- 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
- 329.2 s
- total steps
- 103
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 6
Raw transcript
step 13
Raw transcript
step 19
Raw transcript
step 25
Raw transcript
step 32
Raw transcript
step 39
Raw transcript
step 42
Raw transcript
step 46
Raw transcript
step 49
Raw transcript
step 52
Raw transcript
step 58
Raw transcript
step 62
Raw transcript
step 66
Raw transcript
step 70
Raw transcript
step 76
Raw transcript
step 86
Raw transcript
step 94
Raw transcript
step 102
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 · 40.42 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, 0.7921, 0.6044, -0.3779, -0.0216, -0.0383, 0.9995, -0.0177, 0.791, 0.6094, -0.3759, -0.0208, -0.0132, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.3607, 10.359, 1.8242, -0.0562, 0.1783, -0.0659, -0.6222, -1.0872, 9.8256, 1.7558, -0.0366, -0.0366, -0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e2fa80456402f49683d870cae2e488eee5a299f5b569a8b70b42a30dff4f24f3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c0572abfc752b34ba2f8752e0ad5941d83208f17672fc6bcab4c25aa6edb8df7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:778d1c02bdab60d04ef6da238660e9aa30befde69457ed15d21f5dad290933bd"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 26.41 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I'll start by raising the right arm and moving slightly forward to get a clearer wrist-camera view of the blue piece and the board before descending.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.05, \"right_z\": 0.27, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece close to the gripper at lower-left and the white board farther ahead to the right. Raising and advancing the right arm to get a better overview before positioning above the knob.\"}",
"name": "move_to"
},
"id": "toolu_01P4X4j9aVNy4XsHEzSisxmD",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01P4X4j9aVNy4XsHEzSisxmD"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6064, -0.3805, -0.0212, -0.0422, 0.9994, 0.2031, 1.1233, 1.0435, -0.506, 0.131, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1799 left_yaw=0.0017 left_pitch=-0.0072 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3558 right_y=0.0534 right_z=0.2549 right_yaw=0.0455 right_pitch=-0.0223 right_roll=-0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 6.9128, 1.7558, -0.0611, 0.0122, -0.0171, 0.1299, -3.9179, 8.3761, 1.5702, 0.2271, 0.2076, -0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 6):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d47f51720f54bcfa86d98681fcb7dc92e8c9812dca85870fa66b68968e0cb49"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 6):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0c824fa8dacceeaa47eb17b3221ab3f307661f58954eb2590b893d488d664386"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 6):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:69c2327cb8790f1ba06dcae3b2891de02aeaaa43326eb07780ec4a90a2b873da"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 10.82 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, 0.7921, 0.6044, -0.3779, -0.0216, -0.0383, 0.9995, -0.0177, 0.791, 0.6094, -0.3759, -0.0208, -0.0132, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1811 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -1.3607, 10.359, 1.8242, -0.0562, 0.1783, -0.0659, -0.6222, -1.0872, 9.8256, 1.7558, -0.0366, -0.0366, -0.1001]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.08, \"right_z\": 0.16}, \"note\": \"The blue piece with its knob is visible at the bottom-left of the right wrist camera, slightly to the arm's left of the grasp point. Shifting left a few centimeters and lowering to line up above the knob.\"}",
"name": "move_to"
},
"id": "toolu_01P5xJ5Yw7GxJo6dufpfU9dB",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01P5xJ5Yw7GxJo6dufpfU9dB"
}{
