- 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
- 257.5 s
- total steps
- 81
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
give_up
Operator judgements
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 5
Raw transcript
step 9
Raw transcript
step 15
Raw transcript
step 19
Raw transcript
step 23
Raw transcript
step 26
Raw transcript
step 33
Raw transcript
step 35
Raw transcript
step 39
Raw transcript
step 43
Raw transcript
step 45
Raw transcript
step 48
Raw transcript
step 52
Raw transcript
step 64
Raw transcript
step 67
Raw transcript
step 70
Raw transcript
step 80
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 · 21.09 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6044, -0.3786, -0.0212, -0.0402, 0.9991, -0.0158, 0.7918, 0.6102, -0.3748, -0.0216, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1809 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0027 right_z=0.1845 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -1.3607, 10.3316, 1.8193, -0.0171, 0.2173, -0.105, -0.9094, -1.2103, 9.8256, 1.7314, -0.0122, -0.0024, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bcb4fbfb1b060489d90da5f5cae69a38f8e2dddedc81e9d04c47c387e2c2f69a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a88e40567a06bb5365388c208a3cb9a24b03454e631092a1c7882da6198d0a65"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:39abcafd781a624c5a0a6cc6acf9122e88eb60a6fde05c566c29206260bc3d24"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 9.501 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I see the blue puzzle piece with its knob just below center in the right wrist camera, so it appears to be slightly ahead of the right gripper. I'll move the right arm forward and down a bit to get a better view above it.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1.0}, \"note\": \"The blue round piece with a wooden knob appears just below image center in the right wrist camera, likely a few cm ahead of the gripper. Moving forward and lower to hover above it and refine the estimate.\"}",
"name": "move_to"
},
"id": "toolu_01EG9X7ZhKXDhnH2Zr2NPRpb",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01EG9X7ZhKXDhnH2Zr2NPRpb"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.606, -0.3805, -0.0216, -0.0414, 0.9991, -0.0204, 1.0145, 0.44, -0.0929, -0.0284, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1795 left_yaw=0.0013 left_pitch=-0.0069 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3128 right_y=0.0022 right_z=0.1009 right_yaw=0.0022 right_pitch=-0.1109 right_roll=0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5385, 6.9538, 1.7509, -0.0366, -0.0317, -0.022, -0.6769, -3.1795, 7.0359, 2.0098, -0.0855, -0.0806, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9e1d12027baeb4e421f0b91e3e31afb6bf14650454e23a32892a397dede05f18"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:eddfe905914c1e82603b2935a2cc56675d38f75cf77cea77747f72a0d6bb1a61"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:87d2ee5e917662f74f45661eb179dd8debdead6e16bdf20a1b8b4fc820cbe14b"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 13.81 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]: [-0.0204, 0.7925, 0.6044, -0.3786, -0.0212, -0.0402, 0.9991, -0.0158, 0.7918, 0.6102, -0.3748, -0.0216, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1809 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0027 right_z=0.1845 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -1.3607, 10.3316, 1.8193, -0.0171, 0.2173, -0.105, -0.9094, -1.2103, 9.8256, 1.7314, -0.0122, -0.0024, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.335, \"right_y\": 0.0, \"right_z\": 0.05, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now nearly centered in the right wrist camera, slightly above center, so the piece is just a bit ahead of the gripper. Descending toward the knob with the gripper open, nudging forward slightly.\"}",
"name": "move_to"
},
