- 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
- 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
- 436.3 s
- total steps
- 113
operator
0
scenes
1
trials
1
errored
0
scene-0
completedPick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Reduced scores
operator=0
Trial scores
trial 0 operator=0
Termination reasons
give_up
Operator judgements
n
Grader notes
trial 01
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 7
Raw transcript
step 11
Raw transcript
step 19
Raw transcript
step 25
Raw transcript
step 33
Raw transcript
step 38
Raw transcript
step 46
Raw transcript
step 48
Raw transcript
step 50
Raw transcript
step 52
Raw transcript
step 62
Raw transcript
step 72
Raw transcript
step 76
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step 79
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step 82
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step 85
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step 88
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step 89
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step 98
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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 · 15.73 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"role": "system"
}{
"content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
"role": "user"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6044, -0.379, -0.0216, -0.0376, 0.9993, -0.0143, 0.7914, 0.6094, -0.3763, -0.0223, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1808 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2957 right_y=0.0033 right_z=0.184 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -1.3607, 10.4, 1.8095, -0.0024, 0.2369, -0.0806, -0.9641, -1.1282, 9.8256, 1.7558, -0.0415, -0.0317, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78d985fb4ce9c2153ef5c5bb0b5e6ac2ef7b3c17fbe25e2aec89da317a928b0a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94c0dc8bdf00f0ef9df381ec563abf24dbb0a55dcf5bbe460318874b70f8f89a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5e8b77adb13055f37bf807ebdf71c8b7243935f85374f3fcb7099e46b5b663da"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 17.99 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"The blue puzzle piece with an orange knob appears roughly centered ahead of the right wrist camera. Moving the right arm forward and down to hover closer over the piece to calibrate its position.\"}",
"name": "move_to"
},
"id": "toolu_01ThCpc3gxGm9LmYXjGi9AC5",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01ThCpc3gxGm9LmYXjGi9AC5"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6048, -0.3809, -0.0216, -0.0414, 0.9993, -0.02, 1.2644, 0.5549, 0.0441, -0.0288, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.179 left_yaw=0.0024 left_pitch=-0.0072 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3596 right_y=0.0015 right_z=0.0975 right_yaw=0.0017 right_pitch=-0.1071 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5795, 7.0359, 1.7167, -0.0562, 0.0024, -0.0171, -0.3487, -5.0667, 7.9932, 2.0147, -0.0708, -0.0757, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3dbf5ac90f50f9156a5cfdfd1dde4fe95fd118b6de7ea89ebcfd1396881add10"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c2dc70611a8c8580a7af532e3ba9217280a0ee6e7b4118a6d96682dcc3c43932"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bd166a9ce2dbc1c4e625a42dcd02cd6d3798d309551e274efa55087da4bd1c84"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 15.75 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 2 changed as sent
message 2 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6044, -0.379, -0.0216, -0.0376, 0.9993, -0.0143, 0.7914, 0.6094, -0.3763, -0.0223, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1808 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2957 right_y=0.0033 right_z=0.184 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -1.3607, 10.4, 1.8095, -0.0024, 0.2369, -0.0806, -0.9641, -1.1282, 9.8256, 1.7558, -0.0415, -0.0317, -0.1099]",
"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\": 0.0, \"right_z\": 0.05}, \"note\": \"The wrist camera shows the blue piece slightly below-left of center, so it is a bit further forward. Moving forward and lower to line up above the knob.\"}",
"name": "move_to"
},