"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, 0.6048, -0.3801, -0.0216, -0.0425, 0.9994, 0.3222, 1.1381, 0.6964, -0.2199, 0.2073, 0.1246, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1791 left_yaw=0.0022 left_pitch=-0.0091 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3407 right_y=0.0792 right_z=0.1521 right_yaw=0.0726 right_pitch=-0.0874 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.347, 7.3641, 1.7314, -0.0415, -0.0366, -0.0122, 0.1846, -3.0838, 7.3368, 1.9902, 0.1832, 0.2027, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e1c3bf397f56f0d56bd1622f89c05a963eb3e64b0c6c9a5e0e66195e829e047e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e2d0c277d0b6db6ba660c9884010e848fe80eb9de306efb4e78b1361caa1fc9a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0f1ae9dde5010fb5ce5071fa59a4fbdab64a8df8ad34a368413b36e69268c4b7"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 11.8 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, 0.7979, 0.6064, -0.3805, -0.0212, -0.0422, 0.9994, 0.2031, 1.1233, 1.0435, -0.506, 0.131, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1799 left_yaw=0.0017 left_pitch=-0.0072 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3558 right_y=0.0534 right_z=0.2549 right_yaw=0.0455 right_pitch=-0.0223 right_roll=-0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5248, 6.9128, 1.7558, -0.0611, 0.0122, -0.0171, 0.1299, -3.9179, 8.3761, 1.5702, 0.2271, 0.2076, -0.1001]",
"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\": 0.09, \"right_z\": 0.07}, \"note\": \"The knob is now between the two fingers in the wrist view, slightly left of center. Lowering toward the knob with a small left adjustment, keeping the gripper open.\"}",
"name": "move_to"
},
"id": "toolu_012jLmkHa3DxBkMEbi9kAGWa",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_012jLmkHa3DxBkMEbi9kAGWa"
}{
"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, 0.8001, 0.6048, -0.3801, -0.0216, -0.0425, 0.9994, 0.3645, 1.3121, 0.4679, 0.0914, 0.2234, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1786 left_yaw=0.0022 left_pitch=-0.0107 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3275 right_y=0.0869 right_z=0.0584 right_yaw=0.0927 right_pitch=-0.1726 right_roll=-0.0536 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3607, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.4718, -4.547, 6.2017, 1.8242, 0.2418, 0.0904, -0.0073]\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:04ab67615d3ad715db838c6fe324bf43542e8839ef617a38f3e954efe265674e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dfea93a6e9d394f47a6d4d570ab7791fc9316289e3f7436fe03d19d6144f0763"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5b20862344e6fb9b36d5b195824f75eade86cc9b7e2b31bb2867af6b1757f578"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 12.46 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, 0.7986, 0.6048, -0.3801, -0.0216, -0.0425, 0.9994, 0.3222, 1.1381, 0.6964, -0.2199, 0.2073, 0.1246, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1791 left_yaw=0.0022 left_pitch=-0.0091 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3407 right_y=0.0792 right_z=0.1521 right_yaw=0.0726 right_pitch=-0.0874 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.347, 7.3641, 1.7314, -0.0415, -0.0366, -0.0122, 0.1846, -3.0838, 7.3368, 1.9902, 0.1832, 0.2027, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.335, \"right_y\": 0.092, \"right_z\": 0.025, \"right_pitch\": 0.0, \"right_roll\": 0.0}, \"note\": \"The knob is centered between the finger tips in the wrist camera, and the tool has drifted to a backward pitch. Leveling the tool and lowering so the fingers straddle the knob at table level.\"}",
"name": "move_to"
},
"id": "toolu_01FFop3MhbbotpAPDn1rHaBQ",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01FFop3MhbbotpAPDn1rHaBQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3805, -0.0216, -0.0425, 0.9994, 0.3691, 1.536, 0.281, 0.5648, 0.2283, 0.1432, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1782 left_yaw=0.0022 left_pitch=-0.0122 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3216 right_y=0.0854 right_z=0.0075 right_yaw=0.0912 right_pitch=-0.1114 right_roll=-0.0334 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.3197, 7.0906, 1.7021, -0.0611, -0.0659, -0.0122, 0.1436, -4.588, 4.1778, 1.8926, 0.0904, 0.0171, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0db5f51774086eb08909e2f02033fe8f3ef34f642ab3a268f8c5ff44cfd4fefa"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:884a7980ce651730b3be67f1decb93b045841c2c6b8a43f5868a80860de9071a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8a0633f1bb03a311dc57f3037ee85b290a8578dfd8063a5f41231565bb41ad32"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 11.31 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, 0.8001, 0.6048, -0.3801, -0.0216, -0.0425, 0.9994, 0.3645, 