- 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
- 391.3 s
- total steps
- 123
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
done
Operator judgements
n
Grader notes
trial 00
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 17
Raw transcript
step 21
Raw transcript
step 25
Raw transcript
step 29
Raw transcript
step 33
Raw transcript
step 37
Raw transcript
step 47
Raw transcript
step 57
Raw transcript
step 67
Raw transcript
step 73
Raw transcript
step 82
Raw transcript
step 90
Raw transcript
step 102
Raw transcript
step 104
Raw transcript
step 114
Raw transcript
step 122
Raw transcript
Trial 0 Wire
Tools (trial initial)
[
{
"function": {
"description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
"name": "move_to",
"parameters": {
"properties": {
"note": {
"description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
"type": "string"
},
"targets": {
"description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
"type": "object"
}
},
"required": [
"targets",
"note"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Declare the task finished. The trial ends; a scorer judges success.",
"name": "done",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"summary": {
"type": "string"
}
},
"required": [
"summary",
"hindsight"
],
"type": "object"
}
},
"type": "function"
},
{
"function": {
"description": "Stop trying; the task cannot be completed. The trial ends.",
"name": "give_up",
"parameters": {
"properties": {
"hindsight": {
"description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
"type": "string"
},
"reason": {
"type": "string"
}
},
"required": [
"reason",
"hindsight"
],
"type": "object"
}
},
"type": "function"
}
]call 0 attempt 0 · /chat/completions · status 200 · 21.11 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, 0.6037, -0.3786, -0.0216, -0.0372, 0.9991, -0.0185, 0.791, 0.6086, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2957 right_y=0.0022 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3197, 10.3726, 1.8242, -0.022, 0.232, -0.1099, -0.7043, -1.1009, 9.9077, 1.7802, -0.0513, -0.0024, -0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c94f7847ce3295133e388b8861ae4ac8bb82a128f503d262ce664b249a909c84"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6e70e81036629676636b8af360d4adc9c565594596f0176b1c1d1cfdf430f932"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a2f7e844a5f17f19787a406258f84242630cd4f4f4ceea1131d1def23e8c2685"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 15.32 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.3, \"right_y\": 0.0, \"right_z\": 0.09, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue round piece with its knob roughly centered ahead of the open gripper; the board with the circular groove is ~18 cm to the left in the top view. Lowering the right arm to get a closer look and calibrate the piece's position relative to the gripper.\"}",
"name": "move_to"
},
"id": "toolu_01SgePCMxhbhB5FxMb7g7aw1",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01SgePCMxhbhB5FxMb7g7aw1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7994, 0.6056, -0.3805, -0.0216, -0.0414, 0.999, -0.0269, 0.9054, 0.2802, -0.02, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1791 left_yaw=0.0023 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.999 right_x=0.2881 right_y=0.0012 right_z=0.0768 right_yaw=-0.0022 right_pitch=-0.0869 right_roll=0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.812, 6.9128, 1.707, -0.0611, -0.0122, -0.022, -0.8, -1.8667, 7.1726, 2.0977, -0.1099, -0.105, -0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cfd1ce55f14a7a6f7f82b0afed2f6ea1724513b2b22e3389e119282118383e69"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:634f01275e84014ada221cf095888fb610f307f68604cfd558d7027cbfa19a48"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e2672ce7cf86eda2dd3847ee02248083faf0163c2529fed837e13792acd21b7c"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 10.31 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, 0.6037, -0.3786, -0.0216, -0.0372, 0.9991, -0.0185, 0.791, 0.6086, -0.3759, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2957 right_y=0.0022 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3197, 10.3726, 1.8242, -0.022, 0.232, -0.1099, -0.7043, -1.1009, 9.9077, 1.7802, -0.0513, -0.0024, -0.1001]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.02, \"right_z\": 0.07}, \"note\": \"From the wrist camera the knob is ahead of the gripper and slightly left; in the top view the piece lies up-left of the gripper. Stepping forward and slightly left to center the knob between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01EdmtKCbg4PmViWwpdEZNFw",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01EdmtKCbg4PmViWwpdEZNFw"
