- 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
- 457.3 s
- total steps
- 113
operator
1
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=1
Trial scores
trial 0 operator=1
Termination reasons
give_up
Operator judgements
y
Grader notes
trial 04
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 7
Raw transcript
step 11
Raw transcript
step 18
Raw transcript
step 26
Raw transcript
step 34
Raw transcript
step 37
Raw transcript
step 45
Raw transcript
step 53
Raw transcript
step 55
Raw transcript
step 58
Raw transcript
step 63
Raw transcript
step 72
Raw transcript
step 90
Raw transcript
step 95
Raw transcript
step 101
Raw transcript
step 104
Raw transcript
step 108
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step 111
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step 112
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 · 23.04 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, 0.7918, 0.6037, -0.3786, -0.0216, -0.0437, 0.9993, -0.0181, 0.7906, 0.609, -0.3756, -0.0212, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -1.2786, 10.3453, 1.8291, -0.0757, 0.2857, -0.0806, -0.6085, -1.1009, 9.8667, 1.7753, -0.0269, -0.0073, -0.0952]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0575a4b765fd1a582b889f9b76197b75aec4952d5950eff88bf6b1080370c04b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bebcfb83f146c0890221aa6917feeacf6180fefc77a945599f276ae647d8e548"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34e7a69c8da3e99fdab9f45da6e7cd20a9b5cfe22dd4a469b2b3de67275589c0"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 17.12 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue round piece with its knob roughly straight ahead and slightly below center, with the white board farther away to the upper-left. Moving the right gripper forward and down to hover nearer the piece so I can refine its position.\"}",
"name": "move_to"
},
"id": "toolu_01WLeNe3APAxQBt4V8tXuy88",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01WLeNe3APAxQBt4V8tXuy88"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3813, -0.0216, -0.0422, 0.9993, -0.02, 1.2621, 0.5533, 0.0463, -0.0242, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.179 left_yaw=-0.0004 left_pitch=-0.0076 left_roll=0.0014 left_gripper=0.9993 right_x=0.3595 right_y=0.0007 right_z=0.098 right_yaw=0.001 right_pitch=-0.1052 right_roll=0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4564, 6.9812, 1.7411, -0.0611, -0.0611, -0.0171, 0.0205, -4.7521, 8.2256, 2.0, -0.0513, -0.0562, -0.0952]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0cb251c8ef0cd01d91c586c8dd2ba5dbf6936f732f04f4b19848982fa6e3afe4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f05d7f14e7ee544a8b8b73ff57471201ed0f62f4f398d66701fb4535a222f9f1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7deb0c8ba65659fdccbf701750dc277ee74bd62b30a82afb03bde37f22bc6239"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 15.3 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, 0.7918, 0.6037, -0.3786, -0.0216, -0.0437, 0.9993, -0.0181, 0.7906, 0.609, -0.3756, -0.0212, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -1.2786, 10.3453, 1.8291, -0.0757, 0.2857, -0.0806, -0.6085, -1.1009, 9.8667, 1.7753, -0.0269, -0.0073, -0.0952]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.02, \"right_z\": 0.04, \"right_gripper\": 1.0}, \"note\": \"The wrist camera now shows the blue piece with its wooden knob just ahead and slightly left of the gripper center; the top camera shows the gripper hovering near the piece. Descending toward the knob while shifting slightly forward and left to center it between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_012vY1rtTWvKgBZP8SWx4i3K",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_012vY1rtTWvKgBZP8SWx4i3K"
}{
"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, 0.8009, 0.6037, -0.3813, -0.0216, -0.0486, 0.9993, 0.0528, 1.5608, 0.5251, 0.2882, 0.0109, 0.0109, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0118 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3743 right_y=0.0215 right_z=0.0283 right_yaw=0.0292 right_pitch=-0.1905 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.388, 7.0769, 1.7216, -0.0806, 0.0024, -0.0073, 0.1299, -6.9675, 5.4906, 2.0879, 0.188, 0.1197, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c52b1215bf97ec7b23fd720ee0fd86cd4f15deeff0d07cd652c75fc0226ba025"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ffd7e0f29245f6032c0e63e8d13c138e8b0202683757eb724f74b76ef7a5f9f2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:60682c7a5d73d5cb0c7b3e649a6df5d4450f93a3d4840892b595e21e5a44eb4d"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 