"id": "toolu_01RgoDN2rAtGKc5rQrGPhWGp",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01RgoDN2rAtGKc5rQrGPhWGp"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, -0.02, 1.5978, 0.5816, 0.2379, -0.0315, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3829 right_y=0.0015 right_z=0.0262 right_yaw=0.0044 right_pitch=-0.2199 right_roll=0.0073 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4017, 7.0906, 1.7265, -0.0171, -0.0562, -0.0122, -0.4171, -7.3231, 8.5402, 2.0635, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5a29a7c2e8c1341b169b82114d984134706c750953cc43d3002d626d2f590a45"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cc9f429076dd1d1bdd9de2483a60ae9d0c550f63e8f745fb390edc8f9b3a1c36"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 11):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4265982dbaf05c564a2f524fd5ce1d2fc75b2cc1afc38ef66b2c68d6ae2b0de9"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 17.25 s
- model
- claude-fable-5
- 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, 0.7982, 0.6048, -0.3809, -0.0216, -0.0414, 0.9993, -0.02, 1.2644, 0.5549, 0.0441, -0.0288, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.179 left_yaw=0.0024 left_pitch=-0.0072 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3596 right_y=0.0015 right_z=0.0975 right_yaw=0.0017 right_pitch=-0.1071 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5795, 7.0359, 1.7167, -0.0562, 0.0024, -0.0171, -0.3487, -5.0667, 7.9932, 2.0147, -0.0708, -0.0757, -0.1099]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.0, \"right_z\": 0.012, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the orange knob nearly centered between the open fingers, just slightly forward. Moving a touch forward and down to knob height, straightening pitch, before closing the gripper.\"}",
"name": "move_to"
},
"id": "toolu_01A8sutmphDDriESyqH31xz6",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01A8sutmphDDriESyqH31xz6"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, -0.02, 1.6272, 0.5968, 0.3069, -0.0319, -0.0166, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3974 right_y=0.0013 right_z=0.0332 right_yaw=0.0047 right_pitch=-0.165 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.1316, 1.7167, -0.0757, -0.0708, -0.0073, -0.3214, -7.0906, 7.2547, 1.917, -0.0708, -0.0806, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63dbfaff073597ca6e05bc4775adc2d06b16f4a2c548128086f39e1b709f000b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7929946629ed7e0212872c9583d856509edbbb205915af437825706bdb394d77"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a7ac568f9880debd761ebbdf6d7bc4da11860a1c8342152a75f3b52359a39665"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 7.096 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, -0.02, 1.5978, 0.5816, 0.2379, -0.0315, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3829 right_y=0.0015 right_z=0.0262 right_yaw=0.0044 right_pitch=-0.2199 right_roll=0.0073 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4017, 7.0906, 1.7265, -0.0171, -0.0562, -0.0122, -0.4171, -7.3231, 8.5402, 2.0635, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.01, \"right_z\": 0.008, \"right_pitch\": 0}, \"note\": \"The knob sits between the jaws but slightly left of the midline in the wrist view, and the arm hasn't fully descended. Nudging left (+y) and lowering further so the fingers straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01M5aeetrKFtKQueorvdZ1RQ",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01M5aeetrKFtKQueorvdZ1RQ"
}{
"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, 0.8059, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.009, 1.7905, 0.4583, 0.712, -0.0265, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0026 left_pitch=-0.0156 left_roll=-0.003 left_gripper=0.9993 right_x=0.3945 right_y=0.0118 right_z=0.0026 right_yaw=0.0186 right_pitch=-0.062 right_roll=0.0161 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.5795, 7.1179, 1.6923, -0.0757, -0.0806, -0.0122, 0.4034, -5.3949, 3.3299, 1.4042, 0.1197, -0.0513, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:305e23fd648a1b1621c7202a3817663ad94490fa9293e8cb8bd9a2c4f317900c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5f7cb099525ec1455d805ae93722f0b6bc3197776177800473ad9ab588f9a2b3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b080733342740ef22d40932fc274cb86c678951e9997278fe7ecd559dc2f5702"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 6.842 s
- model
- claude-fable-5
