- policy
- agent
- embodiment
- yam_arms
- action_horizon
- 1
- api_key_env
- null
- base_url
- https://api.anthropic.com/v1
- depth
- render
- effort
- medium
- image_horizon
- 2
- images
- always
- max_llm_calls
- 20
- max_output_tokens
- null
- max_speed_frac
- 0.25
- model
- claude-fable-5-1
- pre_check
- null
- prior_learnings
- null
- prior_learnings_sha256
- null
- replan_interval
- null
- speed
- null
- temperature
- null
- transcript_echo
- false
- wire
- chat
- wire_capture
- true
- seed
- 0
- max steps
- 900
- duration
- 246.3 s
- total steps
- 100
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
done
Operator judgements
partial
Grader notes
trial 03
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 7
Raw transcript
step 11
Raw transcript
step 19
Raw transcript
step 27
Raw transcript
step 30
Raw transcript
step 39
Raw transcript
step 47
Raw transcript
step 57
Raw transcript
step 66
Raw transcript
step 70
Raw transcript
step 78
Raw transcript
step 80
Raw transcript
step 82
Raw transcript
step 84
Raw transcript
step 86
Raw transcript
step 89
Raw transcript
step 91
Raw transcript
step 99
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 · 13.06 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7929, 0.6044, -0.379, -0.0216, -0.038, 0.9992, -0.0181, 0.7914, 0.6094, -0.3763, -0.0235, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2957 right_y=0.0024 right_z=0.184 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -1.3607, 10.359, 1.8193, -0.0611, 0.1978, -0.0952, -0.5949, -1.1282, 9.8393, 1.7607, -0.0122, -0.0464, -0.1148]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:452f51a9993bcb3cba23d77029153191df239c54219ec987fbbb322ce5509bdf"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:204eda60dbc9e20450f187d460e7386d1e2695d0f98957d8da7dc07678e021c9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ea07696f8687c706f33653e09dc3d5cb9b326796839559236f6e0e1ab994cec6"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 21.49 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue round piece with its knob almost straight ahead of the right gripper on the table. Moving the right arm forward and lower to hover above it and check alignment.\"}",
"name": "move_to"
},
"id": "toolu_01M36aVDwKVrDBTd7TvYy1Po",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01M36aVDwKVrDBTd7TvYy1Po"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6052, -0.3809, -0.0216, -0.0414, 0.9991, -0.0185, 1.3159, 0.514, 0.1345, -0.028, -0.0143, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1791 left_yaw=0.0018 left_pitch=-0.0076 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3609 right_y=0.0019 right_z=0.0806 right_yaw=0.0039 right_pitch=-0.109 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0632, 1.7363, -0.0415, 0.0073, -0.0171, -0.1026, -5.5726, 6.7214, 1.9463, -0.022, -0.0806, -0.1148]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:50b8b2253c417105c60f1427b0c437bc0b78c99c087d94b31e94e38dec38c368"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9a5145fbc127ef6f32a5ec0ee32210302020199c9cd47aa8318b21a2c604f127"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f3e372b718bb1c1a6348747214f681cdded24a876102b0a0a2173772afd3a9c6"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 9.705 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7929, 0.6044, -0.379, -0.0216, -0.038, 0.9992, -0.0181, 0.7914, 0.6094, -0.3763, -0.0235, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2957 right_y=0.0024 right_z=0.184 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -1.3607, 10.359, 1.8193, -0.0611, 0.1978, -0.0952, -0.5949, -1.1282, 9.8393, 1.7607, -0.0122, -0.0464, -0.1148]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.02, \"right_z\": 0.04, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now visible slightly ahead and a bit left of the gripper center in the right wrist camera. Moving forward and lower, shifting slightly left, to bring the open jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_019WraDEwR3Bom8EaabQWT2W",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_019WraDEwR3Bom8EaabQWT2W"
}{