11 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, 0.7975, 0.6044, -0.3813, -0.0216, -0.0422, 0.9993, -0.02, 1.2621, 0.5533, 0.0463, -0.0242, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.179 left_yaw=-0.0004 left_pitch=-0.0076 left_roll=0.0014 left_gripper=0.9993 right_x=0.3595 right_y=0.0007 right_z=0.098 right_yaw=0.001 right_pitch=-0.1052 right_roll=0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4564, 6.9812, 1.7411, -0.0611, -0.0611, -0.0171, 0.0205, -4.7521, 8.2256, 2.0, -0.0513, -0.0562, -0.0952]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.025, \"right_z\": -0.005, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now nearly centered between the open jaws in the wrist view, just slightly left of center. Lowering the gripper to table level around the knob and leveling the pitch before closing.\"}",
"name": "move_to"
},
"id": "toolu_01QXiWyxXEmJhP9yeNR6MdGX",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01QXiWyxXEmJhP9yeNR6MdGX"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0616, 1.8271, 0.3927, 0.8623, 0.0273, -0.0021, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1771 left_yaw=0.003 left_pitch=-0.0137 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3866 right_y=0.0226 right_z=-0.0005 right_yaw=0.0313 right_pitch=-0.0147 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4427, 7.1726, 1.7167, -0.0855, -0.0757, -0.0073, 0.4991, -5.012, 2.6872, 1.1355, -0.0757, 0.2271, -0.0904]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:683173dd47ff459f46aeb986f4c6fdceb86c6062cf4e1f1616d5296501aba741"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3bc9a620d419e8a168e4f9a048cf29f7cac97865e3ec769acfa6482d4565705a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ec7172e873bf3b60afb63607502050401eb0f1804b741ec66d95da87391fd1d1"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 14.43 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, 0.8009, 0.6037, -0.3813, -0.0216, -0.0486, 0.9993, 0.0528, 1.5608, 0.5251, 0.2882, 0.0109, 0.0109, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0118 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3743 right_y=0.0215 right_z=0.0283 right_yaw=0.0292 right_pitch=-0.1905 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.388, 7.0769, 1.7216, -0.0806, 0.0024, -0.0073, 0.1299, -6.9675, 5.4906, 2.0879, 0.188, 0.1197, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.25}, \"note\": \"The gripper is at table height with the knob appearing between the two jaw tips in the wrist camera. Closing the jaws to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_018WW8Lny9eJoxgxG9PMEVax",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_018WW8Lny9eJoxgxG9PMEVax"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0605, 1.8366, 0.3859, 0.8898, 0.0254, -0.0086, 0.2547]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.003 left_pitch=-0.0156 left_roll=-0.0038 left_gripper=0.9993 right_x=0.3866 right_y=0.0225 right_z=-0.0004 right_yaw=0.0352 right_pitch=-0.0037 right_roll=-0.0186 right_gripper=0.2547\nstate[joint_eff]: [-0.3624, -1.4154, 7.2, 1.7021, -0.0757, -0.0513, -0.0073, 0.0342, -7.4325, 4.1641, 1.4774, -0.0073, 0.0415, 0.1294]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:771ff39d92a69b9fc57c8a9438ff808ac1132072a57fed3ee6199006b98bb6b0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:446cea396fce3e1736a5390f3c4a8b78024359d36f1450df926c2beda3f43f37"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0ab41063da69a46aea65e472a84c3beae0267705da4c4ab0b034c11c03e66670"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 13.64 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 11 changed as sent
message 11 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8032, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0616, 1.8271, 0.3927, 0.8623, 0.0273, -0.0021, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1771 left_yaw=0.003 left_pitch=-0.0137 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3866 right_y=0.0226 right_z=-0.0005 right_yaw=0.0313 right_pitch=-0.0147 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.4427, 7.1726, 1.7167, -0.0855, -0.0757, -0.0073, 0.4991, -5.012, 2.6872, 1.1355, -0.0757, 0.2271, -0.0904]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.022, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The jaws closed but the knob appears just beyond the fingertips in the wrist view, so the grasp fell short. Reopening and moving about 3 cm further forward to get the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01LaimL8iPtBTJSbunAGPHzc",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01LaimL8iPtBTJSbunAGPHzc"