- 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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, -0.02, 1.6272, 0.5968, 0.3069, -0.0319, -0.0166, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3974 right_y=0.0013 right_z=0.0332 right_yaw=0.0047 right_pitch=-0.165 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.1316, 1.7167, -0.0757, -0.0708, -0.0073, -0.3214, -7.0906, 7.2547, 1.917, -0.0708, -0.0806, -0.1099]\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\": 0.2}, \"note\": \"The wrist camera shows the wooden knob sitting right between the two gripper fingers at low height. Closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01MwAmQ4jF626SagtNdPYjHj",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01MwAmQ4jF626SagtNdPYjHj"
}{
"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, 0.8062, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.009, 1.8019, 0.4522, 0.7494, -0.0315, 0.0032, 0.205]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.003 left_gripper=0.9993 right_x=0.3963 right_y=0.0127 right_z=0.004 right_yaw=0.0226 right_pitch=-0.0421 right_roll=0.019 right_gripper=0.205\nstate[joint_eff]: [-0.3761, -1.2923, 7.0632, 1.6923, -0.0708, -0.0513, -0.0073, -0.1573, -7.7744, 4.6427, 1.3358, 0.0024, 0.0171, 0.1978]\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:d0b3393130b8fb90e8d72553a1417b76aa712d82db3d04ed2e51f73f775d7ca1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5a021d241071480172b23f9bb4f23f4fa185fc81337c1d1e3fd8bf57cac55c59"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:717851f0a399addc66e8ed15611a50fa993ef0e1ba684546d54cad367636c82f"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 13.05 s
- model
- claude-fable-5
- 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, 0.8059, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.009, 1.7905, 0.4583, 0.712, -0.0265, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0026 left_pitch=-0.0156 left_roll=-0.003 left_gripper=0.9993 right_x=0.3945 right_y=0.0118 right_z=0.0026 right_yaw=0.0186 right_pitch=-0.062 right_roll=0.0161 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.5795, 7.1179, 1.6923, -0.0757, -0.0806, -0.0122, 0.4034, -5.3949, 3.3299, 1.4042, 0.1197, -0.0513, -0.022]\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_z\": 0.08}, \"note\": \"The gripper closed to 0.2 around the knob. Lifting the arm to check whether the blue piece comes up with it.\"}",
"name": "move_to"
},
"id": "toolu_016xv4oR7jzXodeKv48MP35m",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_016xv4oR7jzXodeKv48MP35m"
}{
"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, -0.3801, -0.0216, -0.0418, 0.9993, 0.009, 1.5101, 0.5358, 0.4015, -0.0357, 0.0021, 0.2043]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.003 left_gripper=0.9993 right_x=0.3985 right_y=0.0135 right_z=0.073 right_yaw=0.0267 right_pitch=-0.0146 right_roll=0.0199 right_gripper=0.2043\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.7998, -0.0464, -0.0659, -0.0122, -0.1983, -6.7214, 7.9795, 1.6923, 0.0317, -0.0269, -0.0904]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f809fad301867bdee593aeffcea8874a1d3d0fe86918882b8490a8d4bbfb76d7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:334fdc0721374ac5008cc86b3dae1833822f6b13a5f4fcf5cf201897064d5659"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7af02bf509023847449f7ea775b80c2a5a75da5f1c5ad9da59f5e970168577da"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 10.51 s
- model
- claude-fable-5
- 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, 0.8062, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.009, 1.8019, 0.4522, 0.7494, -0.0315, 0.0032, 0.205]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.003 left_gripper=0.9993 right_x=0.3963 right_y=0.0127 right_z=0.004 right_yaw=0.0226 right_pitch=-0.0421 right_roll=0.019 right_gripper=0.205\nstate[joint_eff]: [-0.3761, -1.2923, 7.0632, 1.6923, -0.0708, -0.0513, -0.0073, -0.1573, -7.7744, 4.6427, 1.3358, 0.0024, 0.0171, 0.1978]\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, \"right_z\": 0.015, \"right_x\": 0.4, \"right_y\": 0.012}, \"note\": \"The piece stayed on the table\\u2014the knob slipped out of the closed jaws during lift. Reopening the gripper and descending again over the knob to retry the grasp.\"}",
"name": "move_to"
},
"id": "toolu_018vo5YhynZLjBLcdUpAt8PL",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_018vo5YhynZLjBLcdUpAt8PL"