"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, 0.8021, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0521, 1.6054, 0.4377, 0.4797, 0.0082, 0.0078, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1776 left_yaw=0.002 left_pitch=-0.0122 left_roll=-0.0029 left_gripper=0.9991 right_x=0.3705 right_y=0.0215 right_z=0.0175 right_yaw=0.0317 right_pitch=-0.1298 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5111, 7.2274, 1.6923, -0.0708, -0.0611, -0.0122, 0.0205, -7.3915, 5.2034, 2.1514, 0.1392, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33a812f691bb3d1dd05fb9d76528a08e84f66cec3762a7e1cc8e53b3f109ce1b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10ff76696315fdbded43e00249c940f1b15a2a7de4dcfa0b2b77fde02b7b2e8d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2a7ec762ee4fb905dedf9e8b1ea7c56273338fb15e86a582fcf1fe673ae27ce4"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 8.61 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6052, -0.3809, -0.0216, -0.0414, 0.9991, -0.0185, 1.3159, 0.514, 0.1345, -0.028, -0.0143, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1791 left_yaw=0.0018 left_pitch=-0.0076 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3609 right_y=0.0019 right_z=0.0806 right_yaw=0.0039 right_pitch=-0.109 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0632, 1.7363, -0.0415, 0.0073, -0.0171, -0.1026, -5.5726, 6.7214, 1.9463, -0.022, -0.0806, -0.1148]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.372, \"right_y\": 0.022, \"right_z\": 0.005, \"right_gripper\": 0.2}, \"note\": \"The knob sits centered between the open jaws in the wrist camera, just slightly low. Lowering a little more and closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01VPYCUbP8AfTPxv8WQ3vyU6",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01VPYCUbP8AfTPxv8WQ3vyU6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8032, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.054, 1.6623, 0.4255, 0.5388, 0.0093, 0.0101, 0.2051]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.002 left_pitch=-0.013 left_roll=-0.0029 left_gripper=0.9991 right_x=0.3696 right_y=0.0219 right_z=0.0047 right_yaw=0.0313 right_pitch=-0.1398 right_roll=-0.0008 right_gripper=0.2051\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.6874, -0.0464, -0.0708, -0.0122, -0.0752, -4.7248, 4.6154, 1.8095, 0.0073, -0.022, 0.1685]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d2d30ecf05290a18660c1511e458da1a92e7a2b27174711676b6e100664557f1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:51a78e9d49dc9ee40fcf2557a55b3bce3adb9bf91c0fd8fa2e336649444a6f45"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed451e8d36c851bf55b2ebda4f4748ffa50177af34a71f02e75bd2f79b633f9a"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 7.663 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0521, 1.6054, 0.4377, 0.4797, 0.0082, 0.0078, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1776 left_yaw=0.002 left_pitch=-0.0122 left_roll=-0.0029 left_gripper=0.9991 right_x=0.3705 right_y=0.0215 right_z=0.0175 right_yaw=0.0317 right_pitch=-0.1298 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.5111, 7.2274, 1.6923, -0.0708, -0.0611, -0.0122, 0.0205, -7.3915, 5.2034, 2.1514, 0.1392, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.022, \"right_z\": 0.005, \"right_gripper\": 1.0}, \"note\": \"The jaws closed just short of the knob \\u2014 the knob is still visible ahead of the fingertips in the wrist camera. Reopening and moving about 2.5 cm forward to center the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01EUyXvAJ91Vi5nmYBY1kDM5",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01EUyXvAJ91Vi5nmYBY1kDM5"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.054, 1.7294, 0.5049, 0.527, -0.0017, 0.0025, 0.9947]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0171 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3897 right_y=0.025 right_z=0.0043 right_yaw=0.0449 right_pitch=-0.1394 right_roll=0.0005 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5795, 7.2, 1.707, -0.0806, -0.0708, -0.0122, -0.6085, -5.6684, 6.2974, 1.4872, 0.1294, 0.0562, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9471805e9fa0c53e8c158f356d8d5050d89a3ba2a161886b9677adbb4770db11"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78ab4ffdf902f46d91924122c6460940c1363929f290fb7d8e624b17935014e3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e3981897520df9665a4c34092c6e61f6eba842806e5f96d2deb657b522a8f05d"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 6.105 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8032, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.054, 1.6623, 0.4255, 0.5388, 0.0093, 0.0101, 0.2051]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.002 left_pitch=-0.013 left_roll=-0.0029 left_gripper=0.9991 right_x=0.3696 right_y=0.0219 right_z=0.0047 right_yaw=0.0313 right_pitch=-0.1398 right_roll=-0.0008 right_gripper=0.2051\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.6874, -0.0464, -0.0708, -0.0122, -0.0752, -4.7248, 4.6154, 1.8095, 0.0073, -0.022, 0.1685]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.03, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still ahead of the fingertips (between them but further forward in the wrist view). Moving another ~3 cm forward and slightly left so the knob sits between the jaw pads.\"}",