}{
"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, 0.8047, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0696, 1.1774, 0.3298, 0.1097, 0.0196, 0.0193, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0149 left_roll=-0.0035 left_gripper=0.999 right_x=0.3078 right_y=0.0216 right_z=0.046 right_yaw=0.0333 right_pitch=-0.1797 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6205, 7.159, 1.7167, -0.0611, -0.0415, -0.0171, 0.4855, -3.6855, 8.9368, 2.0928, 0.1392, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:67482b34b04896f75a18997d54cc38c020d3b898533579976d09dd0f8fb02f77"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:656006ef27b15ed561382c7263596f5b757386f9500f6b3cf3ebaf617a7eebd8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:823a1733f729d257f44dbf5df45115e7db559cf6c961c5f3d3dd0c9fb5d5c923"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 9.485 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, 0.7994, 0.6056, -0.3805, -0.0216, -0.0414, 0.999, -0.0269, 0.9054, 0.2802, -0.02, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1791 left_yaw=0.0023 left_pitch=-0.0072 left_roll=-0.0034 left_gripper=0.999 right_x=0.2881 right_y=0.0012 right_z=0.0768 right_yaw=-0.0022 right_pitch=-0.0869 right_roll=0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.812, 6.9128, 1.707, -0.0611, -0.0122, -0.022, -0.8, -1.8667, 7.1726, 2.0977, -0.1099, -0.105, -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\": 0.02, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"The arm sagged a bit (z 0.046, pitch tipped back) and the knob is still ahead of the fingers, centered horizontally in the wrist view. Moving further forward at low height with level pitch to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Ec4mqrrPHHv6hENRgvcn3g",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01Ec4mqrrPHHv6hENRgvcn3g"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0582, 1.3945, 0.3042, 0.4305, 0.0101, 0.0067, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0025 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.999 right_x=0.3345 right_y=0.0213 right_z=0.0313 right_yaw=0.0371 right_pitch=-0.1016 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4427, 7.2137, 1.7021, -0.0562, -0.0708, -0.0171, -0.8274, -4.2872, 5.3128, 2.083, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a17f383babf53c739ad0becd67e46c58e50df073ce3beadb1c60e5376eb19cce"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c0ce7219584199783288d9d88c560cc7faba107d511a36d519c6aa211f3cf8f0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f08d407828c794b42f70e5a1f4a3323360f1474cb14e4278b10ca9a108fc7a71"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 10.55 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, 0.8047, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0696, 1.1774, 0.3298, 0.1097, 0.0196, 0.0193, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0149 left_roll=-0.0035 left_gripper=0.999 right_x=0.3078 right_y=0.0216 right_z=0.046 right_yaw=0.0333 right_pitch=-0.1797 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6205, 7.159, 1.7167, -0.0611, -0.0415, -0.0171, 0.4855, -3.6855, 8.9368, 2.0928, 0.1392, 0.149, -0.0171]\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\": 0.375, \"right_y\": 0.02, \"right_z\": 0.045, \"right_pitch\": 0.0}, \"note\": \"The knob is now closer, centered horizontally but still ahead of the fingertips in the wrist view; the top view shows the gripper at the edge of the disc. Advancing ~4 cm more so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_013PuhSmqtp2KcFKFpP1hn7x",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_013PuhSmqtp2KcFKFpP1hn7x"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0494, 1.5318, 0.35, 0.5255, -0.0013, -0.0074, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3531 right_y=0.0213 right_z=0.0215 right_yaw=0.0456 right_pitch=-0.0982 