"id": "toolu_01FHKzQkC8P4sVX7FDgtsiPL",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01FHKzQkC8P4sVX7FDgtsiPL"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6048, -0.3809, -0.0216, -0.0418, 0.9991, -0.0227, 1.3048, 0.2539, 0.3275, -0.0334, -0.0151, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0122 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3095 right_y=0.0025 right_z=0.0208 right_yaw=0.0048 right_pitch=-0.1669 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4291, 7.2957, 1.7118, -0.0269, -0.0415, -0.0122, -0.8821, -5.1624, 6.4615, 2.2491, -0.1001, -0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d3fda2789c36c748c405776fe21e339946df0f6a665860c28e0450c687c7010"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef766f64bff6e0450cdd7c42c6f201bb6dc1d305191c59acd7c90cd70a399c56"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6d5e854f90e83242e38900f48610415f1478ce7208480a9e7acb1e265692e352"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 7.694 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, 0.606, -0.3805, -0.0216, -0.0414, 0.9991, -0.0204, 1.0145, 0.44, -0.0929, -0.0284, -0.0143, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1795 left_yaw=0.0013 left_pitch=-0.0069 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3128 right_y=0.0022 right_z=0.1009 right_yaw=0.0022 right_pitch=-0.1109 right_roll=0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5385, 6.9538, 1.7509, -0.0366, -0.0317, -0.022, -0.6769, -3.1795, 7.0359, 2.0098, -0.0855, -0.0806, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.345, \"right_y\": 0.0, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The gripper is now low (z\\u22480.02) and the knob shows above image center, meaning the piece is still a few cm ahead of the fingertips. Moving forward ~3.5 cm at low height to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01FKCRmMRHFjMiBqWsTpWMBt",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01FKCRmMRHFjMiBqWsTpWMBt"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6048, -0.3809, -0.0216, -0.0418, 0.9991, -0.0269, 1.4948, 0.2359, 0.6117, -0.0463, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3293 right_y=0.0029 right_z=0.012 right_yaw=0.012 right_pitch=-0.0903 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5658, 7.2547, 1.6777, -0.0659, -0.0757, -0.0122, -0.7726, -3.9726, 5.5863, 1.9756, -0.0317, -0.0513, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:14b4914677129f7703227a8f6dec1974cd93e50bc5b27701758b9a1679046704"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4d0a8967671692a0fb387fa6686d2086b7dd7f897c7fb37726f77fea3702605b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d9aba11086d67615aa06de47bb71d415b6d9a17f8142716cb70268e9b7d24938"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 10 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6048, -0.3809, -0.0216, -0.0418, 0.9991, -0.0227, 1.3048, 0.2539, 0.3275, -0.0334, -0.0151, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0122 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3095 right_y=0.0025 right_z=0.0208 right_yaw=0.0048 right_pitch=-0.1669 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4291, 7.2957, 1.7118, -0.0269, -0.0415, -0.0122, -0.8821, -5.1624, 6.4615, 2.2491, -0.1001, -0.0415, -0.0855]\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\": 0.37, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still above the jaws in the right wrist view, so the piece remains a few cm ahead; the arm only tracked to x=0.329. Continuing forward to x=0.37 at knob height.\"}",
"name": "move_to"
},
"id": "toolu_019extt1h2LLcTZpJudAvpCY",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_019extt1h2LLcTZpJudAvpCY"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3607, 7.0906, 1.6923, -0.0806, -0.0757, -0.0122, -0.8957, -4.4239, 5.4906, 2.0733, -0.0415, -0.0904, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d3bb7ec68ce1d9d23aab4a97c8ab01b7552bed810ffeda920a6a38205c4c313"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a3f03593dc783d07ce2ea7c934c1e44e821584dca20750e82466898411a8ccd8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:206b1fba88c0e1763a47c4d02a4d5c5e7e1616e43e6019e2580fd0b2a1ee7a2e"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 9.138 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, 0.8066, 0.6048, -0.3809, -0.0216, -0.0418, 0.9991, -0.0269, 1.4948, 0.2359, 0.6117, -0.0463, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3293 right_y=0.0029 right_z=0.012 right_yaw=0.012 right_pitch=-0.0903 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5658, 7.2547, 1.6777, -0.0659, -0.0757, -0.0122, -0.7726, -3.9726, 5.5863, 1.9756, -0.0317, -0.0513, -0.0855]\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\": 0.38, \"right_y\": 0.0, \"right_z\": 0.04, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm is only creeping forward (now x\\u22480.337) and the knob is still ahead of the jaws in the wrist view. Re-issuing a forward target at x=0.38 with slightly higher z to help the IK track.\"}",