"name": "move_to"
},
"id": "toolu_01W5WmGZ2sdUHV2aGE3Wjo89",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01W5WmGZ2sdUHV2aGE3Wjo89"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8085, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0635, 1.8122, 0.5995, 0.5316, -0.0048, 0.0029, 0.9988]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0187 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4158 right_y=0.0309 right_z=0.0047 right_yaw=0.0569 right_pitch=-0.123 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -1.4017, 7.1863, 1.6923, -0.0806, -0.0366, -0.0122, 0.2393, -6.3795, 5.3538, 1.4921, 0.0464, 0.0415, -0.1343]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bcb907d76e74bc6d949fe06742f691ca7074cccda9d78ee4ab22ea9829c03f85"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c8920e611e14a037e42a50380214c910014b35e949ae542282e37c8dea5a14e9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:85a69591158199e0239aed3c6e01c870115f460cbb8a298a9a858e793b85a928"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 6.76 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 14 changed as sent
message 14 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.054, 1.7294, 0.5049, 0.527, -0.0017, 0.0025, 0.9947]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0171 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3897 right_y=0.025 right_z=0.0043 right_yaw=0.0449 right_pitch=-0.1394 right_roll=0.0005 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.5795, 7.2, 1.707, -0.0806, -0.0708, -0.0122, -0.6085, -5.6684, 6.2974, 1.4872, 0.1294, 0.0562, -0.0171]\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\": 0.425, \"right_y\": 0.032, \"right_z\": 0.0, \"right_gripper\": 0.1}, \"note\": \"The knob now sits between the two jaws near the fingertips in the wrist camera. Closing the gripper on the knob while nudging slightly forward.\"}",
"name": "move_to"
},
"id": "toolu_01J6WCPM3P4xbwyqy6hMF3Bc",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01J6WCPM3P4xbwyqy6hMF3Bc"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0658, 1.8362, 0.6186, 0.5591, -0.0048, -0.0086, 0.2392]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4243 right_y=0.0324 right_z=0.0068 right_yaw=0.0653 right_pitch=-0.1004 right_roll=-0.0061 right_gripper=0.2392\nstate[joint_eff]: [-0.1026, -1.3744, 7.0769, 1.7021, -0.0659, -0.0317, -0.0073, -0.1573, -5.6137, 6.106, 1.5263, -0.0611, 0.1197, 1.1306]\napprover: 9 step(s) modified (delta_clamped ×9).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f04e51f8187d67b0fd6145415da99d4f67f78fef3738ebfceac2701d2296d061"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:01aa220e308d99edcd87ca7ef730011e8152fee87fc5b7dc4a09f08e08420a99"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:080fc5f55e3b792f53f96f41899dc991fb5860f6c2e5da7e709b149dab6adb1e"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 23.37 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8085, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0635, 1.8122, 0.5995, 0.5316, -0.0048, 0.0029, 0.9988]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0187 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4158 right_y=0.0309 right_z=0.0047 right_yaw=0.0569 right_pitch=-0.123 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -1.4017, 7.1863, 1.6923, -0.0806, -0.0366, -0.0122, 0.2393, -6.3795, 5.3538, 1.4921, 0.0464, 0.0415, -0.1343]",
"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\": 0.03, \"right_z\": 0.12, \"right_gripper\": 0.2}, \"note\": \"The gripper stopped at 0.24 with elevated gripper effort and the knob appears clamped between the jaws. Lifting the piece straight up to clear the table.\"}",
"name": "move_to"
},
"id": "toolu_01MMApDsU1g5E8HgfgwyhSHW",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01MMApDsU1g5E8HgfgwyhSHW"
}{