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4701, 7.0359, 1.6874, -0.0464, -0.0415, -0.0122, -0.7043, -5.1897, 7.2274, 2.0684, -0.0366, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d7fb671c6d28f273f68c7dfbb002e23f1a99247bcda295c6804db1440cbdb398"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed9aa64b1f668db93e2d2757977b6659936cce02db631802fd53b46eff0f3f30"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6505830058973c0f3bb8431c41d7c5cd78f42d6bd760082e51e77b64e6a1b3d7"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 12.51 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, 0.807, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0582, 1.3945, 0.3042, 0.4305, 0.0101, 0.0067, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0025 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.999 right_x=0.3345 right_y=0.0213 right_z=0.0313 right_yaw=0.0371 right_pitch=-0.1016 right_roll=-0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4427, 7.2137, 1.7021, -0.0562, -0.0708, -0.0171, -0.8274, -4.2872, 5.3128, 2.083, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"The knob is still a few centimeters ahead of the fingertips in the wrist view and the arm is sagging low (z 0.02). Pushing further forward while requesting a slightly higher z to compensate for sag.\"}",
"name": "move_to"
},
"id": "toolu_01Un9F4QkYs1c9A9b4paUdmB",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Un9F4QkYs1c9A9b4paUdmB"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0471, 1.5429, 0.3664, 0.5621, -0.004, -0.0078, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3633 right_y=0.0214 right_z=0.0307 right_yaw=0.0458 right_pitch=-0.0562 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.347, 7.1179, 1.6972, -0.0855, -0.0317, -0.0171, -0.5128, -5.0803, 6.653, 2.0488, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9121eb5f124a3fee25d171fec2b25bb2a8c7b0c08cf7069a440259cf7f361c19"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b0c84087fa253e36cb844bb6fded73882f273aa8a003eb5364b17f0b046658b2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9992907ef0257bc679f2569c18fcfa31726c8c246dfd82dc3e005e12125176ac"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 13.1 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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0494, 1.5318, 0.35, 0.5255, -0.0013, -0.0074, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3531 right_y=0.0213 right_z=0.0215 right_yaw=0.0456 right_pitch=-0.0982 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4701, 7.0359, 1.6874, -0.0464, -0.0415, -0.0122, -0.7043, -5.1897, 7.2274, 2.0684, -0.0366, 0.0171, -0.0171]\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\": 0.02, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"The arm only advanced ~1 cm; the knob is now near the fingertips but still slightly ahead in the wrist view. Commanding another forward step to put the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Q6kaddjBYfYkS5pd4K26tE",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01Q6kaddjBYfYkS5pd4K26tE"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0471, 1.5429, 0.3664, 0.5621, -0.004, -0.0078, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3633 right_y=0.0214 right_z=0.0307 right_yaw=0.0458 right_pitch=-0.0562 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.347, 7.0632, 1.6972, -0.0855, -0.0317, -0.0171, -0.5812, -5.2581, 6.4205, 2.083, -0.0562, 0.0611, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e1d448d7f61152fd2cb9222ee5ec9153bad718209ab88ed0c76a6cd33705ecbc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:caafb366c155e2a0cf8bf3a00b0fba8e68f735ff10801683360a7a5324770989"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:037c785f3c29ea92a17b8c1631ce80eedc8d19932ad3c75e511fc55ddbfe250f"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 10.61 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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0471, 1.5429, 0.3664, 0.5621, -0.004, -0.0078, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3633 right_y=0.0214 right_z=0.0307 right_yaw=0.0458 right_pitch=-0.0562 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.347, 7.1179, 1.6972, -0.0855, -0.0317, -0.0171, -0.5128, -5.0803, 6.653, 2.0488, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.08}, \"note\": \"The arm did not move at all on the last command, suggesting the IK is stuck at this low, stretched pose. Lifting to z=0.08 while moving forward, leaving pitch free, to approach the knob from slightly above instead.\"}",