}{
"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, -0.0486, 0.9993, 0.0586, 1.8866, 0.4812, 0.8486, 0.0162, -0.0185, 0.995]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.003 left_pitch=-0.0175 left_roll=-0.0038 left_gripper=0.9993 right_x=0.4104 right_y=0.0248 right_z=0.001 right_yaw=0.0464 right_pitch=0.0003 right_roll=-0.022 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.4701, 7.2547, 1.6972, -0.0757, -0.0757, -0.0122, -0.8547, -6.1607, 5.3949, 1.7705, 0.0513, 0.0659, -0.1636]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:91a52361965dd7a8e9cf0f8f7dc5a385006d9705fae459b75d0f6684afce3d71"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b25a31e946418b58b410e30b687dddefc36a5443671d958abc743aba6ca877aa"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 34):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d317cc3b5fe01d60bff342152386c98bb07eb1f233751473e47c4ea5b4082039"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 9.247 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, 0.8051, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0605, 1.8366, 0.3859, 0.8898, 0.0254, -0.0086, 0.2547]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.003 left_pitch=-0.0156 left_roll=-0.0038 left_gripper=0.9993 right_x=0.3866 right_y=0.0225 right_z=-0.0004 right_yaw=0.0352 right_pitch=-0.0037 right_roll=-0.0186 right_gripper=0.2547\nstate[joint_eff]: [-0.3624, -1.4154, 7.2, 1.7021, -0.0757, -0.0513, -0.0073, 0.0342, -7.4325, 4.1641, 1.4774, -0.0073, 0.0415, 0.1294]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.445, \"right_y\": 0.025, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still centered laterally but sits ahead of the open fingertips in the wrist view. Advancing another ~3.5 cm forward so the knob lands between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_019QPmdSaaKRab1eCj6UAxE8",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_019QPmdSaaKRab1eCj6UAxE8"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.9533, 0.5999, 0.8112, 0.0132, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4406 right_y=0.0271 right_z=0.0035 right_yaw=0.052 right_pitch=0.0148 right_roll=-0.0252 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.4154, 7.1863, 1.7265, -0.0611, -0.0806, -0.0122, -0.8547, -7.5556, 4.4923, 1.6044, -0.0366, -0.0317, -0.1197]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6b43568fe49f720983b489f8ed8c9359ac84a7b66e2e485657a925c3a464a10e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5f1ab5ca5a2aa2ba41b2977872f3dd9c5d2605d35a7ffe1cbe318967212a5315"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:72d86e90d5ffd3cf87f4844554485d65c1194c88aba87a3ed88df11e8103ee57"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 10.39 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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.8866, 0.4812, 0.8486, 0.0162, -0.0185, 0.995]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.003 left_pitch=-0.0175 left_roll=-0.0038 left_gripper=0.9993 right_x=0.4104 right_y=0.0248 right_z=0.001 right_yaw=0.0464 right_pitch=0.0003 right_roll=-0.022 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.4701, 7.2547, 1.6972, -0.0757, -0.0757, -0.0122, -0.8547, -6.1607, 5.3949, 1.7705, 0.0513, 0.0659, -0.1636]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.2}, \"note\": \"The knob now sits between the two jaws in the wrist camera, roughly centered. Closing the gripper to grasp it.\"}",
"name": "move_to"
},
"id": "toolu_01HCNnNZ9BJvvUytvRjmZYA9",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01HCNnNZ9BJvvUytvRjmZYA9"
}{
"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, 0.6037, -0.3809, -0.0212, -0.0486, 0.9993, 0.0586, 1.961, 0.6075, 0.812, 0.0097, -0.0315, 0.9199]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.0194 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4425 right_y=0.0278 right_z=0.0029 right_yaw=0.0587 right_pitch=0.0155 right_roll=-0.0296 right_gripper=0.9199\nstate[joint_eff]: [-0.2256, -1.2239, 7.0222, 1.6972, -0.0366, -0.0562, -0.0073, -0.2667, -8.9368, 3.6581, 1.7509, -0.0415, 0.0269, 1.1013]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:eb2e6ced5a6a1dc4be1a2cab84e3f01bfb552aa878a32f3606215ca3e2145f7d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5cd541a0952bf5549ec9c5b716d43e346822361e6eabb2b4d78c29fdb0c8a518"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 