1.3121, 0.4679, 0.0914, 0.2234, 0.1352, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1786 left_yaw=0.0022 left_pitch=-0.0107 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3275 right_y=0.0869 right_z=0.0584 right_yaw=0.0927 right_pitch=-0.1726 right_roll=-0.0536 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3607, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.4718, -4.547, 6.2017, 1.8242, 0.2418, 0.0904, -0.0073]\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\": 0.325, \"right_y\": 0.085, \"right_z\": -0.01, \"right_gripper\": 0.3}, \"note\": \"The knob sits between the open fingers in the wrist camera and the grasp point is near table height. Lowering slightly more and closing the gripper to grab the knob.\"}",
"name": "move_to"
},
"id": "toolu_01CTaLurjiB2N5DdhDWNBqCE",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01CTaLurjiB2N5DdhDWNBqCE"
}{
"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, -0.3805, -0.0216, -0.0425, 0.9994, 0.366, 1.6432, 0.2672, 0.7124, 0.2218, 0.1425, 0.3051]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1779 left_yaw=0.0022 left_pitch=-0.0133 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3268 right_y=0.0875 right_z=-0.0026 right_yaw=0.0947 right_pitch=-0.0868 right_roll=-0.0228 right_gripper=0.3051\nstate[joint_eff]: [-0.335, -1.388, 7.2274, 1.7314, -0.0513, -0.0317, -0.0122, -0.6359, -3.494, 4.4786, 1.2674, 0.0513, -0.0757, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:00c072d14440bf5330527738c1d204ac53a2628b4b5963dbe76a8a5fc1de8f2b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10d34625082c0fbfcd7955a9dfef088a9f7d498acc2acba90ebc9f83682bb968"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 32):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f030e545dd7a625e723899c28b57f5b9f84f1e3c638a1d21433740e7957e487f"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 13.11 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, 0.8013, 0.6048, -0.3805, -0.0216, -0.0425, 0.9994, 0.3691, 1.536, 0.281, 0.5648, 0.2283, 0.1432, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1782 left_yaw=0.0022 left_pitch=-0.0122 left_roll=-0.0033 left_gripper=0.9994 right_x=0.3216 right_y=0.0854 right_z=0.0075 right_yaw=0.0912 right_pitch=-0.1114 right_roll=-0.0334 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.3197, 7.0906, 1.7021, -0.0611, -0.0659, -0.0122, 0.1436, -4.588, 4.1778, 1.8926, 0.0904, 0.0171, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.355, \"right_y\": 0.085, \"right_z\": -0.005, \"right_gripper\": 1.0}, \"note\": \"The gripper closed but the knob sits ahead of the fingertips in the wrist camera, so it was missed. Reopening the gripper and moving forward about 3 cm so the fingers straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01X8pTWcnbZ5UahNJXQruy5D",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01X8pTWcnbZ5UahNJXQruy5D"
}{
"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, 0.6048, -0.3805, -0.0216, -0.0425, 0.9994, 0.3214, 1.7199, 0.3489, 0.7277, 0.178, 0.102, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1777 left_yaw=0.0022 left_pitch=-0.0141 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3521 right_y=0.0881 right_z=-0.0013 right_yaw=0.1089 right_pitch=-0.0738 right_roll=-0.0246 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.3333, 7.1726, 1.6972, -0.0562, -0.0757, -0.0122, -0.9915, -4.5744, 4.9573, 1.5458, 0.1148, 0.0806, -0.0806]\napprover: 7 step(s) modified (delta_clamped ×7).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:564ae6283faf35b4ddae1f11ef4b7bc885504af37e9104ad5ed9936483f7887f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4c41d1a024c76b163c14d6aebb038c41263d8a2a584574f07c6f4d0595b3398b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 39):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2ef72ca861e86b11ea6422dc5f6cfc6b7facedf6fc67ba1b941f2ebffd652fdc"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 14.58 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, 0.8024, 0.6048, -0.3805, -0.0216, -0.0425, 0.9994, 0.366, 1.6432, 0.2672, 0.7124, 0.2218, 0.1425, 0.3051]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1779 left_yaw=0.0022 left_pitch=-0.0133 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3268 right_y=0.0875 right_z=-0.0026 right_yaw=0.0947 right_pitch=-0.0868 right_roll=-0.0228 right_gripper=0.3051\nstate[joint_eff]: [-0.335, -1.388, 7.2274, 1.7314, -0.0513, -0.0317, -0.0122, -0.6359, -3.494, 4.4786, 1.2674, 0.0513, -0.0757, -0.0024]\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\": 0.39, \"right_y\": 0.088, \"right_z\": -0.01, \"right_pitch\": 0.0}, \"note\": \"The knob is still ahead of the fingertips in the wrist view, and the top camera shows the gripper just short of the piece. Advancing another ~4 cm forward, keeping the tool level and low.\"}",