}{
"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, -0.3805, -0.0216, -0.0418, 0.9993, 0.0078, 1.758, 0.4637, 0.672, -0.036, -0.0055, 0.9951]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0026 left_pitch=-0.0183 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3941 right_y=0.013 right_z=0.0085 right_yaw=0.03 right_pitch=-0.064 right_roll=0.0148 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.4701, 7.0769, 1.7216, -0.0464, -0.0513, -0.0122, -0.5128, -6.4889, 3.959, 2.0293, -0.0855, -0.0122, -0.2466]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:54ab2b48e57797577821990504279b6d5e2b4be0aa63107456d78e24082e8d77"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4c883de90a1a573aef75f1a65d2f53dd061e47ca3dfe4b7653bc7ce0951ee5e4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f09b72abce723675baad31d53c7420b5d5a388ce88aef083a4e4dd81bdd4fd83"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 8.344 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.009, 1.5101, 0.5358, 0.4015, -0.0357, 0.0021, 0.2043]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.003 left_gripper=0.9993 right_x=0.3985 right_y=0.0135 right_z=0.073 right_yaw=0.0267 right_pitch=-0.0146 right_roll=0.0199 right_gripper=0.2043\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.7998, -0.0464, -0.0659, -0.0122, -0.1983, -6.7214, 7.9795, 1.6923, 0.0317, -0.0269, -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\": 0.014, \"right_z\": 0.0}, \"note\": \"The wrist camera shows the knob just ahead of the fingertips, so the last grasp only pinched its edge. Moving about 1.5 cm forward and fully down so the knob sits deeper between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Q3CiZhpBHK4Mbnc5XZFUrb",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Q3CiZhpBHK4Mbnc5XZFUrb"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8085, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, 0.009, 1.8225, 0.5014, 0.709, -0.0406, -0.0067, 0.9959]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1759 left_yaw=0.0026 left_pitch=-0.0179 left_roll=-0.0029 left_gripper=0.9993 right_x=0.4063 right_y=0.0144 right_z=0.0036 right_yaw=0.0356 right_pitch=-0.0537 right_roll=0.0163 right_gripper=0.9959\nstate[joint_eff]: [-0.294, -1.306, 7.0496, 1.7216, -0.0659, -0.0513, -0.0122, 0.3487, -7.2957, 5.5316, 1.2283, 0.1197, -0.1099, 0.0659]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:74688eef49ac431e6abab8bbcd8e2073433176970ec9f9ee300bb46768043d85"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ee107a6a369a8f9402848a6b6e8cf9c918a60ca2c59c18548dcc602d932fbbba"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f606c45a59c8506b21d9b4dd29e643332fe00fdc931d8e7883dc8af825695d8e"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 8.87 s
- model
- claude-fable-5
- 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, -0.3805, -0.0216, -0.0418, 0.9993, 0.0078, 1.758, 0.4637, 0.672, -0.036, -0.0055, 0.9951]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.0026 left_pitch=-0.0183 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3941 right_y=0.013 right_z=0.0085 right_yaw=0.03 right_pitch=-0.064 right_roll=0.0148 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.4701, 7.0769, 1.7216, -0.0464, -0.0513, -0.0122, -0.5128, -6.4889, 3.959, 2.0293, -0.0855, -0.0122, -0.2466]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.02, \"right_z\": 0.0}, \"note\": \"The knob still sits slightly forward-left of the gripper centerline in the wrist view. Advancing another 2 cm forward and slightly left before closing.\"}",
"name": "move_to"
},
"id": "toolu_01CxoRzGMZCKCGgyWXjWcPSu",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01CxoRzGMZCKCGgyWXjWcPSu"
}{
"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, -0.3813, -0.0216, -0.0418, 0.9993, 0.0147, 1.8454, 0.5346, 0.7013, -0.0387, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4147 right_y=0.0165 right_z=0.0038 right_yaw=0.0403 right_pitch=-0.051 right_roll=0.0142 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.3744, 7.0769, 1.7118, -0.0513, -0.0757, -0.0122, 0.4444, -6.653, 4.5744, 1.7314, 0.0317, 0.0366, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:493ce33ff8b0abc2e63ebba04e874437e2a37e8577d2a24f351aca49c00aae36"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1d0d020e226723e1aa1ca9b389dd66e1d2c1a42ac8d50199436af6019e052a27"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:73f295e480221ba8270142558b4b9e050e6330c90008b184a86f2b3cbf6e57da"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 13.3 s