45):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dbcfc5707463af4c7d33515a678ff6ef414a09df9a678ba48b6185f08ab8b6a1"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 24.67 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.9533, 0.5999, 0.8112, 0.0132, -0.0242, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4406 right_y=0.0271 right_z=0.0035 right_yaw=0.052 right_pitch=0.0148 right_roll=-0.0252 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.4154, 7.1863, 1.7265, -0.0611, -0.0806, -0.0122, -0.8547, -7.5556, 4.4923, 1.6044, -0.0366, -0.0317, -0.1197]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.2}, \"note\": \"The gripper only closed to 0.92 (steps were speed-clamped) and the knob still sits between the jaws. Commanding the close again to finish grasping the knob.\"}",
"name": "move_to"
},
"id": "toolu_01DvyVkeeKMd3pVmtJfZZqC2",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01DvyVkeeKMd3pVmtJfZZqC2"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.961, 0.6075, 0.8124, 0.0093, -0.0345, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4426 right_y=0.0279 right_z=0.0029 right_yaw=0.0607 right_pitch=0.0158 right_roll=-0.032 right_gripper=0.9201\nstate[joint_eff]: [-0.1983, -1.3333, 7.0496, 1.6972, -0.0562, -0.0757, -0.0122, -0.294, -8.1436, 4.0684, 1.7265, -0.0464, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a7b2ef0f3df8371d593c9bd20f90d37d056db8ba375259c7686d38f46eb74917"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ee55e3a5b3a3816e7d0e20ab67280d8ade3da72a437dde366e44fdbf8e704831"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:32cfde03ee956c29cd4bf52a72bc1d74385ce9b7a95c57173bcd3b1168d246a6"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 9.285 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, 0.6037, -0.3809, -0.0212, -0.0486, 0.9993, 0.0586, 1.961, 0.6075, 0.812, 0.0097, -0.0315, 0.9199]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.0194 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4425 right_y=0.0278 right_z=0.0029 right_yaw=0.0587 right_pitch=0.0155 right_roll=-0.0296 right_gripper=0.9199\nstate[joint_eff]: [-0.2256, -1.2239, 7.0222, 1.6972, -0.0366, -0.0562, -0.0073, -0.2667, -8.9368, 3.6581, 1.7509, -0.0415, 0.0269, 1.1013]\napprover: 8 step(s) modified (delta_clamped ×8).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.025, \"right_gripper\": 1.0}, \"note\": \"The jaws stalled at 0.92 with rising gripper effort \\u2014 they are clamping the rim of the blue disc at table level rather than the knob. Opening and raising the gripper ~2 cm so the fingertips clear the disc and can close on the knob.\"}",
"name": "move_to"
},
"id": "toolu_01LCPeDm8wXnafsmjZ3DMBD1",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01LCPeDm8wXnafsmjZ3DMBD1"
}{
"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, 0.6037, -0.3809, -0.0212, -0.0486, 0.9993, 0.0586, 1.9213, 0.6079, 0.757, 0.0093, -0.0349, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.0194 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4398 right_y=0.0277 right_z=0.0082 right_yaw=0.0609 right_pitch=0.0005 right_roll=-0.0323 right_gripper=0.9201\nstate[joint_eff]: [-0.0752, -0.9504, 7.241, 1.7607, -0.0513, -0.0513, -0.0122, -0.3487, -10.4, 5.2308, 1.8144, -0.0366, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:99c9cf901804ba0b6f9bac501b719782e31c46bbe5f9337e35817e332ea839d7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:62f2d732ccd78366b92e769ff93298e12669cd04501a204faa45fe01a1daa7d5"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 55):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:656a282da89cf55c974ef4f3b6e7e8f6ef2078b9d0965854e85cbee23915baa4"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 13.64 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.961, 0.6075, 0.8124, 0.0093, -0.0345, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4426 right_y=0.0279 right_z=0.0029 right_yaw=0.0607 right_pitch=0.0158 right_roll=-0.032 right_gripper=0.9201\nstate[joint_eff]: [-0.1983, -1.3333, 7.0496, 1.6972, -0.0562, -0.0757, -0.0122, -0.294, -8.1436, 4.0684, 1.7265, -0.0464, -0.0024, 1.0281]\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_z\": 0.05, \"right_gripper\": 1.0}, \"note\": \"The gripper is still stuck at 0.92 and only rose to 8 mm \\u2014 it appears pinched on the rim of the disc. Lifting higher to 5 cm while commanding open to free the jaws from the disc edge.\"}",
"name": "move_to"
},