"name": "move_to"
},
"id": "toolu_01UWVCoSJVitaZqTJbbpknfJ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01UWVCoSJVitaZqTJbbpknfJ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0444, 1.5383, 0.4603, 0.4374, -0.0101, -0.0135, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3775 right_y=0.0222 right_z=0.0411 right_yaw=0.0514 right_pitch=-0.0825 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 7.1179, 1.746, -0.0464, -0.0708, -0.0171, -0.9504, -9.5932, 9.4291, 2.5372, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78046cc08c5ac5ca523ae52f4d667b4ecc2ea0737ee3b48883ae06ce2da2c876"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d975f3c59d3804a5c9215ee9381144fa7ccfe85788f72b860b5bcf0faf9cdd44"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:31d0118fd2425e72f892d74e853b5919b86226f4acf17eeea13cf8aaf45c1a5b"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 7.975 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0471, 1.5429, 0.3664, 0.5621, -0.004, -0.0078, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3633 right_y=0.0214 right_z=0.0307 right_yaw=0.0458 right_pitch=-0.0562 right_roll=-0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.347, 7.0632, 1.6972, -0.0855, -0.0317, -0.0171, -0.5812, -5.2581, 6.4205, 2.083, -0.0562, 0.0611, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.02, \"right_z\": 0.05}, \"note\": \"The knob is now just ahead of the fingertips, centered between them in the wrist view; the arm tracks slowly with high shoulder effort. One more forward step of ~4 cm to bring the knob fully between the jaws before closing.\"}",
"name": "move_to"
},
"id": "toolu_01CAAzYDCsyo6B1fQo4uCquZ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01CAAzYDCsyo6B1fQo4uCquZ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0376, 1.6577, 0.59, 0.3634, -0.0135, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=0.0025 left_pitch=-0.0213 left_roll=-0.0034 left_gripper=0.999 right_x=0.4012 right_y=0.0211 right_z=0.0297 right_yaw=0.0485 right_pitch=-0.1462 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4838, 7.0359, 1.6972, -0.0659, -0.0611, -0.0171, -0.9094, -6.8308, 8.4171, 1.956, -0.1099, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:385d4b8943dbc1de37803c4d958c778f4ba2205af5825bf9e83332eb3c3f2e0c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:40af5bda6d51c363951e772af2e19d196e3895d0a0e1279c66a19e74ca1f7da8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 37):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e7a7618a644d65aa3547d742117a42736a68cc186da887be6a52759338761a85"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 12.93 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, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0444, 1.5383, 0.4603, 0.4374, -0.0101, -0.0135, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.999 right_x=0.3775 right_y=0.0222 right_z=0.0411 right_yaw=0.0514 right_pitch=-0.0825 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.347, 7.1179, 1.746, -0.0464, -0.0708, -0.0171, -0.9504, -9.5932, 9.4291, 2.5372, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The wooden knob now sits between the two fingertips in the wrist camera view and the top camera shows the gripper over the disc. Closing the right gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Vpb72DkWsmoyjZMenwLNtd",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01Vpb72DkWsmoyjZMenwLNtd"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3805, -0.0212, -0.0418, 0.999, 0.0341, 1.6627, 0.6163, 0.3656, -0.0235, -0.0303, 0.0164]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0221 left_roll=-0.0036 left_gripper=0.999 right_x=0.4101 right_y=0.0217 right_z=0.0378 right_yaw=0.0615 right_pitch=-0.1223 right_roll=-0.0097 right_gripper=0.0164\nstate[joint_eff]: [-0.1436, -1.4564, 7.159, 1.6874, -0.022, -0.0708, -0.0171, -0.3624, -7.1316, 7.1179, 1.8095, -0.0269, 0.0708, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:34aceaa323bf2a48f08c79cc52d272c7be63aca9410ce17f3bea14c06f83270b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:631759ca38d778c2c88daaca75a394ac7e2c457ed0042a87648bd231fc4156f0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:017f4cb7f4fd4a5e18c3fdead5d8245569309ce6ed317081c2723141446ce5db"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 11.61 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 26 changed as sent