- model
- claude-fable-5
- 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, 0.8085, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, 0.009, 1.8225, 0.5014, 0.709, -0.0406, -0.0067, 0.9959]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1759 left_yaw=0.0026 left_pitch=-0.0179 left_roll=-0.0029 left_gripper=0.9993 right_x=0.4063 right_y=0.0144 right_z=0.0036 right_yaw=0.0356 right_pitch=-0.0537 right_roll=0.0163 right_gripper=0.9959\nstate[joint_eff]: [-0.294, -1.306, 7.0496, 1.7216, -0.0659, -0.0513, -0.0122, 0.3487, -7.2957, 5.5316, 1.2283, 0.1197, -0.1099, 0.0659]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.428, \"right_y\": 0.024, \"right_z\": 0.0}, \"note\": \"The arm stopped short of the target; the knob is still slightly forward-left of the jaw midpoint. Continuing forward and left a bit more so the knob is centered between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01GZcFgrdikgJkCEb9EQ3Mao",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01GZcFgrdikgJkCEb9EQ3Mao"
}{
"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, -0.3813, -0.0216, -0.0418, 0.9993, 0.0154, 1.8454, 0.5346, 0.7013, -0.0391, -0.0082, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4147 right_y=0.0169 right_z=0.0038 right_yaw=0.0416 right_pitch=-0.051 right_roll=0.0141 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.0188, 7.0222, 1.6874, -0.0464, -0.0464, -0.0122, 0.2667, -6.653, 4.8205, 1.7167, -0.0024, 0.0659, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7c29fd2169288641b05c05dcfea1f8af70e7c017766604a81a886b961e9f50bd"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:88f1bb0d5c5d90abe78a17e5aeb0e09c87beaaa15a3c5c29bc2ab02df89feb52"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d309d83d0cd1f2177d926b51e8e39f896d008c9ef75c1df7a27ae52021125edd"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 15.08 s
- model
- claude-fable-5
- 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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0147, 1.8454, 0.5346, 0.7013, -0.0387, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4147 right_y=0.0165 right_z=0.0038 right_yaw=0.0403 right_pitch=-0.051 right_roll=0.0142 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.3744, 7.0769, 1.7118, -0.0513, -0.0757, -0.0122, 0.4444, -6.653, 4.5744, 1.7314, 0.0317, 0.0366, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.05}, \"note\": \"The arm has stopped tracking further forward, but the knob now looks centered between the two fingers in the wrist view. Closing the gripper firmly on the knob this time.\"}",
"name": "move_to"
},
"id": "toolu_01KYYmZnAegFYAJv8hJvd41G",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01KYYmZnAegFYAJv8hJvd41G"
}{
"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, 0.8131, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0154, 1.8454, 0.5346, 0.6914, -0.0391, -0.012, 0.0552]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1743 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4133 right_y=0.0169 right_z=0.0018 right_yaw=0.0436 right_pitch=-0.0608 right_roll=0.0113 right_gripper=0.0552\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0757, -0.0073, -0.1709, -7.4462, 4.2188, 1.7998, -0.0317, 0.0073, 0.2222]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c9b695c70086cf9ee743f65ca732f609179bd6646b093b0818d994e015d24ac0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7db74baae349036f1439c13c5da05d6e250dda961dde8364b21509bda634a053"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e8348bc17982d16807cdf85955ee64bc78ee71a7e164438542b3c5674334b877"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 10.27 s
- model
- claude-fable-5
- 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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0154, 1.8454, 0.5346, 0.7013, -0.0391, -0.0082, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4147 right_y=0.0169 right_z=0.0038 right_yaw=0.0416 right_pitch=-0.051 right_roll=0.0141 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.0188, 7.0222, 1.6874, -0.0464, -0.0464, -0.0122, 0.2667, -6.653, 4.8205, 1.7167, -0.0024, 0.0659, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 1, \"right_x\": 0.46, \"right_y\": 0.06, \"right_z\": 0.05}, \"note\": \"The close missed and nudged the blue piece away\\u2014it now sits forward-left of the gripper in the top view. Reopening and moving forward-left to hover above the piece's new location.\"}",