"id": "toolu_014MwiiMq4W5fysqMH1mf12C",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_014MwiiMq4W5fysqMH1mf12C"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.8072, 0.6132, 0.5888, 0.0059, -0.0349, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4299 right_y=0.0277 right_z=0.0227 right_yaw=0.0638 right_pitch=-0.0483 right_roll=-0.0303 right_gripper=0.9201\nstate[joint_eff]: [-0.0479, -1.0462, 7.1863, 1.7363, -0.0757, -0.0855, -0.0073, -0.3624, -9.853, 7.6376, 1.9658, 0.0317, -0.0659, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ecb8ddd2893e6eb3a6df3d9727b5bae2c308db475faf73e25d04a9d588c8595"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:89a0b3568b71d6a487ceb5b46676c898585d6f2c3aac74061884f50604d6e604"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bf3bcb9ddfae31b001b0e318a533c589471d800ef2a3fd19f33651227bfe4e2f"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 33.54 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, 0.8089, 0.6037, -0.3809, -0.0212, -0.0486, 0.9993, 0.0586, 1.9213, 0.6079, 0.757, 0.0093, -0.0349, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.0194 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4398 right_y=0.0277 right_z=0.0082 right_yaw=0.0609 right_pitch=0.0005 right_roll=-0.0323 right_gripper=0.9201\nstate[joint_eff]: [-0.0752, -0.9504, 7.241, 1.7607, -0.0513, -0.0513, -0.0122, -0.3487, -10.4, 5.2308, 1.8144, -0.0366, -0.0513, 1.0281]\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_z\": 0.09, \"right_gripper\": 0.85}, \"note\": \"The gripper value has been frozen at 0.92 across three commands, and the wrist view shows the disc tilted against the left jaw as if pinched by its rim. Raising further and nudging the gripper command slightly closed to test whether the jaw responds at all.\"}",
"name": "move_to"
},
"id": "toolu_01Y6G7uw4i1XKGN2QYp7ZYCN",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01Y6G7uw4i1XKGN2QYp7ZYCN"
}{
"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, 0.8112, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.6196, 0.6865, 0.3046, 0.0021, -0.0357, 0.9201]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4257 right_y=0.0282 right_z=0.0697 right_yaw=0.0674 right_pitch=-0.0715 right_roll=-0.0285 right_gripper=0.9201\nstate[joint_eff]: [-0.1709, -1.5248, 7.0222, 1.7216, -0.0269, -0.0611, -0.0122, -0.0889, -8.6359, 8.0479, 1.7314, -0.0122, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fd768120d048cd3c71978548522fcc29956d7a978317ced9664d513d2c2795d8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:86aa61c13a6ca9e07271f677242b792e96c2241c0cf203ad768dcc508c578393"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:eff203f8cb37ba1cce2675ac0d1b05ccbbd94e06166280984d32ec2de73dbe22"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 13.59 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.8072, 0.6132, 0.5888, 0.0059, -0.0349, 0.9201]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.003 left_pitch=-0.0194 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4299 right_y=0.0277 right_z=0.0227 right_yaw=0.0638 right_pitch=-0.0483 right_roll=-0.0303 right_gripper=0.9201\nstate[joint_eff]: [-0.0479, -1.0462, 7.1863, 1.7363, -0.0757, -0.0855, -0.0073, -0.3624, -9.853, 7.6376, 1.9658, 0.0317, -0.0659, 1.0281]\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\": 0.54, \"right_y\": 0.02, \"right_z\": 0.09}, \"note\": \"The wrist view is unchanged after lifting 7 cm, so the blue disc is coming along, pinched by its rim between the stalled jaws. Since it is held, I'll carry it forward toward the board, which the top camera shows roughly 12 cm further out along the arm's forward direction.\"}",
"name": "move_to"
},
"id": "toolu_01HNTfeHd2xwce544LALcfgz",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01HNTfeHd2xwce544LALcfgz"
}{
"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, 0.8181, 0.6037, -0.3817, -0.0216, -0.0486, 0.9993, 0.0311, 1.9415, 1.1683, 0.1257, -0.0284, -0.0605, 0.9269]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1729 left_yaw=0.0031 left_pitch=-0.0293 left_roll=-0.0035 left_gripper=0.9993 right_x=0.5292 right_y=0.0251 right_z=0.0812 right_yaw=0.0791 right_pitch=-0.0903 right_roll=-0.0297 right_gripper=0.9269\nstate[joint_eff]: [-0.3487, -1.8667, 7.159, 1.6972, -0.0708, -0.0513, -0.0122, -1.1282, -9.8393, 8.1846, 1.7167, -0.0513, -0.0073, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cef5040fe3a91af017c60f87ea78aafe1bdd8e686c138c23a7adecad2420ecd0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d0a3d4bf408769927c36e82aaed353dbc5736e9303d47ae35688ee7f32493b43"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f44d9c90574cc48e723c4e4de42c525dcfe5601c673e52f5f4e56a394e9160a"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 14.93 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 35 changed as sent