"name": "move_to"
},
"id": "toolu_018rhwCR2WSSPbPZy9LwRPBV",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_018rhwCR2WSSPbPZy9LwRPBV"
}{
"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, 0.6048, -0.3813, -0.0216, -0.0425, 0.9994, 0.2947, 1.8805, 0.4313, 0.8951, 0.1627, 0.0708, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3878 right_y=0.0916 right_z=-0.0009 right_yaw=0.1122 right_pitch=0.0118 right_roll=-0.0247 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.5658, 7.0496, 1.7167, -0.0464, -0.0611, -0.0122, -0.8821, -5.7231, 3.0291, 1.1306, -0.0611, 0.0611, 0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13085cd95fa339a3b2472077a2cb62d43172e133f10c5773d347047596d2b943"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5210da945661e4e7810699fe8a793629c8fcf1408153d0272374c432be1a4e42"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0997e92d7db591cd17be06de2e9d9ba49444d153536534b4b2d84f89da8c015e"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 6.953 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, 0.8032, 0.6048, -0.3805, -0.0216, -0.0425, 0.9994, 0.3214, 1.7199, 0.3489, 0.7277, 0.178, 0.102, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1777 left_yaw=0.0022 left_pitch=-0.0141 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3521 right_y=0.0881 right_z=-0.0013 right_yaw=0.1089 right_pitch=-0.0738 right_roll=-0.0246 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.3333, 7.1726, 1.6972, -0.0562, -0.0757, -0.0122, -0.9915, -4.5744, 4.9573, 1.5458, 0.1148, 0.0806, -0.0806]\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\": 0.43, \"right_y\": 0.09, \"right_z\": -0.005}, \"note\": \"The knob remains centered in the wrist view but still ahead of the fingertips, which appear at the bottom corners. Advancing another 4 cm so the knob lands between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01HUA31N7ygvnhYcVTvngDHR",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01HUA31N7ygvnhYcVTvngDHR"
}{
"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, -0.0425, 0.9994, 0.2577, 1.9675, 0.5732, 0.8677, 0.1272, 0.0437, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4267 right_y=0.093 right_z=0.0017 right_yaw=0.1194 right_pitch=0.0358 right_roll=-0.0256 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.3197, 7.0769, 1.7216, -0.0806, -0.0611, -0.0073, -0.6222, -6.8855, 4.4923, 1.6044, -0.0122, 0.0464, -0.0024]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e42df0ba5227c115b4a6c269b6c6e8c5a67e49bc9f6aeb7db29248ee7c4db57e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:75ffb40964abcf2428115c58bc742260bc140d6b8a49a7f6e149373de7d1fdca"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9d1edeb82ab8f32791a6a4e46461ad92f775c83ef05b79193e97c17812b9bba7"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 11.63 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, 0.807, 0.6048, -0.3813, -0.0216, -0.0425, 0.9994, 0.2947, 1.8805, 0.4313, 0.8951, 0.1627, 0.0708, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3878 right_y=0.0916 right_z=-0.0009 right_yaw=0.1122 right_pitch=0.0118 right_roll=-0.0247 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.5658, 7.0496, 1.7167, -0.0464, -0.0611, -0.0122, -0.8821, -5.7231, 3.0291, 1.1306, -0.0611, 0.0611, 0.1001]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.093, \"right_z\": 0.0}, \"note\": \"The knob is now just ahead of the fingertips in the wrist view and the top camera shows the gripper over the piece's edge. Advancing a final ~3 cm so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01RazaB1fCmDFRh4fub7mKjm",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01RazaB1fCmDFRh4fub7mKjm"
}{