"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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.065, 1.5154, 0.7742, 0.0658, -0.0059, -0.0135, 0.2403]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1753 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4181 right_y=0.0319 right_z=0.1003 right_yaw=0.0681 right_pitch=-0.1172 right_roll=-0.0093 right_gripper=0.2403\nstate[joint_eff]: [-0.2256, -1.3333, 7.2274, 1.7167, -0.0659, -0.0366, -0.0073, -0.841, -8.0479, 8.9504, 1.7851, -0.0708, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:271342088c15a11c01febf165e79703bc9c9268bbf6b84c267685afdb066b980"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f7a944675e5f9a15ada383df8a82c15be4b9cb645a2ca56fcb6757ec89ea7da"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1d333ef66676b2b0b71e1b137cb8156b3c44f310c0b73333fdee01a32268e0f0"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 12.87 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0658, 1.8362, 0.6186, 0.5591, -0.0048, -0.0086, 0.2392]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4243 right_y=0.0324 right_z=0.0068 right_yaw=0.0653 right_pitch=-0.1004 right_roll=-0.0061 right_gripper=0.2392\nstate[joint_eff]: [-0.1026, -1.3744, 7.0769, 1.7021, -0.0659, -0.0317, -0.0073, -0.1573, -5.6137, 6.106, 1.5263, -0.0611, 0.1197, 1.1306]\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\": 0.15, \"right_z\": 0.15, \"right_gripper\": 0.2}, \"note\": \"The piece is lifted and held by the knob; the board with the round groove is visible at the edge of the right wrist camera and, in the top camera, lies toward the left arm. Moving the right arm leftward (+y) and a bit higher to bring the board into view and confirm the direction.\"}",
"name": "move_to"
},
"id": "toolu_01UY1PsFcd5MuGNzmtyHWSjL",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01UY1PsFcd5MuGNzmtyHWSjL"
}{
"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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.4335, 1.5578, 1.005, -0.1749, 0.2413, 0.1883, 0.2403]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=0.0021 left_pitch=-0.0217 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4129 right_y=0.1486 right_z=0.1379 right_yaw=0.1175 right_pitch=-0.144 right_roll=-0.0191 right_gripper=0.2403\nstate[joint_eff]: [-0.212, -1.4291, 7.0632, 1.6923, -0.0415, -0.0708, -0.0122, 0.3077, -6.2017, 9.2513, 1.619, 0.3004, 0.1832, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:84c53fbee8c5abcf2ad3d1abc26d6af52a0bbb70ec5ab5dd60711258ab83e8da"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c2b2337e3929656189c05d41013a4dce9d9ba9c7bcce79bfb01589090723305e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d10f3b7ffdd125f67e5096141efe957ef55da2034104409abd8588a581e51295"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 8.327 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.065, 1.5154, 0.7742, 0.0658, -0.0059, -0.0135, 0.2403]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1753 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4181 right_y=0.0319 right_z=0.1003 right_yaw=0.0681 right_pitch=-0.1172 right_roll=-0.0093 right_gripper=0.2403\nstate[joint_eff]: [-0.2256, -1.3333, 7.2274, 1.7167, -0.0659, -0.0366, -0.0073, -0.841, -8.0479, 8.9504, 1.7851, -0.0708, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.25, \"right_z\": 0.13, \"right_gripper\": 0.2}, \"note\": \"The board with its circular groove is now visible at the left edge of the right wrist camera, about a piece-diameter-and-a-half to the left of the held piece. Moving the right arm further left (+y ~10 cm) and slightly back to hover over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01VV5dx69jQShKxPCJvYs6K9",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01VV5dx69jQShKxPCJvYs6K9"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.701, 1.7306, 1.1522, -0.2424, 0.4007, 0.3504, 0.2403]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0225 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3927 right_y=0.2459 right_z=0.1188 right_yaw=0.1604 right_pitch=-0.1812 right_roll=-0.0376 right_gripper=0.2403\nstate[joint_eff]: [-0.1436, -1.4427, 7.2, 1.6874, -0.0562, -0.0757, -0.0122, 0.3214, -8.1983, 9.1966, 1.453, 0.4176, 0.2027, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ea51843cf33f408a12c4e2022c2c0fcac6bdb31f6823a29a0720ea9647d02715"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:288825d7df71a62828cdf8db1a33248801e4efce5a93f878dc36ece941d65c65"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:04960fbba0ee6a631dd4adf236d454ecc537842c191590aaa6472e0e69067c2e"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 