message 26 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0376, 1.6577, 0.59, 0.3634, -0.0135, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=0.0025 left_pitch=-0.0213 left_roll=-0.0034 left_gripper=0.999 right_x=0.4012 right_y=0.0211 right_z=0.0297 right_yaw=0.0485 right_pitch=-0.1462 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4838, 7.0359, 1.6972, -0.0659, -0.0611, -0.0171, -0.9094, -6.8308, 8.4171, 1.956, -0.1099, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 1.0, \"right_x\": 0.43, \"right_z\": 0.04}, \"note\": \"The gripper closed almost fully (0.016), so the fingers pinched just short of the knob, which is visible beside the closed fingertips. Reopening and advancing ~2 cm so the knob is properly between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_0129HqL1y3vCyESSN7g7KrrW",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_0129HqL1y3vCyESSN7g7KrrW"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0341, 1.7103, 0.6727, 0.342, -0.0284, -0.0383, 0.9947]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.999 right_x=0.4218 right_y=0.023 right_z=0.035 right_yaw=0.07 right_pitch=-0.1371 right_roll=-0.0123 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 7.2547, 1.7607, -0.0757, -0.0708, -0.0073, -0.5265, -6.2838, 7.7744, 1.6337, 0.0562, 0.1197, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:54fe509e6a075f1e13c37616ab566438194d8eb69bbd9a076d424bd666dffc31"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:98dd9742597d0f952868d849359f814732ed6c4ff6979e595b6893174c56c529"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9b38582ad8e0c03f327f1e17b7ba4d9ec58d538f798c6a3b994ffdb4b4fe927d"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 27.62 s
- model
- claude-fable-5-1
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 29 changed as sent
message 29 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3805, -0.0212, -0.0418, 0.999, 0.0341, 1.6627, 0.6163, 0.3656, -0.0235, -0.0303, 0.0164]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0221 left_roll=-0.0036 left_gripper=0.999 right_x=0.4101 right_y=0.0217 right_z=0.0378 right_yaw=0.0615 right_pitch=-0.1223 right_roll=-0.0097 right_gripper=0.0164\nstate[joint_eff]: [-0.1436, -1.4564, 7.159, 1.6874, -0.022, -0.0708, -0.0171, -0.3624, -7.1316, 7.1179, 1.8095, -0.0269, 0.0708, 0.7399]\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\": 0.0}, \"note\": \"The wrist camera now shows the knob clearly between the two open jaws. Closing the right gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01J19KnwGh3gRMAvaMCixXmb",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01J19KnwGh3gRMAvaMCixXmb"
}{
"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, -0.0418, 0.999, 0.0341, 1.7142, 0.6735, 0.3382, -0.0303, -0.0399, 0.0143]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0034 left_gripper=0.999 right_x=0.4212 right_y=0.0233 right_z=0.033 right_yaw=0.0725 right_pitch=-0.1439 right_roll=-0.012 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, -1.1966, 7.0359, 1.6972, -0.0611, -0.0513, -0.0171, -0.1026, -7.706, 5.3402, 1.6679, -0.022, -0.0024, 1.2918]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:615547f747ae30e4c87f15e9c9bdc3bac6dc4ad9c217bfaede43e7d8028ba278"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:59f1416059bf9e2ca495820fb519ffc7b0f6b386cbcede94d0645992297e9236"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 67):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:50858025cb374340b3cd0268f40fe18fea63cc565f9ddfb8c469fb060467a865"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 17.49 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0341, 1.7103, 0.6727, 0.342, -0.0284, -0.0383, 0.9947]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.999 right_x=0.4218 right_y=0.023 right_z=0.035 right_yaw=0.07 right_pitch=-0.1371 right_roll=-0.0123 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 7.2547, 1.7607, -0.0757, -0.0708, -0.0073, -0.5265, -6.2838, 7.7744, 1.6337, 0.0562, 0.1197, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.12, \"right_x\": 0.4}, \"note\": \"The gripper closed on the knob (0.014 with raised gripper effort) and the wrist view shows the fingers gripping the knob on the blue disc. Lifting the piece to 12 cm before moving toward the board.\"}",