"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, -0.0425, 0.9994, 0.2508, 1.982, 0.6022, 0.8555, 0.1173, 0.036, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9994 right_x=0.434 right_y=0.0936 right_z=0.0021 right_yaw=0.125 right_pitch=0.0374 right_roll=-0.0269 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -1.265, 7.1863, 1.7411, -0.0659, -0.0611, -0.0122, -0.5812, -7.241, 5.5863, 1.7656, -0.0122, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:da081c94a117b4a5e56c192ab5a26d068f0fa891ec53775fc91de92c9bb15b52"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:363a977d23be55e14d4e2c63b4944b87a96cbdc7ea5b3b799479603df54a7191"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 49):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4584ecc1df68aa1a29dc31c8b4453a276e9facb617e69543ad14dafbe90a74f"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 10.98 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, -0.3805, -0.0216, -0.0425, 0.9994, 0.2577, 1.9675, 0.5732, 0.8677, 0.1272, 0.0437, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4267 right_y=0.093 right_z=0.0017 right_yaw=0.1194 right_pitch=0.0358 right_roll=-0.0256 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.3197, 7.0769, 1.7216, -0.0806, -0.0611, -0.0073, -0.6222, -6.8855, 4.4923, 1.6044, -0.0122, 0.0464, -0.0024]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.465, \"right_y\": 0.093, \"right_z\": 0.03}, \"note\": \"The arm barely advanced and shoulder effort rose, suggesting the fingertips are pressing against the raised edge of the blue piece. Lifting ~3 cm to clear the piece rim while moving forward so the jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01KANuRkTZiFa7t6UVAATbMQ",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01KANuRkTZiFa7t6UVAATbMQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0429, 0.9994, 0.2508, 1.982, 0.6041, 0.852, 0.1143, 0.0357, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0194 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4341 right_y=0.0941 right_z=0.002 right_yaw=0.1278 right_pitch=0.0357 right_roll=-0.0259 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -1.2376, 7.2684, 1.7411, -0.0513, -0.0757, -0.0073, -0.4444, -7.2274, 5.2308, 1.7118, 0.0073, -0.022, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3ee7f439720ac63e993b6c5ce228967d7676e9ab65e71218549d9c76e85795b7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:72f4071a0e93ab47f9be40604099be36a14f9640c17906a55d33046c053fd8d7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d3d650635c51f649842d7821d1ef7334d4ef65f05f294eebf5c030dc5250371"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 6.87 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, 0.807, 0.6044, -0.3805, -0.0216, -0.0425, 0.9994, 0.2508, 1.982, 0.6022, 0.8555, 0.1173, 0.036, 0.9961]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1765 left_yaw=0.0022 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9994 right_x=0.434 right_y=0.0936 right_z=0.0021 right_yaw=0.125 right_pitch=0.0374 right_roll=-0.0269 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -1.265, 7.1863, 1.7411, -0.0659, -0.0611, -0.0122, -0.5812, -7.241, 5.5863, 1.7656, -0.0122, -0.0513, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.434, \"right_y\": 0.094, \"right_z\": 0.08, \"right_pitch\": 0.0, \"right_roll\": 0.0}, \"note\": \"The arm did not move at all on the last command, so it may be jammed against the table or the piece rim. Lifting straight up 8 cm to free it before re-approaching the knob from above.\"}",
"name": "move_to"
},
"id": "toolu_01MxUKPzt67ytNDh4degnXfx",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01MxUKPzt67ytNDh4degnXfx"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0429, 0.9994, 0.2508, 1.982, 0.6041, 0.852, 0.1146, 0.0357, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0194 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4342 right_y=0.0941 right_z=0.002 right_yaw=0.1274 right_pitch=0.0357 right_roll=-0.0261 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -1.306, 7.0496, 1.7167, -0.0708, -0.0806, -0.0122, -0.5675, -7.4325, 5.0667, 1.7265, 0.0317, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:99be76791cf2a3e3f6bcf195776651831d88b018ba6545b0ff1cae442c2e2a03"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e8b966f0cd0b817eb250909586ae671014329f8f7b211b31fdb49e66669af2cb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fcfb2675e7f8085a933475a2cb94cd1f64adcaf3815cd8b090bc0ef36fbe3aed"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 16.97 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0429, 