11.94 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.4335, 1.5578, 1.005, -0.1749, 0.2413, 0.1883, 0.2403]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=0.0021 left_pitch=-0.0217 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4129 right_y=0.1486 right_z=0.1379 right_yaw=0.1175 right_pitch=-0.144 right_roll=-0.0191 right_gripper=0.2403\nstate[joint_eff]: [-0.212, -1.4291, 7.0632, 1.6923, -0.0415, -0.0708, -0.0122, 0.3077, -6.2017, 9.2513, 1.619, 0.3004, 0.1832, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.29, \"right_z\": 0.06, \"right_gripper\": 0.2}, \"note\": \"The held piece now overlaps the groove but is still offset about 4 cm to the right of it in the wrist camera. Shifting left another 4 cm and descending partway toward the board.\"}",
"name": "move_to"
},
"id": "toolu_013AvDwiAvCSqxrE52uLRQwL",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_013AvDwiAvCSqxrE52uLRQwL"
}{
"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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7807, 1.916, 1.1545, -0.1429, 0.4339, 0.4, 0.2403]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1737 left_yaw=0.0021 left_pitch=-0.0263 left_roll=-0.0026 left_gripper=0.9991 right_x=0.384 right_y=0.2809 right_z=0.0539 right_yaw=0.1776 right_pitch=-0.2368 right_roll=-0.069 right_gripper=0.2403\nstate[joint_eff]: [-0.253, -1.6205, 7.2274, 1.7216, -0.0757, -0.0562, -0.0122, 0.2803, -10.865, 6.3932, 1.663, 0.4371, 0.1392, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:079b766b370cab28fcff871833aef5093a8d4aed30cf479951f510b81d429d8d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63d7d000ecc0ca9f9fb374f42d9bd60fa47a04c237e60c2dfe0644a3c05d68d7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:afdc2adcc4e902318422d8979e9fcb93f47b9ff81f38265551921b2a7cb67aed"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 9.074 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.701, 1.7306, 1.1522, -0.2424, 0.4007, 0.3504, 0.2403]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0225 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3927 right_y=0.2459 right_z=0.1188 right_yaw=0.1604 right_pitch=-0.1812 right_roll=-0.0376 right_gripper=0.2403\nstate[joint_eff]: [-0.1436, -1.4427, 7.2, 1.6874, -0.0562, -0.0757, -0.0122, 0.3214, -8.1983, 9.1966, 1.453, 0.4176, 0.2027, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.3, \"right_z\": 0.025, \"right_pitch\": 0.0, \"right_gripper\": 0.2}, \"note\": \"The piece now mostly covers the groove, still ~1.5 cm right of center, and the tool has pitched back a bit. Shifting slightly left, leveling the pitch, and lowering to just above the board.\"}",
"name": "move_to"
},
"id": "toolu_012WuvvzWMHjwqJ44kQVzSyQ",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_012WuvvzWMHjwqJ44kQVzSyQ"
}{
"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, 0.8177, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7982, 1.9404, 1.1515, -0.1169, 0.4385, 0.4122, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1733 left_yaw=0.0021 left_pitch=-0.0278 left_roll=-0.0026 left_gripper=0.9991 right_x=0.381 right_y=0.2885 right_z=0.0457 right_yaw=0.1848 right_pitch=-0.2357 right_roll=-0.0641 right_gripper=0.2403\nstate[joint_eff]: [-0.1573, -1.5111, 7.0632, 1.746, -0.0806, -0.0513, -0.0122, -0.3214, -10.7282, 6.5436, 1.6581, 0.4078, 0.105, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b682978ffef4f12027ea6698d8545998707bc68af7e4a6ff0cf660279bcd4401"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:925d8792e6dc61dc34385c67564f4bc0b65587808948a9348186906c9fece36b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 78):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b07e8809dc83c90a0dc73da4e146eadd043d2c78ee4a0533f6f5928234cc54a8"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 8.783 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 32 changed as sent
message 32 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8162, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7807, 1.916, 1.1545, -0.1429, 0.4339, 0.4, 0.2403]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1737 left_yaw=0.0021 left_pitch=-0.0263 left_roll=-0.0026 left_gripper=0.9991 right_x=0.384 right_y=0.2809 right_z=0.0539 right_yaw=0.1776 right_pitch=-0.2368 right_roll=-0.069 right_gripper=0.2403\nstate[joint_eff]: [-0.253, -1.6205, 7.2274, 1.7216, -0.0757, -0.0562, -0.0122, 0.2803, -10.865, 6.3932, 1.663, 0.4371, 0.1392, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.31, \"right_z\": 0.015, \"right_gripper\": 0.2}, \"note\": \"The arm tracked only partially; the piece still sits about 1.5 cm right and slightly short of the groove center in the wrist view. Commanding a bit further left and forward and lower so the piece drops into the groove.\"}",