"name": "move_to"
},
"id": "toolu_01KMTvN6maN9KBoqHaWMov5i",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01KMTvN6maN9KBoqHaWMov5i"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.2786, 7.2547, 1.6972, -0.0611, -0.0806, -0.0171, -0.8957, -4.3966, 5.2855, 2.0195, -0.0171, -0.0464, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ece76da1a7af9f6fdf5bceccdf732ceb378e0aa09e946acf9fff5ffee9a7a296"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b1715e25d8dad0fb420d6cc42f22812a7166d06d3410b1063f352604a126a8e3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 23):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:20bec925d39fd4939b20d22b61cf143024094e78b4b5d6a61ba713bcbd1d7884"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 9.754 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, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3607, 7.0906, 1.6923, -0.0806, -0.0757, -0.0122, -0.8957, -4.4239, 5.4906, 2.0733, -0.0415, -0.0904, -0.0855]\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\": 0.355, \"right_y\": 0.0, \"right_z\": 0.06, \"right_gripper\": 1.0}, \"note\": \"The arm didn't move at all on the last command (held at x\\u22480.337), suggesting the IK rejected the low, straight target. Trying a smaller forward step with a bit more height and leaving pitch free.\"}",
"name": "move_to"
},
"id": "toolu_01RUrsFLiUnfFjxPgkV51u75",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01RUrsFLiUnfFjxPgkV51u75"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2923, 7.0496, 1.7509, -0.0366, -0.0464, -0.0122, -0.759, -4.4239, 5.4085, 2.0391, 0.0171, -0.0464, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a59ae08ae6514e30f716e957d863a3cab6aa56c10c1677e70dbb252f02d34724"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f99f1c5c6c125cd912154621e934fe9d75c8ac5431fb3b3e53ace489983b872c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f85b401e5cdc11a4eaed35dee8020a3fe9dfd4e41dc13da107492d4b1374e25"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 17.84 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 17 changed as sent
message 17 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.2786, 7.2547, 1.6972, -0.0611, -0.0806, -0.0171, -0.8957, -4.3966, 5.2855, 2.0195, -0.0171, -0.0464, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.34, \"right_y\": 0.0, \"right_z\": 0.12, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The right arm is stuck and not responding to forward targets at low height (state unchanged for two commands). Lifting straight up to z=0.12 to free the arm, then I will re-approach the knob from directly above.\"}",
"name": "move_to"
},
"id": "toolu_018zGtk3YZQ87KRQVpAzS6rG",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_018zGtk3YZQ87KRQVpAzS6rG"
}{
"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, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0376, 1.1122, 0.4141, 0.1474, -0.0647, -0.0269, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.176 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3398 right_y=0.0022 right_z=0.1085 right_yaw=0.0223 right_pitch=0.0067 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.4701, 7.0496, 1.7851, -0.0757, -0.0611, -0.0171, -0.841, -3.959, 9.2103, 1.8193, -0.0317, 0.0513, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e6bb5315897ffc09bd3cd21a9f86cefb378c59e3abf81bc766d92336a6c82269"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6a88efac5ab48664e385045544a483b5393d841478ddb9de4f954633e8f43d35"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:76aa36c59189393bb4cca8b85445a056d8a3cce5e83580f026e744ad1d113440"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 9.99 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, 0.807, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0269, 1.5085, 0.2359, 0.6743, -0.0498, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3369 right_y=0.0033 right_z=0.0202 right_yaw=0.0148 right_pitch=-0.0415 right_roll=0.0137 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2923, 7.0496, 1.7509, -0.0366, -0.0464, -0.0122, -0.759, -4.4239, 5.4085, 2.0391, 0.0171, -0.0464, -0.0855]\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\": 0.365, \"right_y\": 0.0, \"right_z\": 0.1, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm freed up and lifted to z\\u22480.11; the knob now shows in the lower half of the right wrist view, close to the gripper. Moving forward ~2.5 cm at this height so the knob sits directly below the jaws before descending.\"}",