"name": "move_to"
},
"id": "toolu_01EhJAoA7bhhXGzibWz7jgb9",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01EhJAoA7bhhXGzibWz7jgb9"
}{
"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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0341, 1.4467, 0.7559, -0.0113, -0.0311, -0.0414, 0.0154]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.999 right_x=0.4023 right_y=0.0228 right_z=0.105 right_yaw=0.074 right_pitch=-0.1435 right_roll=-0.0127 right_gripper=0.0154\nstate[joint_eff]: [0.1026, -1.0462, 7.2274, 1.7411, -0.0611, -0.0757, -0.0171, 0.1026, -7.241, 9.0872, 1.6532, 0.0366, -0.0269, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f5a8040f0d11f1221be09466312c42c8e06f3f2ecbcdd94dc93051e83f41a5c3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c1e53ceea939f138b557ec19fdd7b8543c2f06ff933ba02a29a7536d64e4b835"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f571d5a84dabc0fec4d3aa2fed82e0000ad2033a6a9878ce8926324cd7438d26"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 25.19 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, 0.8127, 0.6037, -0.3805, -0.0216, -0.0418, 0.999, 0.0341, 1.7142, 0.6735, 0.3382, -0.0303, -0.0399, 0.0143]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0034 left_gripper=0.999 right_x=0.4212 right_y=0.0233 right_z=0.033 right_yaw=0.0725 right_pitch=-0.1439 right_roll=-0.012 right_gripper=0.0143\nstate[joint_eff]: [-0.3214, -1.1966, 7.0359, 1.6972, -0.0611, -0.0513, -0.0171, -0.1026, -7.706, 5.3402, 1.6679, -0.022, -0.0024, 1.2918]\napprover: 10 step(s) modified (delta_clamped ×10).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_y\": 0.12, \"right_x\": 0.4, \"right_z\": 0.12}, \"note\": \"The blue piece is lifted in the gripper (top view shows it raised at the right). The board with the circular groove is to the left (+y) in the top view; moving the arm ~10 cm left at height as a first step toward it.\"}",
"name": "move_to"
},
"id": "toolu_01Sprcg69eK9HZkY5mtk2v9N",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01Sprcg69eK9HZkY5mtk2v9N"
}{
"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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.3683, 1.4864, 0.841, -0.0914, 0.1864, 0.1436, 0.0154]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.999 right_x=0.3931 right_y=0.1205 right_z=0.112 right_yaw=0.1224 right_pitch=-0.163 right_roll=-0.0187 right_gripper=0.0154\nstate[joint_eff]: [-0.3487, -1.3744, 7.2274, 1.7167, -0.0904, -0.0708, -0.0171, 0.1162, -5.4359, 9.1009, 1.4725, 0.2857, 0.1294, 1.0232]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8e900be5114377a614813bee3b7716b91942cce44280fea50a2ad6bd442738de"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9746e2791fd9bee7c28fcf05034c091706adb40535443ec01a88b3cab1819700"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4d2eaca1f9e20bc31b41c3f23bce31e5a10af54a9d437723872836ba1a7427bd"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 37.98 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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0341, 1.4467, 0.7559, -0.0113, -0.0311, -0.0414, 0.0154]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.999 right_x=0.4023 right_y=0.0228 right_z=0.105 right_yaw=0.074 right_pitch=-0.1435 right_roll=-0.0127 right_gripper=0.0154\nstate[joint_eff]: [0.1026, -1.0462, 7.2274, 1.7411, -0.0611, -0.0757, -0.0171, 0.1026, -7.241, 9.0872, 1.6532, 0.0366, -0.0269, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_y\": 0.21, \"right_x\": 0.4, \"right_z\": 0.12}, \"note\": \"The wrist camera now shows the white board with the circular groove entering from the left edge of the view, roughly 10 cm further left of the held piece. Moving another ~9 cm in +y at height to position the piece above the groove.\"}",
"name": "move_to"
},
"id": "toolu_0157kK2qhakNfoLa1E4uFPdx",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_0157kK2qhakNfoLa1E4uFPdx"
}{