"name": "move_to"
},
"id": "toolu_01V2DNCwrVro2Mk22XqDa1vr",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01V2DNCwrVro2Mk22XqDa1vr"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1421, 1.8355, 0.7639, 0.4118, 0.0414, 0.0433, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4499 right_y=0.0606 right_z=0.0295 right_yaw=0.0723 right_pitch=-0.1011 right_roll=0.0068 right_gripper=0.9948\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.7265, -0.0513, 0.0122, -0.0122, 0.3077, -10.5368, 7.3915, 1.6679, 0.2466, 0.1734, 0.0708]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a681a81cde627332aaa7695358eaa56d9c31560978eef1e67a9a6153cd8f6185"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:62c5f0004435d6bb68abaf6febcd6cee9f405daeeb9cac740ddadbf4b086f418"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 72):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6503cdeac0e41ba94473c093d15edf46d00bf5cee4eada1d95273dd4a2031675"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 6.89 s
- model
- claude-fable-5
- 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, 0.8131, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0154, 1.8454, 0.5346, 0.6914, -0.0391, -0.012, 0.0552]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1743 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4133 right_y=0.0169 right_z=0.0018 right_yaw=0.0436 right_pitch=-0.0608 right_roll=0.0113 right_gripper=0.0552\nstate[joint_eff]: [-0.2803, -1.388, 7.0359, 1.7314, -0.0855, -0.0757, -0.0073, -0.1709, -7.4462, 4.2188, 1.7998, -0.0317, 0.0073, 0.2222]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.065, \"right_z\": 0.01}, \"note\": \"The wrist camera now clearly shows the blue disc with its knob about 5 cm ahead of the fingertips. Advancing forward and down so the knob lands between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01BzCLDGWXxSEoUeEJjCLoSK",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01BzCLDGWXxSEoUeEJjCLoSK"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1421, 2.014, 0.9329, 0.3958, 0.0402, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0274 left_roll=-0.0027 left_gripper=0.9993 right_x=0.488 right_y=0.0663 right_z=0.0066 right_yaw=0.0786 right_pitch=-0.1265 right_roll=-0.0023 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6615, 7.2274, 1.7216, -0.0513, -0.0757, -0.0122, -0.9231, -9.0325, 6.2838, 1.7216, -0.0562, 0.0317, 0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6d77851a847c8c5d4c4f5c6fe0c750f36229c5caa094c439ded4550e27c1bf4f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:497a908948c1d22ce305dd3445b5d9da3a66b8d701ba7b8d675243d2dd53b41c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:21af4de10bca47b92266a4cca9ae00dd671ea39e1cf1c17fa1b82a0a8383727f"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 6.375 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 38 changed as sent
message 38 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1421, 1.8355, 0.7639, 0.4118, 0.0414, 0.0433, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4499 right_y=0.0606 right_z=0.0295 right_yaw=0.0723 right_pitch=-0.1011 right_roll=0.0068 right_gripper=0.9948\nstate[joint_eff]: [0.0205, -1.4154, 6.9949, 1.7265, -0.0513, 0.0122, -0.0122, 0.3077, -10.5368, 7.3915, 1.6679, 0.2466, 0.1734, 0.0708]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.525, \"right_y\": 0.07, \"right_z\": 0.005}, \"note\": \"The knob is still a few centimeters ahead of the fingertips in the wrist view. Advancing forward ~3.5 cm at table height so the knob enters between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_012Vk25UU1CW62UzVE614Kee",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_012Vk25UU1CW62UzVE614Kee"
}{
"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, -0.0212, -0.0418, 0.9993, 0.1417, 2.0979, 1.0721, 0.35, 0.0406, 0.0261, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1724 left_yaw=0.0023 left_pitch=-0.0305 left_roll=-0.0029 left_gripper=0.9993 right_x=0.5189 right_y=0.0704 right_z=0.0077 right_yaw=0.0816 right_pitch=-0.1169 right_roll=-0.0074 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.6205, 7.0085, 1.6825, -0.0269, -0.0611, -0.0122, -0.5675, -9.8393, 6.2564, 1.5604, -0.0464, -0.0073, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ff1b15c62234299ac43e7e7de741700dc2cda372d0fce32ee76a99c9fac2a5e6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b40955863af43eddb37d31ae43644da9204dc3e790c601c9c44493b546a7a799"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:aa72a88ee5066d04df0e1844afc9eacab8613d54cb34a6b7c98a44ac2d2bd514"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 8.138 s