"name": "move_to"
},
"id": "toolu_01ELFbAkxQW7Fu2qbKBAt4Wx",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01ELFbAkxQW7Fu2qbKBAt4Wx"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6044, -0.3809, -0.0216, -0.0418, 0.9991, -0.0399, 1.2022, 0.4541, 0.1455, -0.0654, -0.0319, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0015 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3487 right_y=0.0012 right_z=0.0961 right_yaw=0.0233 right_pitch=-0.045 right_roll=0.0099 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -0.8, 7.4051, 1.7265, -0.0904, -0.0708, -0.0122, -0.5265, -3.6581, 7.2957, 1.4921, -0.1197, -0.022, -0.0806]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1e1a440e2f09b7ecb81acec335992d925dbd47a00788ec6920e59353251fa10e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:82f5a22a8f669882068c745dc3e71d8a30ecfb2ac531edca2b3fd79b4dd3a5bb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63733aa48e785a2cc9251ddbeb46db16bd603303ce88d9d273b7bfffd6ca828d"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 7.804 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6044, -0.3805, -0.0216, -0.0418, 0.9991, -0.0376, 1.1122, 0.4141, 0.1474, -0.0647, -0.0269, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.176 left_yaw=0.0015 left_pitch=-0.0187 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3398 right_y=0.0022 right_z=0.1085 right_yaw=0.0223 right_pitch=0.0067 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.4701, 7.0496, 1.7851, -0.0757, -0.0611, -0.0171, -0.841, -3.959, 9.2103, 1.8193, -0.0317, 0.0513, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is centered horizontally between the jaws in the right wrist view and sits in the lower half of the image, so it is roughly below the fingertips. Descending to knob height (z\\u22480.035) with the gripper open.\"}",
"name": "move_to"
},
"id": "toolu_015kwXcvjfFFhZczq7FZPoh1",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_015kwXcvjfFFhZczq7FZPoh1"
}{
"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, -0.3805, -0.0216, -0.0414, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1751 left_yaw=0.0013 left_pitch=-0.0217 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.031 right_pitch=-0.0644 right_roll=0.0132 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.5385, 7.241, 1.6923, -0.0513, -0.0464, -0.0122, -0.335, -5.1214, 7.5009, 2.1123, -0.0366, 0.0415, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d9ee1dd18fc0a6ba885c61de520f40681e46e8e14a5ae2d977747d60ba59d3b6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78c1ecbf5355400c57a897b6b2ced92b0b10249116eb3914a36abc18f1b3d664"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3ddf277276ad46998d6f0a17af2ced231a0cd158aafe537ba66b8c29dcc5ef84"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 13.6 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, 0.807, 0.6044, -0.3809, -0.0216, -0.0418, 0.9991, -0.0399, 1.2022, 0.4541, 0.1455, -0.0654, -0.0319, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0015 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3487 right_y=0.0012 right_z=0.0961 right_yaw=0.0233 right_pitch=-0.045 right_roll=0.0099 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -0.8, 7.4051, 1.7265, -0.0904, -0.0708, -0.0122, -0.5265, -3.6581, 7.2957, 1.4921, -0.1197, -0.022, -0.0806]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm only reached z\\u22480.08 on the last step; the knob remains centered between the jaws in the wrist camera. Re-issuing the descent to z=0.035 to bring the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01JywaQQxwNZRLoSo7KD1E7x",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01JywaQQxwNZRLoSo7KD1E7x"
}{