"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, 0.8173, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.6029, 1.655, 1.0283, -0.1802, 0.3244, 0.2813, 0.0154]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1734 left_yaw=0.0025 left_pitch=-0.0271 left_roll=-0.0033 left_gripper=0.999 right_x=0.3925 right_y=0.2062 right_z=0.1086 right_yaw=0.1629 right_pitch=-0.1959 right_roll=-0.0312 right_gripper=0.0154\nstate[joint_eff]: [-0.1026, -1.6342, 7.3231, 1.6679, -0.0464, -0.0708, -0.0171, 0.2803, -7.6103, 8.7043, 1.409, 0.4078, 0.2076, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:73d196c8e6f4fa94cbc2d9613c87efb1ef748859fafc12ee63502bd79ebccaaf"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:301a9a492369d93cadef93a3664fa77b643a8de981fc752805928784a886476d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7be8d498db037b6c5200bd059a8c19fac6a3d4c466f642a752061eaf2b7f9da6"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 15 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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.3683, 1.4864, 0.841, -0.0914, 0.1864, 0.1436, 0.0154]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.999 right_x=0.3931 right_y=0.1205 right_z=0.112 right_yaw=0.1224 right_pitch=-0.163 right_roll=-0.0187 right_gripper=0.0154\nstate[joint_eff]: [-0.3487, -1.3744, 7.2274, 1.7167, -0.0904, -0.0708, -0.0171, 0.1162, -5.4359, 9.1009, 1.4725, 0.2857, 0.1294, 1.0232]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_y\": 0.34, \"right_x\": 0.41, \"right_z\": 0.07}, \"note\": \"The wrist camera shows the board's circular groove at the lower-left while the held blue disc appears at the lower-right, so the disc is still ~12-15 cm to the right (-y) of the groove. Moving left ~13 cm and slightly forward while descending to 7 cm to bring the disc over the groove.\"}",
"name": "move_to"
},
"id": "toolu_01UKm1mGojo5v4zKoGdqthBM",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01UKm1mGojo5v4zKoGdqthBM"
}{
"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, -0.3813, -0.0216, -0.0418, 0.999, 0.8326, 2.0659, 1.4113, -0.2546, 0.4465, 0.4389, 0.0154]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1724 left_yaw=0.0025 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.999 right_x=0.4019 right_y=0.3337 right_z=0.0619 right_yaw=0.1982 right_pitch=-0.2342 right_roll=-0.0506 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, -1.5248, 7.0632, 1.7021, -0.0659, -0.0366, -0.0171, 0.3761, -10.7009, 8.1846, 1.4335, 0.5397, 0.1783, 1.0232]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7666068e2fbb1873e82468ff42facd17d57a0ffb82c54dcf12391e8cdc3d3a2d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0703be262fb354ed0e428ecf55c8e6d94efb3a10cc8454ee6a89339d9311bdae"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 102):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1151266bfc94d6825e05e8906b8f077857bcef165cef5ea414e585626712496d"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 11.66 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, 0.8173, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.6029, 1.655, 1.0283, -0.1802, 0.3244, 0.2813, 0.0154]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1734 left_yaw=0.0025 left_pitch=-0.0271 left_roll=-0.0033 left_gripper=0.999 right_x=0.3925 right_y=0.2062 right_z=0.1086 right_yaw=0.1629 right_pitch=-0.1959 right_roll=-0.0312 right_gripper=0.0154\nstate[joint_eff]: [-0.1026, -1.6342, 7.3231, 1.6679, -0.0464, -0.0708, -0.0171, 0.2803, -7.6103, 8.7043, 1.409, 0.4078, 0.2076, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.045, \"right_x\": 0.41, \"right_y\": 0.335}, \"note\": \"The wrist camera shows the circular groove directly beneath the gripper with the held disc centered over it, and the top view confirms the arm is over the board. Lowering to ~4.5 cm so the disc settles into the groove.\"}",
"name": "move_to"
},
"id": "toolu_01U1JCPDhuzgKd3qWEePLWFL",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01U1JCPDhuzgKd3qWEePLWFL"
}{