"name": "move_to"
},
"id": "toolu_01TLnhZzk9vVsaUirTRLSVMs",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01TLnhZzk9vVsaUirTRLSVMs"
}{
"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, 0.8185, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7982, 1.9404, 1.1515, -0.1165, 0.4385, 0.4122, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0286 left_roll=-0.0026 left_gripper=0.9991 right_x=0.381 right_y=0.2886 right_z=0.0458 right_yaw=0.1848 right_pitch=-0.2354 right_roll=-0.0639 right_gripper=0.2403\nstate[joint_eff]: [-0.1846, -1.4427, 7.159, 1.7118, -0.0855, -0.0855, -0.0073, -0.294, -10.9744, 6.6803, 1.6532, 0.4322, 0.0952, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7aaf965d6be0ae0d6c033022edbcc5edab2f7e2ec386489b36189057dbd4dc22"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:44dd3b6e7419d7e9c5eb05e77c81dbca4cae9ab5a65b399289b80acd2e7bad6b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bb4e0f0934c8beb983f509758a62e9cccba19730c3a5ceee62da090a4921cd5c"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 10.93 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7982, 1.9404, 1.1515, -0.1169, 0.4385, 0.4122, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1733 left_yaw=0.0021 left_pitch=-0.0278 left_roll=-0.0026 left_gripper=0.9991 right_x=0.381 right_y=0.2885 right_z=0.0457 right_yaw=0.1848 right_pitch=-0.2357 right_roll=-0.0641 right_gripper=0.2403\nstate[joint_eff]: [-0.1573, -1.5111, 7.0632, 1.746, -0.0806, -0.0513, -0.0122, -0.3214, -10.7282, 6.5436, 1.6581, 0.4078, 0.105, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.3, \"right_z\": 0.03, \"right_yaw\": 0.18, \"right_pitch\": -0.2, \"right_roll\": 0.0, \"right_gripper\": 0.2}, \"note\": \"The arm did not move at all on the last command \\u2014 the IK appears stuck at this awkward pose. Trying a smaller step with the current yaw/pitch explicitly set and x pulled back slightly to free the solver.\"}",
"name": "move_to"
},
"id": "toolu_01DbSjv8sYqYvxyUQ2uFT33E",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01DbSjv8sYqYvxyUQ2uFT33E"
}{
"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, 0.8185, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 1.9469, 1.1191, -0.057, 0.4374, 0.4351, 0.2403]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1732 left_yaw=0.0021 left_pitch=-0.0282 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3775 right_y=0.2933 right_z=0.0398 right_yaw=0.1878 right_pitch=-0.2187 right_roll=-0.0343 right_gripper=0.2403\nstate[joint_eff]: [-0.3624, -1.2239, 7.0222, 1.6923, -0.0513, -0.0513, -0.0122, 0.9915, -8.0615, 5.3675, 1.6239, 0.232, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fcd817900678409aee3c2bf0775d6be21b20b95f7b412cee01adbbd61d3bc46a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5affc4f66b46baf7bc35418e163d15cde0519f39eb3c9ba67c580378bb8f5c60"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ff0e1fbf7c11868afa9753ef57b189d116494ab777ee018d25d32adce1a2feb9"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 8.847 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.7982, 1.9404, 1.1515, -0.1165, 0.4385, 0.4122, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0286 left_roll=-0.0026 left_gripper=0.9991 right_x=0.381 right_y=0.2886 right_z=0.0458 right_yaw=0.1848 right_pitch=-0.2354 right_roll=-0.0639 right_gripper=0.2403\nstate[joint_eff]: [-0.1846, -1.4427, 7.159, 1.7118, -0.0855, -0.0855, -0.0073, -0.294, -10.9744, 6.6803, 1.6532, 0.4322, 0.0952, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.392, \"right_y\": 0.308, \"right_z\": 0.022, \"right_yaw\": 0.19, \"right_pitch\": -0.2, \"right_roll\": 0.0, \"right_gripper\": 0.2}, \"note\": \"The arm is moving again; in the wrist view the piece is still about 1.5 cm right and 1.5 cm short of the groove center. Shifting left and forward by that amount while descending to just above the board.\"}",
"name": "move_to"
},
"id": "toolu_0186go4t8MhS6UNADQGcmziq",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_0186go4t8MhS6UNADQGcmziq"
}{