"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, -0.3805, -0.0216, -0.0418, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0217 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.0312 right_pitch=-0.0644 right_roll=0.0129 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.347, 7.0906, 1.7509, -0.0562, -0.0611, -0.0122, -0.6496, -5.1897, 7.4188, 2.0928, -0.0415, -0.0122, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13033aaf9538766191e582549f44fb546c232602e8f9f37d7a08f102ae34497d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3251012c66ec7d98d1542536a855e58fa6c94abb17be97d78051a6ea09ace5db"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 43):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1255812d55c473b9ded44c6b6bfa8da5f7dce20691e9082b3296ce2410c23094"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 10.9 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, 0.8116, 0.6041, -0.3805, -0.0216, -0.0414, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1751 left_yaw=0.0013 left_pitch=-0.0217 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.031 right_pitch=-0.0644 right_roll=0.0132 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.5385, 7.241, 1.6923, -0.0513, -0.0464, -0.0122, -0.335, -5.1214, 7.5009, 2.1123, -0.0366, 0.0415, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.358, \"right_y\": 0.001, \"right_z\": 0.06}, \"note\": \"The arm held at z\\u22480.08 again while the knob stays centered between the jaws in the right wrist camera; the controller seems to stall on larger downward steps. Taking a smaller 2 cm descent step without constraining pitch.\"}",
"name": "move_to"
},
"id": "toolu_01NTX6yG3LbLKWb9CM1Qd4Ho",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01NTX6yG3LbLKWb9CM1Qd4Ho"
}{
"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, 0.812, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1749 left_yaw=0.0015 left_pitch=-0.0221 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.0312 right_pitch=-0.0644 right_roll=0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -1.3607, 7.0222, 1.6923, -0.0659, -0.0757, -0.0122, -0.6222, -5.1761, 7.3094, 2.1074, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1afe41d1a1b85e7c4fcb8f0fb00573a6e73c562315e4620797ec9a0eb5985bf7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:40a04cd9c81142242fcfeaf26b0210017d4d7ba874e0c35644bc071bccd88562"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d6590fbcb7dc6c4b44e0d60bb368c8400d3bbb0ee6e6996f7b72959d13e03053"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 16.51 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, 0.8116, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0217 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.0312 right_pitch=-0.0644 right_roll=0.0129 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.347, 7.0906, 1.7509, -0.0562, -0.0611, -0.0122, -0.6496, -5.1897, 7.4188, 2.0928, -0.0415, -0.0122, -0.0855]\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\": 0.356, \"right_y\": 0.002, \"right_z\": 0.05, \"right_yaw\": 0.0, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The right arm remains stalled at z\\u22480.08 with the knob centered under the jaws in the wrist view. Explicitly zeroing yaw/pitch/roll along with a 3 cm descent to give the IK a clean, consistent target.\"}",
"name": "move_to"
},
"id": "toolu_017HCbx7SMv1Gn39raUydiuN",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_017HCbx7SMv1Gn39raUydiuN"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, -0.0231, 1.4147, 0.3412, 0.4198, -0.0471, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0015 left_pitch=-0.0236 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3446 right_y=0.004 right_z=0.0363 right_yaw=0.0237 right_pitch=-0.0966 right_roll=0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.4564, 7.0359, 1.6972, -0.0562, -0.0611, -0.0122, 0.6085, -5.4496, 6.2291, 2.3565, 0.105, 0.1783, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cafcac41f49e31c00670e9103350ac1d25c9fda110555b199d394a5d65066415"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d2b5e135161767cb3551a8f64b8606fbab875842613196bac561385f46c2439"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b397a97d745e3cafb1745c0a90de31b794da4dd9be577bda0ff65627b316edc7"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 13.82 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, 0.812, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, -0.0399, 1.2816, 0.4561, 0.2031, -0.0727, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1749 left_yaw=0.0015 left_pitch=-0.0221 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3555 right_y=0.0022 right_z=0.0823 right_yaw=0.0312 right_pitch=-0.0644 right_roll=0.0129 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -1.3607, 7.0222, 1.6923, -0.0659, -0.0757, -0.0122, -0.6222, -5.1761, 7.3094, 2.1074, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.368, \"right_y\": 0.003, \"right_z\": 0.028, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm reached z\\u22480.036 but slid back to x\\u22480.345; the knob in the wrist view is centered laterally but still slightly ahead of the jaw tips. Moving forward ~2 cm and slightly lower so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_0135kU6R3qqi9q7YhjjiFqQo",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_0135kU6R3qqi9q7YhjjiFqQo"
