6.8581, 1.7705, 0.3492, 0.2076, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3768ae13dafeb8edd81929e17bbe17f3e50b0eff0fa0f672bc2f8cc81c3f618c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bc3e9b7d014cc4839022efc2cf069b151ed8e58fb6dba8d0fb7fcf0568a5ce6b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 97):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:96f4cc078524d25ef0b5f4208556b91ebc399f995ff8126367ce1a2e71df327f"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 13.72 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the 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, 0.8314, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.5938, 1.7523, 0.7113, 0.6346, 0.4202, 0.1146, 0.1398]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1694 left_yaw=0.0023 left_pitch=-0.0419 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4162 right_y=0.1983 right_z=0.0993 right_yaw=0.1639 right_pitch=0.1892 right_roll=-0.0561 right_gripper=0.1398\nstate[joint_eff]: [-0.1983, -1.4838, 7.1726, 1.7558, -0.0464, -0.0562, -0.0122, 0.3624, -9.5795, 7.9521, 1.7363, 0.2955, 0.1148, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.3, \"right_z\": 0.04, \"right_gripper\": 0.1}, \"note\": \"The gripper with the blue piece is now over the white board; the dark circular groove appears just left of the gripper in the wrist view. Shifting a bit further left and lowering toward the groove.\"}",
"name": "move_to"
},
"id": "toolu_01KJQu41Hj683JLUfyfFG14X",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01KJQu41Hj683JLUfyfFG14X"
}{
"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, 0.8352, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.7784, 2.109, 0.9855, 0.6224, 0.5537, 0.1761, 0.1398]\nstate[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1683 left_yaw=0.0023 left_pitch=-0.0461 left_roll=-0.0025 left_gripper=0.9994 right_x=0.425 right_y=0.2937 right_z=0.0381 right_yaw=0.2112 right_pitch=0.1362 right_roll=-0.0965 right_gripper=0.1398\nstate[joint_eff]: [-0.1983, -1.6479, 7.0085, 1.663, -0.0562, -0.0659, -0.0122, 0.2256, -11.0427, 6.6393, 2.083, 0.1978, 0.0269, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 100):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:18f479125a3e9e0a4b967fb7774cdf38e760745aa75b90679892a162c713c9c9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 100):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a379d37b051905fdb879d5cdd69c3f6f20aa8d3abbc03ca4bfaecaccb21eb975"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 100):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:590f8c625928c8f57f89c957c4104bacd46d73a8134e3b4b1b98d0c007c17a39"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 11.83 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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.7624, 1.9568, 0.9047, 0.5869, 0.5442, 0.1734, 0.1398]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4157 right_y=0.2754 right_z=0.0745 right_yaw=0.2016 right_pitch=0.164 right_roll=-0.0758 right_gripper=0.1398\nstate[joint_eff]: [-0.3624, -1.5932, 7.0496, 1.6972, -0.0855, -0.0366, -0.0122, 0.4034, -8.9368, 6.8581, 1.7705, 0.3492, 0.2076, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.31, \"right_z\": 0.005, \"right_gripper\": 0.1}, \"note\": \"The wrist camera shows the held blue piece hovering just over the dark circular groove in the white board. Lowering the piece down into the groove.\"}",
"name": "move_to"
},
"id": "toolu_018wP2hW8m4JR1nB2mpFkdjU",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_018wP2hW8m4JR1nB2mpFkdjU"
}{
"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, 0.8352, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.7795, 2.1433, 0.9897, 0.6292, 0.5491, 0.1757, 0.1397]\nstate[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1683 left_yaw=0.0023 left_pitch=-0.0458 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4239 right_y=0.2944 right_z=0.0239 right_yaw=0.2179 right_pitch=0.1153 right_roll=-0.1075 right_gripper=0.1397\nstate[joint_eff]: [-0.1573, -1.4017, 7.2274, 1.6923, -0.0611, -0.0611, -0.0122, 0.3897, -9.5248, 6.1744, 1.8437, 0.2125, -0.022, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 103):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1a499055c56160c218cbbdf81b66abb61fc4bfb118a3508a145e87d29cf52fb7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 103):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d0b92a8df4d56c324555ec7842f38aa95cd2358f6f70a8fb6e890622545d568e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 103):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fc31b46b6a5ca391ebb6f7b22085543d35d689c28fbab98d8226ed6229c52d88"
},
"type": "image_url"
}
],
"role": "user"
}