"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, 0.8185, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.8131, 2.0106, 1.1286, -0.0051, 0.4278, 0.4549, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0286 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3807 right_y=0.301 right_z=0.0211 right_yaw=0.1872 right_pitch=-0.2248 right_roll=-0.015 right_gripper=0.2403\nstate[joint_eff]: [-0.3214, -1.4017, 7.2821, 1.6825, -0.0611, -0.0611, -0.0122, -0.841, -9.265, 7.159, 1.3553, 0.1685, -0.0952, 1.0232]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:caa45575c6f7e8157854659f8ca4ecd8b489a8295e25d5c77a5704e680883abd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1509b396ef086284fa22b0e2cb5df73c7e41bfd4a1ac19a8724cbd4f698455c3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 84):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:302477b15589041ab4493afb42b3cfe1a2eb217976cf05cbcf39d312d4a9ac51"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 9.533 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 1.9469, 1.1191, -0.057, 0.4374, 0.4351, 0.2403]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1732 left_yaw=0.0021 left_pitch=-0.0282 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3775 right_y=0.2933 right_z=0.0398 right_yaw=0.1878 right_pitch=-0.2187 right_roll=-0.0343 right_gripper=0.2403\nstate[joint_eff]: [-0.3624, -1.2239, 7.0222, 1.6923, -0.0513, -0.0513, -0.0122, 0.9915, -8.0615, 5.3675, 1.6239, 0.232, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.32, \"right_z\": 0.02, \"right_yaw\": 0.19, \"right_pitch\": -0.2, \"right_roll\": 0.0, \"right_gripper\": 0.2}, \"note\": \"Wrist view shows the piece still overlapping the groove but offset ~2 cm toward the lower-right (short and to the right). Moving forward and left ~2 cm at the same height to center it over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01154fc4BAe4tkxnnVDGQaeD",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01154fc4BAe4tkxnnVDGQaeD"
}{
"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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 2.0289, 1.1442, 0.0166, 0.4225, 0.4446, 0.2403]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1724 left_yaw=0.0021 left_pitch=-0.0309 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3862 right_y=0.3059 right_z=0.021 right_yaw=0.1964 right_pitch=-0.2116 right_roll=-0.0078 right_gripper=0.2403\nstate[joint_eff]: [-0.3214, -1.5932, 7.1726, 1.7118, -0.0513, -0.0757, -0.0073, -0.5538, -9.1829, 7.0632, 1.5409, 0.1392, -0.0269, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d8be1d97bf7567beb7a15590e329a3cfc1cdacb2f712ba8f68ce5249c6e09fb"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de062eb9d56081d01440bcc4d4486cc49d339e6aa6e52be274d341de99f2bb60"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:690fb46658f069b8299951209cbe4b8b627e32d14262693e2f784dbf24d4b0ac"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 10.21 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.8131, 2.0106, 1.1286, -0.0051, 0.4278, 0.4549, 0.2403]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0286 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3807 right_y=0.301 right_z=0.0211 right_yaw=0.1872 right_pitch=-0.2248 right_roll=-0.015 right_gripper=0.2403\nstate[joint_eff]: [-0.3214, -1.4017, 7.2821, 1.6825, -0.0611, -0.0611, -0.0122, -0.841, -9.265, 7.159, 1.3553, 0.1685, -0.0952, 1.0232]",
"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\": 0.33, \"right_z\": 0.012, \"right_yaw\": 0.2, \"right_pitch\": -0.2, \"right_roll\": 0.0, \"right_gripper\": 0.2}, \"note\": \"The arm only tracks about half of each commanded offset; the piece is still ~1.5 cm right and short of the groove (groove appears up-left in the wrist view). Commanding a larger forward-left step and lowering slightly so the piece seats into the groove.\"}",
"name": "move_to"
},
"id": "toolu_013BEECScniNmi6AkhvJ2NXU",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_013BEECScniNmi6AkhvJ2NXU"
}{