}{
"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, -0.0204, 1.5936, 0.3153, 0.6273, -0.0498, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1737 left_yaw=0.0015 left_pitch=-0.0267 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3505 right_y=0.0052 right_z=0.0094 right_yaw=0.0311 right_pitch=-0.0938 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.5521, 7.0222, 1.6923, -0.0708, -0.0464, -0.0171, -0.8137, -5.2308, 6.1607, 2.0391, -0.0708, 0.0073, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:83a0660229fa238e810ba2f2eaf705879e10bbd64a0faaff342a8bedf6c72fc9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0719a602e17227a7e08b4f04b01f783cf060262dafd23066d67937d3bc446e1e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:15ae22e1537dea77efb166592add979adc99076dcf679d92d00862de6b14bd70"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 12.32 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, -0.0231, 1.4147, 0.3412, 0.4198, -0.0471, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0015 left_pitch=-0.0236 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3446 right_y=0.004 right_z=0.0363 right_yaw=0.0237 right_pitch=-0.0966 right_roll=0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.4564, 7.0359, 1.6972, -0.0562, -0.0611, -0.0122, 0.6085, -5.4496, 6.2291, 2.3565, 0.105, 0.1783, -0.0855]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.004, \"right_z\": 0.03, \"right_pitch\": 0.25, \"right_gripper\": 1.0}, \"note\": \"Wrist camera shows the knob still ahead of the open jaws while the arm stalls near x\\u22480.35 at low height. Pushing forward to x=0.39 with a forward pitch of 0.25 rad to extend the fingertips over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01E4Z1dhWgUc3FRehm4zvTa9",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01E4Z1dhWgUc3FRehm4zvTa9"
}{
"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, 0.8188, 0.6041, -0.3813, -0.0216, -0.0418, 0.9991, -0.0204, 1.7164, 0.3084, 0.8135, -0.062, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0015 left_pitch=-0.0297 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3617 right_y=0.0071 right_z=0.0033 right_yaw=0.0411 right_pitch=-0.0371 right_roll=0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.1419, 7.0496, 1.6874, -0.0757, -0.0562, -0.0122, -0.8684, -4.9983, 2.5915, 1.4042, -0.0952, 0.0952, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9f552504791f3e2a6737bfea6734849050e9f58bc2943e6e6415c835ca92278d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:159ecb7b210f56d86eb319d89c1a95e84e183b7fda6a8ba4fc3dfd3a5cfd58f5"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 64):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c5554900710a8704c51e4d959a95d66fc5a9f23b8d8235f1d936ada6d9d8100"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 16.52 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, 0.8162, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, -0.0204, 1.5936, 0.3153, 0.6273, -0.0498, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1737 left_yaw=0.0015 left_pitch=-0.0267 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3505 right_y=0.0052 right_z=0.0094 right_yaw=0.0311 right_pitch=-0.0938 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.5521, 7.0222, 1.6923, -0.0708, -0.0464, -0.0171, -0.8137, -5.2308, 6.1607, 2.0391, -0.0708, 0.0073, -0.0855]\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\": 0.006, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The gripper is at z\\u22480.003 and joint-3 effort dropped sharply, so the fingertips are pressing on the table while the knob is still ahead of the jaws. Lifting 4 cm and pushing farther forward to x=0.40 to clear the table and get over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01NuCiv9wBZwPDWLUsz522cR",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01NuCiv9wBZwPDWLUsz522cR"
}{