message 35 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8112, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.0586, 1.6196, 0.6865, 0.3046, 0.0021, -0.0357, 0.9201]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4257 right_y=0.0282 right_z=0.0697 right_yaw=0.0674 right_pitch=-0.0715 right_roll=-0.0285 right_gripper=0.9201\nstate[joint_eff]: [-0.1709, -1.5248, 7.0222, 1.7216, -0.0269, -0.0611, -0.0122, -0.0889, -8.6359, 8.0479, 1.7314, -0.0122, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.24, \"right_z\": 0.09}, \"note\": \"The disc is still held by its rim and the top camera shows the board about 23 cm to the arm's left and ~12 cm behind the gripper's current position. Carrying the disc over toward the board at a safe height.\"}",
"name": "move_to"
},
"id": "toolu_01QQ7cLLjt53kcdfYRAiqX7d",
"type": "function"
}
]
}{
"content": "executing move_to over 18 steps (1.8s)",
"role": "tool",
"tool_call_id": "toolu_01QQ7cLLjt53kcdfYRAiqX7d"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.6647, 1.8633, 1.0618, 0.0151, 0.4278, 0.3191, 0.927]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0031 left_pitch=-0.0305 left_roll=-0.0035 left_gripper=0.9993 right_x=0.4151 right_y=0.2368 right_z=0.0673 right_yaw=0.1232 right_pitch=-0.1434 right_roll=-0.0568 right_gripper=0.927\nstate[joint_eff]: [-0.2256, -1.4017, 7.3641, 1.6874, -0.0562, -0.0366, -0.0122, 0.2803, -11.2889, 8.3214, 1.5995, 0.3785, 0.1294, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b355ed060fb46e80f590427010a06528bd8e5cad57bfb0281f803723b73cde6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:59bf23d7f4583ecee93486b9e9b8199ffcb5c52c3b170ac5661ce0e0d3316344"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ca16f9236a3d510becff1631b51157508618974df47fad866e8c34ec5637193"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 11.91 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, 0.8181, 0.6037, -0.3817, -0.0216, -0.0486, 0.9993, 0.0311, 1.9415, 1.1683, 0.1257, -0.0284, -0.0605, 0.9269]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1729 left_yaw=0.0031 left_pitch=-0.0293 left_roll=-0.0035 left_gripper=0.9993 right_x=0.5292 right_y=0.0251 right_z=0.0812 right_yaw=0.0791 right_pitch=-0.0903 right_roll=-0.0297 right_gripper=0.9269\nstate[joint_eff]: [-0.3487, -1.8667, 7.159, 1.6972, -0.0708, -0.0513, -0.0122, -1.1282, -9.8393, 8.1846, 1.7167, -0.0513, -0.0073, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.29, \"right_z\": 0.04}, \"note\": \"The wrist camera shows the board's circular groove to the left and slightly ahead of the held disc, about one disc-radius-plus away. Shifting the disc ~5 cm left and ~2 cm forward while lowering to 4 cm to line it up over the groove.\"}",
"name": "move_to"
},
"id": "toolu_019qLGKK3YvBHpbMBT6qjyCm",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_019qLGKK3YvBHpbMBT6qjyCm"
}{
"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, 0.8238, 0.6037, -0.3813, -0.0212, -0.0486, 0.9993, 0.7185, 2.0762, 1.2362, -0.0086, 0.4515, 0.3485, 0.9328]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.1714 left_yaw=0.0027 left_pitch=-0.0347 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4304 right_y=0.2787 right_z=0.0289 right_yaw=0.1371 right_pitch=-0.186 right_roll=-0.0828 right_gripper=0.9328\nstate[joint_eff]: [-0.1983, -1.1419, 7.1726, 1.6874, -0.0366, -0.0415, -0.0073, 0.6085, -10.7419, 8.335, 1.4969, 0.3492, 0.1783, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3d7518000f55b67249174be2163e3b5a2cb8e3ffb2cfcca4dbb521d21d7c3a7f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0660b1711617f28b143ac1d8ab8d502f05683674863ad5b44925e44ba3070e3d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0bd04ee4c6730c7ee0943dc8fe1dbde859388f2b1c7942476e83dcb3b654d38d"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 7.734 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.6647, 1.8633, 1.0618, 0.0151, 0.4278, 0.3191, 0.927]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0031 left_pitch=-0.0305 left_roll=-0.0035 left_gripper=0.9993 right_x=0.4151 right_y=0.2368 right_z=0.0673 right_yaw=0.1232 right_pitch=-0.1434 right_roll=-0.0568 right_gripper=0.927\nstate[joint_eff]: [-0.2256, -1.4017, 7.3641, 1.6874, -0.0562, -0.0366, -0.0122, 0.2803, -11.2889, 8.3214, 1.5995, 0.3785, 0.1294, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.445, \"right_y\": 0.35, \"right_z\": 0.02}, \"note\": \"The wrist view still shows the groove about one disc-width to the left of the held disc; the top camera shows the disc over the board's near-right corner. Moving another ~7 cm left and slightly forward while lowering to 2 cm to bring the disc over the groove.\"}",