"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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 2.0289, 1.1442, 0.0162, 0.4225, 0.445, 0.2403]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1724 left_yaw=0.0021 left_pitch=-0.0309 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3862 right_y=0.3059 right_z=0.0209 right_yaw=0.1961 right_pitch=-0.2119 right_roll=-0.0077 right_gripper=0.2403\nstate[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.6874, -0.0806, -0.0366, -0.0073, -0.7453, -9.4701, 7.2137, 1.5165, 0.1636, 0.0073, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5024902e0eaa9f65ba83ef051c97b07041dd7a7a14fd68464a09811e1f3a20e5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:392fdbabd3a26b1a4ae97bfd23f44756b55efd900b3f6057c57ee183908224aa"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5af33f792fecf2fe3cb8ab43d0c97be51e1cc34aea8d31a0258ee17e3a6fdd01"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 10.78 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8211, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 2.0289, 1.1442, 0.0166, 0.4225, 0.4446, 0.2403]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1724 left_yaw=0.0021 left_pitch=-0.0309 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3862 right_y=0.3059 right_z=0.021 right_yaw=0.1964 right_pitch=-0.2116 right_roll=-0.0078 right_gripper=0.2403\nstate[joint_eff]: [-0.3214, -1.5932, 7.1726, 1.7118, -0.0513, -0.0757, -0.0073, -0.5538, -9.1829, 7.0632, 1.5409, 0.1392, -0.0269, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.318, \"right_z\": 0.035, \"right_gripper\": 0.2}, \"note\": \"The arm did not move on the last command \\u2014 the solver is stuck again near this pose. Lifting slightly and stepping forward-left in small increments (position only) to free it and center the piece over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01HzAmRSpsMcujczoPmSAseC",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01HzAmRSpsMcujczoPmSAseC"
}{
"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, 0.8219, 0.6041, -0.3805, -0.0216, -0.0414, 0.9991, 0.8093, 2.0289, 1.1442, 0.0162, 0.4225, 0.4446, 0.2402]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0316 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3864 right_y=0.3056 right_z=0.0209 right_yaw=0.1955 right_pitch=-0.2119 right_roll=-0.008 right_gripper=0.2402\nstate[joint_eff]: [-0.1162, -1.5248, 7.0769, 1.7509, -0.0611, -0.0171, -0.0073, -0.6222, -9.4564, 7.241, 1.5116, 0.1636, -0.0171, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:517453f9a78f85745ac6abb7678ed8c16c503017d943d686fc8f77eccea8c1f7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:334e2c0724fc19d5d9c96a27e489aa23752ce07a3c40d444b55fbfdd8b4ff9e6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 91):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7dc0c778dad39fd1df4d47d4f30cbe963b243c921273db2d24eaf71d8a49e01c"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 22.59 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8211, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.8101, 2.0289, 1.1442, 0.0162, 0.4225, 0.445, 0.2403]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1724 left_yaw=0.0021 left_pitch=-0.0309 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3862 right_y=0.3059 right_z=0.0209 right_yaw=0.1961 right_pitch=-0.2119 right_roll=-0.0077 right_gripper=0.2403\nstate[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.6874, -0.0806, -0.0366, -0.0073, -0.7453, -9.4701, 7.2137, 1.5165, 0.1636, 0.0073, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.32, \"right_z\": 0.06, \"right_gripper\": 1.0}, \"note\": \"The arm is not responding to further position commands at this pose (likely the piece is resting on the board and the controller is holding). Releasing the gripper so the piece can settle into the groove, then lifting the arm clear.\"}",
"name": "move_to"
},
"id": "toolu_01YZNTjtGHu2CFCJY18tQPHY",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01YZNTjtGHu2CFCJY18tQPHY"
}{
"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, 0.6029, -0.3813, -0.0216, -0.0425, 0.9992, 0.8093, 2.0296, 1.272, -0.1284, 0.4145, 0.437, 0.9947]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9992 right_x=0.3958 right_y=0.3173 right_z=0.0445 right_yaw=0.2037 right_pitch=-0.2298 right_roll=-0.0187 right_gripper=0.9947\nstate[joint_eff]: [-0.2393, -1.7983, 7.1316, 1.6874, -0.0513, -0.0562, -0.0122, -0.2667, -12.1231, 8.9094, 1.2869, 0.2027, 0.1001, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:544debafbf241ba3260bb413bd5c84c87344f48744be3e3bcc7d2587f3fa1429"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2b08815b5397c0345d6110631c747db7344f81911e9d65a75fb2d7a908b0ce25"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 99):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:66c63ab09d46d57a7927ae73646974b3644ae0a1b47dac645f0763dc2a2dc8d8"
},
"type": "image_url"
}
],
"role": "user"
}