"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, 0.8207, 0.6041, -0.3805, -0.0216, -0.0414, 0.9991, -0.0219, 1.7535, 0.3542, 0.8841, -0.0727, -0.038, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3836 right_y=0.008 right_z=0.0193 right_yaw=0.0506 right_pitch=0.0425 right_roll=0.0026 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5795, 7.0222, 1.7021, -0.0806, -0.0269, -0.0122, -0.2803, -8.9094, 6.7487, 2.3175, -0.0024, 0.0562, -0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26cc701dafd705b8ea775911b728b4d16378c58f22da2f5b1997dc32a4e98907"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:70b203368410f3eed57b95fea090d4b11812c85d9c4b50dacb7453f9184a4bc7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7eec57bdce5fce215d39637e7ba532f8fa5bcd76fd5f5f5037a6fe5ac0be0ca4"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 9.413 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, 0.8188, 0.6041, -0.3813, -0.0216, -0.0418, 0.9991, -0.0204, 1.7164, 0.3084, 0.8135, -0.062, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0015 left_pitch=-0.0297 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3617 right_y=0.0071 right_z=0.0033 right_yaw=0.0411 right_pitch=-0.0371 right_roll=0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.1419, 7.0496, 1.6874, -0.0757, -0.0562, -0.0122, -0.8684, -4.9983, 2.5915, 1.4042, -0.0952, 0.0952, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.008, \"right_z\": 0.025, \"right_pitch\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The knob is now just ahead of the jaw tips and centered in the right wrist camera; the top camera shows the piece sits at the right arm's limit. Pushing forward ~2.5 cm and down to knob height to get the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01JiVk8A6ofYF7AzAQKn42pv",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01JiVk8A6ofYF7AzAQKn42pv"
}{
"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, 0.8223, 0.6041, -0.3805, -0.0212, -0.0418, 0.9991, -0.0219, 1.7824, 0.3786, 0.8673, -0.0727, -0.0383, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1721 left_yaw=0.0012 left_pitch=-0.0324 left_roll=-0.0006 left_gripper=0.9991 right_x=0.3874 right_y=0.0079 right_z=0.0128 right_yaw=0.0508 right_pitch=0.0212 right_roll=0.0038 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.3607, 7.241, 1.6777, -0.0073, -0.0415, -0.0171, -0.0342, -6.4205, 4.9299, 2.2686, -0.0562, -0.0415, -0.0855]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2855043f177f48145654c52a4db1efc218f1d3df2aaad3de99a853d54f37cbb1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8ff8f984b59efc00fb2f8d7b14177e8e49a43ae40069cc0d057a6c840bbb6cd8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:29f5d2e5f8a138390be6832f7b752d88eb2fa020343cefb21a5136c01f34089d"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 15.63 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, 0.8207, 0.6041, -0.3805, -0.0216, -0.0414, 0.9991, -0.0219, 1.7535, 0.3542, 0.8841, -0.0727, -0.038, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3836 right_y=0.008 right_z=0.0193 right_yaw=0.0506 right_pitch=0.0425 right_roll=0.0026 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5795, 7.0222, 1.7021, -0.0806, -0.0269, -0.0122, -0.2803, -8.9094, 6.7487, 2.3175, -0.0024, 0.0562, -0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.008, \"right_z\": 0.012, \"right_gripper\": 0.0}, \"note\": \"The knob now appears between the jaw tips in the right wrist camera, at knob height. Nudging forward slightly and closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01FP7oJ7KKvcgZyNe5RsXvro",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01FP7oJ7KKvcgZyNe5RsXvro"
}{
"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, -0.3801, -0.0216, -0.0418, 0.9991, -0.0219, 1.7927, 0.3832, 0.8665, -0.0727, -0.0383, 0.011]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1723 left_yaw=0.0015 left_pitch=-0.0316 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3879 right_y=0.0079 right_z=0.0103 right_yaw=0.0508 right_pitch=0.0148 right_roll=0.0043 right_gripper=0.011\nstate[joint_eff]: [-0.3487, -1.4291, 7.0222, 1.7363, -0.0464, -0.0757, -0.0122, 0.1299, -5.3265, 5.7641, 1.6923, -0.0415, 0.0073, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0ee204f887cc9b7f6018bc8da99267beffc4ae0419a10957bdf9f4c183f8d26d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bd74c1a60ae4966b40d4cc2e9a4887e1a7136f56d1de663a2844adf9b05fd2c8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 80):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:182877245c8b53b333ea8cd75e9bad29fc19bfdd46e86ff95784e34ec029160e"
},
"type": "image_url"
}
],
"role": "user"
}