0.9994, 0.2508, 1.982, 0.6041, 0.852, 0.1143, 0.0357, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0194 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4341 right_y=0.0941 right_z=0.002 right_yaw=0.1278 right_pitch=0.0357 right_roll=-0.0259 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -1.2376, 7.2684, 1.7411, -0.0513, -0.0757, -0.0073, -0.4444, -7.2274, 5.2308, 1.7118, 0.0073, -0.022, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.09, \"right_z\": 0.06}, \"note\": \"The right arm has not moved for two commands and joint positions are frozen, so the IK may be stuck at this stretched pose. Trying a small retreat backward and upward to regain motion.\"}",
"name": "move_to"
},
"id": "toolu_016hgXxEAsRjxERr4ZgcSWoB",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_016hgXxEAsRjxERr4ZgcSWoB"
}{
"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, 0.8124, 0.6037, -0.3798, -0.0216, -0.0425, 0.9994, 0.2623, 1.6695, 0.5266, 0.6598, 0.1162, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4099 right_y=0.0926 right_z=0.0628 right_yaw=0.1367 right_pitch=0.0782 right_roll=-0.0206 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -1.5111, 7.1863, 1.7998, -0.0904, -0.0806, -0.0122, 0.3214, -6.5709, 4.5607, 1.7558, 0.1978, 0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:24f94f5f88a378e751705b56c32342a3f6ef1b623d12903e02c2748232502863"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e0c6d3684a05630a0124df5eceec60f429f3327b1b96c5c8ef46f61c3e31d1a9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:20d8e2ed5e563385682a988b52fb2ced5f4dfc30fcfd2d6a8667097328f12ea3"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 22.04 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0429, 0.9994, 0.2508, 1.982, 0.6041, 0.852, 0.1146, 0.0357, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0194 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4342 right_y=0.0941 right_z=0.002 right_yaw=0.1274 right_pitch=0.0357 right_roll=-0.0261 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -1.306, 7.0496, 1.7167, -0.0708, -0.0806, -0.0122, -0.5675, -7.4325, 5.0667, 1.7265, 0.0317, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.093, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_roll\": 0.0}, \"note\": \"The arm is moving again and the knob is centered in the wrist camera just ahead of the fingertips; earlier the low fingertips were likely pushing the disc forward. Advancing 4 cm at knob height (3.5 cm) with the tool level so the jaws straddle the knob without hitting the disc.\"}",
"name": "move_to"
},
"id": "toolu_01WTc8CPQ4thxpshcy5dyk9a",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01WTc8CPQ4thxpshcy5dyk9a"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0425, 0.9994, 0.2642, 1.6299, 0.5175, 0.5823, 0.1192, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9994 right_x=0.4001 right_y=0.0902 right_z=0.0585 right_yaw=0.1363 right_pitch=0.0318 right_roll=-0.028 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.4017, 7.3368, 1.7021, -0.0659, -0.0659, -0.0122, -0.0342, -6.8444, 5.2034, 1.7851, 0.0952, 0.022, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de1edd79b07550e3c6e66b8f13a9607b7f1810df043a321c1b54e7fd0bc6d5d6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:edcca9d96f60d0a99589507af3fc46dd1718fd7a8354b2631a7f38204bfcbecc"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 66):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:59793721bb1dab6f5ee465885c738985a4af99a60289d80657568e846f504ff7"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 10.66 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, 0.8124, 0.6037, -0.3798, -0.0216, -0.0425, 0.9994, 0.2623, 1.6695, 0.5266, 0.6598, 0.1162, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4099 right_y=0.0926 right_z=0.0628 right_yaw=0.1367 right_pitch=0.0782 right_roll=-0.0206 right_gripper=0.9961\nstate[joint_eff]: [-0.3077, -1.5111, 7.1863, 1.7998, -0.0904, -0.0806, -0.0122, 0.3214, -6.5709, 4.5607, 1.7558, 0.1978, 0.0464, -0.0073]\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\": 0.44, \"right_y\": 0.09, \"right_z\": 0.03, \"right_pitch\": 0.15}, \"note\": \"The arm barely moved and actually slid back to x=0.40; the knob still appears ahead of the fingertips in the wrist camera. Trying a modest forward step at knob height with the tool tipped slightly forward to help the IK reach over the disc.\"}",