"name": "move_to"
},
"id": "toolu_015va3LL1uYZekyz5jWdmYm7",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_015va3LL1uYZekyz5jWdmYm7"
}{
"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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7265, 2.0903, 1.2606, -0.0116, 0.4522, 0.3523, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4326 right_y=0.286 right_z=0.0304 right_yaw=0.1432 right_pitch=-0.1795 right_roll=-0.0764 right_gripper=0.9328\nstate[joint_eff]: [-0.3487, -1.5111, 7.2821, 1.7118, -0.0611, -0.0269, -0.0073, 0.1299, -10.8923, 7.7744, 1.5409, 0.3346, 0.1441, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2774c8a1d1c9bfa0399400a3af51be283d22d08a1159f78dc68b02f60193ae85"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1582027ea98d361f64b5706e4bd3cb992b1bd4d8d0dce71d4c3d6f1572fa1fb8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 101):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d4869b503e4224075337ee5530b38ac4f0bd014a97de2d13d1f372561ac748fe"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 6.756 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, 0.8238, 0.6037, -0.3813, -0.0212, -0.0486, 0.9993, 0.7185, 2.0762, 1.2362, -0.0086, 0.4515, 0.3485, 0.9328]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.1714 left_yaw=0.0027 left_pitch=-0.0347 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4304 right_y=0.2787 right_z=0.0289 right_yaw=0.1371 right_pitch=-0.186 right_roll=-0.0828 right_gripper=0.9328\nstate[joint_eff]: [-0.1983, -1.1419, 7.1726, 1.6874, -0.0366, -0.0415, -0.0073, 0.6085, -10.7419, 8.335, 1.4969, 0.3492, 0.1783, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.32, \"right_z\": 0.03}, \"note\": \"The arm barely moved on the last command (only ~1 cm left), likely IK tracking slowly, and the groove is still to the left of the disc in the wrist view. Trying a smaller 3.5 cm leftward step at the same height.\"}",
"name": "move_to"
},
"id": "toolu_01JWuiYvWSgxDbTC6U71ptaQ",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01JWuiYvWSgxDbTC6U71ptaQ"
}{
"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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7265, 2.0903, 1.2606, -0.0116, 0.4526, 0.3523, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4327 right_y=0.2859 right_z=0.0304 right_yaw=0.1429 right_pitch=-0.1793 right_roll=-0.0766 right_gripper=0.9328\nstate[joint_eff]: [0.0205, -1.3333, 7.0496, 1.6777, -0.0659, -0.0659, -0.0171, 0.0615, -10.8786, 7.8427, 1.5751, 0.3736, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a7686c464435160d61805211c8f5c7f0560ff626a4c07ddf1835a0ba89f1d526"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c49b334ca0a107e278ee85fed3f70620b592f0e734d9e0df659ee5426ea683d4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:24470e1f2b0509b306efccaa5cd2c1eb144e6d40a781900853054df98a1a8648"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 12.21 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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7265, 2.0903, 1.2606, -0.0116, 0.4522, 0.3523, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4326 right_y=0.286 right_z=0.0304 right_yaw=0.1432 right_pitch=-0.1795 right_roll=-0.0764 right_gripper=0.9328\nstate[joint_eff]: [-0.3487, -1.5111, 7.2821, 1.7118, -0.0611, -0.0269, -0.0073, 0.1299, -10.8923, 7.7744, 1.5409, 0.3346, 0.1441, 1.033]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.33, \"right_z\": 0.07}, \"note\": \"The arm did not move at all on the last command \\u2014 the disc may be caught on the board edge or the pose is at an IK limit. Lifting to 7 cm while moving left so the disc clears the board and can be positioned over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01HSYtq4867TdxgoQ8kF7zts",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01HSYtq4867TdxgoQ8kF7zts"
}{