"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, -0.0422, 0.999, 0.8314, 2.0857, 1.4208, -0.2436, 0.4469, 0.4431, 0.0154]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0027 left_pitch=-0.0301 left_roll=-0.0035 left_gripper=0.999 right_x=0.4048 right_y=0.3359 right_z=0.0571 right_yaw=0.1946 right_pitch=-0.2333 right_roll=-0.0474 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, -1.4427, 7.3094, 1.6874, -0.0611, -0.0611, -0.0171, -0.8957, -9.306, 5.8735, 1.6142, 0.1343, -0.0611, 1.0281]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:990be6f36283a9adb8c87526d8fa6ef90b66012a37e85f45c31bb5bdd0ad489b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:97c2dbe02b8f27b83eb82981aa2aa90b07fb6c5aba073a546c28a5f474b742c9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ff79274e44b94072b1660b6a8657ff7d687561936e960296dfb611524d0b4857"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 9.119 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, 0.82, 0.6037, -0.3813, -0.0216, -0.0418, 0.999, 0.8326, 2.0659, 1.4113, -0.2546, 0.4465, 0.4389, 0.0154]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1724 left_yaw=0.0025 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.999 right_x=0.4019 right_y=0.3337 right_z=0.0619 right_yaw=0.1982 right_pitch=-0.2342 right_roll=-0.0506 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, -1.5248, 7.0632, 1.7021, -0.0659, -0.0366, -0.0171, 0.3761, -10.7009, 8.1846, 1.4335, 0.5397, 0.1783, 1.0232]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 1.0}, \"note\": \"The arm stopped descending at z\\u22480.057 with shoulder effort dropping, suggesting the disc is resting in the groove; the wrist view shows the blue disc filling the circular recess. Opening the gripper to release the piece.\"}",
"name": "move_to"
},
"id": "toolu_01SApSADwS7uSnDZwKShA4ZZ",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01SApSADwS7uSnDZwKShA4ZZ"
}{
"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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.8272, 2.1124, 1.4151, -0.2546, 0.4339, 0.4374, 0.9949]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0025 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.999 right_x=0.4014 right_y=0.332 right_z=0.0394 right_yaw=0.1968 right_pitch=-0.2747 right_roll=-0.0694 right_gripper=0.9949\nstate[joint_eff]: [0.0068, -1.4154, 7.2274, 1.7265, -0.0757, -0.0562, -0.0073, 0.1299, -13.7915, 6.8855, 1.3993, 0.2515, 0.0024, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5e87b457e3c6d78fbeb3e4f11f58684975732a406c7128785a4b391b6d18e773"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e7e3b978664cad7d09da07fbcb2b15cb2c565b220144551e80d1a24d201e6a07"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 114):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2e58bb839a39a17613c187f3cf8dafb8adf5918ae3cf68a86e96dd31094bf3c7"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 13.61 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0422, 0.999, 0.8314, 2.0857, 1.4208, -0.2436, 0.4469, 0.4431, 0.0154]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0027 left_pitch=-0.0301 left_roll=-0.0035 left_gripper=0.999 right_x=0.4048 right_y=0.3359 right_z=0.0571 right_yaw=0.1946 right_pitch=-0.2333 right_roll=-0.0474 right_gripper=0.0154\nstate[joint_eff]: [-0.1846, -1.4427, 7.3094, 1.6874, -0.0611, -0.0611, -0.0171, -0.8957, -9.306, 5.8735, 1.6142, 0.1343, -0.0611, 1.0281]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.15}, \"note\": \"The gripper is open and the wrist camera shows the blue disc seated in the board's circular groove with the knob between the released fingers. Raising the arm to clear the piece and verify placement.\"}",
"name": "move_to"
},
"id": "toolu_01YFZmPaJehxTfigPRwbvceT",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01YFZmPaJehxTfigPRwbvceT"
}{
"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, 0.8204, 0.6037, -0.3809, -0.0212, -0.0418, 0.999, 0.8268, 2.0457, 1.6627, -0.6037, 0.4221, 0.4335, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1724 left_yaw=0.0021 left_pitch=-0.0305 left_roll=-0.0034 left_gripper=0.999 right_x=0.4013 right_y=0.3345 right_z=0.1181 right_yaw=0.2014 right_pitch=-0.3086 right_roll=-0.0851 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.3607, 7.0769, 1.6825, -0.0464, -0.0415, -0.0073, -0.2667, -14.3521, 9.0188, 1.1111, 0.2711, 0.0269, 0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3388937a8b25bc7558cb0565fc9f629ecf709cd61b27ee80c654cf4e24fb6a8c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:108d60c572680e602ad5ac4e906b6da8a3dbb3ee0d954b1d4ff0b59a7ea6a8a1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26929ac4ac126fbd1df26976a6c2c62c35595937707fca3fcdf63f103381c2f0"
},
"type": "image_url"
}
],
"role": "user"
}