"name": "move_to"
},
"id": "toolu_01LDcuRYvjBjmPLejP8VZ4uE",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01LDcuRYvjBjmPLejP8VZ4uE"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0425, 0.9994, 0.2642, 1.6299, 0.5175, 0.5819, 0.1192, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0023 left_pitch=-0.0255 left_roll=-0.003 left_gripper=0.9994 right_x=0.4 right_y=0.0902 right_z=0.0584 right_yaw=0.1363 right_pitch=0.0314 right_roll=-0.028 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.6923, -0.0659, -0.0464, -0.0122, 0.294, -6.8444, 5.4085, 1.7558, 0.1099, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33208e8b8adac536c941aba14b0c0d7c5e64b109f56c78e8753aefdd74ecfd22"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c24a9a57e60c1721ccdfa891a51eb89f085006d9502ae748bfae17019a11309"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3a6ad072ca13829534d884a968c31fd24a63f04b7daa675f3fa8afb3980928e1"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 14.88 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 41 changed as sent
message 41 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3805, -0.0216, -0.0425, 0.9994, 0.2642, 1.6299, 0.5175, 0.5823, 0.1192, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9994 right_x=0.4001 right_y=0.0902 right_z=0.0585 right_yaw=0.1363 right_pitch=0.0318 right_roll=-0.028 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.4017, 7.3368, 1.7021, -0.0659, -0.0659, -0.0122, -0.0342, -6.8444, 5.2034, 1.7851, 0.0952, 0.022, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.07, \"right_z\": 0.15, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_yaw\": 0.0}, \"note\": \"The right arm is again frozen with no joint motion despite commands, so the IK seems stuck near this pose. Retreating to a comfortable central pose to reset, then I will re-approach the knob from directly above.\"}",
"name": "move_to"
},
"id": "toolu_01Bwbnfkwc1coWkAavZqVeEC",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01Bwbnfkwc1coWkAavZqVeEC"
}{
"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, 0.6037, -0.3786, -0.0216, -0.0429, 0.9994, 0.345, 1.1172, 0.543, 0.1707, 0.2287, 0.1326, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1733 left_yaw=0.0025 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3563 right_y=0.0893 right_z=0.1718 right_yaw=0.0705 right_pitch=0.1649 right_roll=0.0352 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -1.5932, 7.159, 1.6825, -0.0366, -0.0659, -0.0073, -0.253, -1.3333, 8.7043, 1.5897, 0.3541, 0.2173, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f372a00198910bdf7e06ca857853fb83395e61b14b3717c53bc9b3099dce4cea"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5a1bc0d72f98083113d6de8d5f9f8b8bd7192f484ddf47f03e9f04dcb30fbfaa"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b264d9ad1ae90ec1ccafe2137e873274daaca7257ee93e57aa44de4e378ed30"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 17 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0425, 0.9994, 0.2642, 1.6299, 0.5175, 0.5819, 0.1192, 0.0368, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0023 left_pitch=-0.0255 left_roll=-0.003 left_gripper=0.9994 right_x=0.4 right_y=0.0902 right_z=0.0584 right_yaw=0.1363 right_pitch=0.0314 right_roll=-0.028 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -1.4427, 7.0222, 1.6923, -0.0659, -0.0464, -0.0122, 0.294, -6.8444, 5.4085, 1.7558, 0.1099, 0.0562, -0.0073]\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\": 0.09, \"right_z\": 0.02, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_yaw\": 0.0}, \"note\": \"The top camera shows the disc was directly under the gripper at x\\u22480.40, and the wrist camera looks forward-down so objects beneath appear at the frame bottom; I had misjudged the knob as being ahead. Descending to knob height directly above x=0.41, y=0.09 with the jaws open and level.\"}",
"name": "move_to"
},
"id": "toolu_01DAZWJycxc8ui2GWn61HPqY",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01DAZWJycxc8ui2GWn61HPqY"
}{