"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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7979, 2.1014, 1.4117, -0.1772, 0.4797, 0.3943, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4242 right_y=0.3233 right_z=0.0573 right_yaw=0.1682 right_pitch=-0.1872 right_roll=-0.077 right_gripper=0.9328\nstate[joint_eff]: [-0.0479, -1.2923, 7.0496, 1.7411, -0.0562, -0.0464, -0.0073, 0.3214, -11.9863, 7.3504, 1.2772, 0.5446, 0.1685, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a68133d1c240571e2eb52c6a1ec7f47a751c68bd396913d6b22e1253b158a27e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f690b8d0bbbea52165cedb20798734c3bd1a19d6fa3a3c1745cff55d3a516e58"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 108):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c386b76cb43af4bbdf70aa7f5f95f71aa894e5f45450368dd3c1c94d477ad024"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 8.972 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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7265, 2.0903, 1.2606, -0.0116, 0.4526, 0.3523, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4327 right_y=0.2859 right_z=0.0304 right_yaw=0.1429 right_pitch=-0.1793 right_roll=-0.0766 right_gripper=0.9328\nstate[joint_eff]: [0.0205, -1.3333, 7.0496, 1.6777, -0.0659, -0.0659, -0.0171, 0.0615, -10.8786, 7.8427, 1.5751, 0.3736, 0.1148, 1.0281]\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\": 0.35, \"right_z\": 0.012}, \"note\": \"The disc is still held by the jaws and the board appears in the lower-left of the wrist view, so the groove is a bit further left and slightly back. Moving the disc there and lowering to just above board height for the release.\"}",
"name": "move_to"
},
"id": "toolu_01TAXwZHNyp78MnVDUqqdwJw",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01TAXwZHNyp78MnVDUqqdwJw"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8265, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.844, 2.188, 1.4281, -0.1356, 0.5014, 0.4248, 0.9328]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1707 left_yaw=0.0031 left_pitch=-0.037 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4145 right_y=0.3438 right_z=0.0266 right_yaw=0.1781 right_pitch=-0.1988 right_roll=-0.0855 right_gripper=0.9328\nstate[joint_eff]: [-0.0752, -1.1556, 7.0632, 1.6923, -0.0122, -0.0708, -0.0073, 1.0872, -11.3573, 5.1897, 1.3993, 0.3785, 0.188, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 111):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f9ea6505b62a8d6492d9adf6d761b22c71598b02cc61f6960028f2d8c230ed4a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 111):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:952b9ba7bcf1c2726f9cf0b2b2faf9a044edb5195b3d5d7be56bb4fce0a7ff54"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 111):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b58390540ed3f9e272033306fe2041b4f98fe9cf57bf4a55bcbd59eef5cbc20d"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 12.96 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 53 changed as sent
message 53 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8249, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.7979, 2.1014, 1.4117, -0.1772, 0.4797, 0.3943, 0.9328]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0031 left_pitch=-0.0355 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4242 right_y=0.3233 right_z=0.0573 right_yaw=0.1682 right_pitch=-0.1872 right_roll=-0.077 right_gripper=0.9328\nstate[joint_eff]: [-0.0479, -1.2923, 7.0496, 1.7411, -0.0562, -0.0464, -0.0073, 0.3214, -11.9863, 7.3504, 1.2772, 0.5446, 0.1685, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 1.0, \"right_z\": 0.03}, \"note\": \"The wrist camera now shows the light board directly beneath the blue disc and the arm stopped descending at ~2.7 cm, suggesting the disc is resting on the board/groove. Opening the gripper to release the piece into the groove.\"}",
"name": "move_to"
},
"id": "toolu_013a9fTssCyXPwvC2NwC8AFZ",
"type": "function"
}
]
}{
"content": "executing move_to over 1 steps (0.1s)",
"role": "tool",
"tool_call_id": "toolu_013a9fTssCyXPwvC2NwC8AFZ"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.9993, 0.86, 2.2101, 1.4208, -0.0891, 0.5159, 0.4416, 0.9328]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1704 left_yaw=0.0031 left_pitch=-0.0381 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4127 right_y=0.3514 right_z=0.0202 right_yaw=0.1763 right_pitch=-0.1777 right_roll=-0.0709 right_gripper=0.9328\nstate[joint_eff]: [-0.2393, -1.6615, 7.2137, 1.7021, -0.0757, -0.0562, -0.0073, 0.3214, -11.2068, 5.4222, 1.3895, 0.2027, 0.0952, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 112):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e8adba938c1f829d26527925cfa97ca2b07a9f0ffbc5ab4927bce1201a25757a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 112):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ca3d9f4ba698157f1d7ccf773002ad01a8fafaaabfa4fb8464d9d7786a53704"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 112):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fdae529cd6b3ee4567ccd3c6022afebb20fd9e52e0bae3d0cc3bbc614aff7594"
},
"type": "image_url"
}
],
"role": "user"
}