"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, 0.8257, 0.6029, -0.3813, -0.0212, -0.0429, 0.9994, 0.3248, 1.7973, 0.5293, 0.6102, 0.2432, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1705 left_yaw=0.0021 left_pitch=-0.0393 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3923 right_y=0.091 right_z=0.0058 right_yaw=0.0317 right_pitch=-0.0776 right_roll=-0.0277 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.935, 7.1043, 1.7216, -0.0415, -0.022, -0.0122, -0.9915, -7.7333, 6.1744, 1.9414, 0.1832, 0.105, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b5d1ad993f4aeb5b6163f2c95f87569f439d24c800f46bfbe2a12e9c63b9214f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ccb954a4e4c7fb8993eae43e8810c212ce6c06447a81b6a3291e69b5a6ef70a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:934df33d930ce63112db00f3839722f5050fb6ffa157246431b1ccd6cfb73840"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 15.7 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, 0.8188, 0.6037, -0.3786, -0.0216, -0.0429, 0.9994, 0.345, 1.1172, 0.543, 0.1707, 0.2287, 0.1326, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1733 left_yaw=0.0025 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3563 right_y=0.0893 right_z=0.1718 right_yaw=0.0705 right_pitch=0.1649 right_roll=0.0352 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -1.5932, 7.159, 1.6825, -0.0366, -0.0659, -0.0073, -0.253, -1.3333, 8.7043, 1.5897, 0.3541, 0.2173, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.091, \"right_z\": 0.005, \"right_gripper\": 0.2}, \"note\": \"The knob is centered laterally between the open jaws in the wrist camera with the grasp point at table height. Closing the gripper on the knob.\"}",
"name": "move_to"
},
"id": "toolu_01P8o4swnVUB93pkdxQTJtnW",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01P8o4swnVUB93pkdxQTJtnW"
}{
"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, 0.8276, 0.6029, -0.3817, -0.0216, -0.0425, 0.9994, 0.3222, 1.8206, 0.5415, 0.6136, 0.2317, 0.1452, 0.2059]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1699 left_yaw=0.0023 left_pitch=-0.0416 left_roll=-0.0026 left_gripper=0.9994 right_x=0.3946 right_y=0.0927 right_z=0.0011 right_yaw=0.0411 right_pitch=-0.0869 right_roll=-0.0271 right_gripper=0.2059\nstate[joint_eff]: [-0.3487, -1.0872, 7.0632, 1.6825, -0.0855, -0.0122, -0.0122, -0.4034, -7.2, 6.2017, 1.6044, 0.0562, -0.0464, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ed9862b05361c97c057c4049ce51ce86b4a3667326fd501813bb4a7ed78c29d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ac27dc7feb91c91b242b5be60c92192bc5cb1088107276b7714d1db10209cf6f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1fe4f93465b748b9846db944231b43a99481fdf933870e57305876dafb03b832"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 20.02 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, 0.8257, 0.6029, -0.3813, -0.0212, -0.0429, 0.9994, 0.3248, 1.7973, 0.5293, 0.6102, 0.2432, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1705 left_yaw=0.0021 left_pitch=-0.0393 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3923 right_y=0.091 right_z=0.0058 right_yaw=0.0317 right_pitch=-0.0776 right_roll=-0.0277 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.935, 7.1043, 1.7216, -0.0415, -0.022, -0.0122, -0.9915, -7.7333, 6.1744, 1.9414, 0.1832, 0.105, -0.0073]\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\": 0.435, \"right_y\": 0.092, \"right_z\": 0.005, \"right_gripper\": 1.0}, \"note\": \"The jaws closed on empty space; the knob is still ahead of the fingertips in the wrist camera. Reopening and advancing 4 cm to get the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_014Mt7KNWANgWe1au9CZzwCE",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_014Mt7KNWANgWe1au9CZzwCE"
}{
"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, 0.8307, 0.6025, -0.3809, -0.0216, -0.0425, 0.9994, 0.2893, 1.8942, 0.6785, 0.5522, 0.1947, 0.1154, 0.9951]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.169 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4277 right_y=0.0954 right_z=0.0037 right_yaw=0.0552 right_pitch=-0.0912 right_roll=-0.0283 right_gripper=0.9951\nstate[joint_eff]: [-0.294, -1.2923, 7.0359, 1.6728, -0.0269, -0.0171, -0.0122, -1.0598, -6.8308, 6.4342, 1.5897, 0.1587, -0.0024, -0.1197]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:186b8210841fb194fb856bbd9a262812fcd267d99a32a02c5172eeb57b76f244"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5432d5dcb3c74e38637b5458aea09da4b0b28b907c00cb7a57433ea72b91bec9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:954e79251d6b2f784cb083219538c7abe04703a65471c059234daf721932a9d1"
},
"type": "image_url"
}
],
"role": "user"
}