- model
- claude-fable-5
- 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, 0.8173, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1421, 2.014, 0.9329, 0.3958, 0.0402, 0.033, 0.9954]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0274 left_roll=-0.0027 left_gripper=0.9993 right_x=0.488 right_y=0.0663 right_z=0.0066 right_yaw=0.0786 right_pitch=-0.1265 right_roll=-0.0023 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6615, 7.2274, 1.7216, -0.0513, -0.0757, -0.0122, -0.9231, -9.0325, 6.2838, 1.7216, -0.0562, 0.0317, 0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.55, \"right_y\": 0.075, \"right_z\": 0.005}, \"note\": \"The knob is still about 3 cm ahead of the fingertips in the wrist camera. Continuing forward at table height to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01H21VKwr2gKn3hd9r8KzqE4",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01H21VKwr2gKn3hd9r8KzqE4"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8211, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1421, 2.167, 1.1904, 0.3103, 0.041, 0.0181, 0.9954]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0026 left_gripper=0.9993 right_x=0.5441 right_y=0.0741 right_z=0.0088 right_yaw=0.086 right_pitch=-0.1073 right_roll=-0.0134 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.1966, 7.1453, 1.6777, -0.0708, -0.0708, -0.0073, -0.2803, -10.1402, 6.7624, 1.5067, -0.0317, 0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5299f2976b5bce693d68442908d4bef74950b94cf9a59bde1abe7d29b44aaf4b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fb7304c9b47d05dc0054f11be2fd4c07146da3ecd2f26942197a70f70707ea4f"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4bf2b183dda1af8c0fdaaa7c69a48187367779b282b8993b1e3b1081aab16436"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 7.142 s
- model
- claude-fable-5
- 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, 0.82, 0.6037, -0.3813, -0.0212, -0.0418, 0.9993, 0.1417, 2.0979, 1.0721, 0.35, 0.0406, 0.0261, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1724 left_yaw=0.0023 left_pitch=-0.0305 left_roll=-0.0029 left_gripper=0.9993 right_x=0.5189 right_y=0.0704 right_z=0.0077 right_yaw=0.0816 right_pitch=-0.1169 right_roll=-0.0074 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.6205, 7.0085, 1.6825, -0.0269, -0.0611, -0.0122, -0.5675, -9.8393, 6.2564, 1.5604, -0.0464, -0.0073, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.575, \"right_y\": 0.082, \"right_z\": 0.003, \"right_gripper\": 1}, \"note\": \"The knob remains ~3 cm ahead and slightly left of the gripper midline. Making a decisive forward-left advance at table height to fully straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01VHTMRSg5dbU9G5D2UpgGqs",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01VHTMRSg5dbU9G5D2UpgGqs"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1467, 2.2456, 1.3197, 0.2756, 0.0433, 0.0139, 0.9988]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0362 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5709 right_y=0.0802 right_z=0.0093 right_yaw=0.091 right_pitch=-0.0913 right_roll=-0.0172 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -1.6752, 7.2, 1.6728, -0.0317, -0.0611, -0.0073, 0.4308, -11.0427, 6.8034, 1.5263, 0.0464, 0.0904, -0.1343]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:54f9299592382dea9d49df73b8d60d003e246c62929643c9a7f42f86d5f12e4d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:36536340cdc3bd6aa8f4b71c7a0b47817eb1c6eed9a3f8dd88ed8d2dd47ab551"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 85):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d7cdf8e05329ff01c0d3c911396c6c0727cf201f9b1737ee46e67e5a9091f24a"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 35.51 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 47 changed as sent
message 47 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8211, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1421, 2.167, 1.1904, 0.3103, 0.041, 0.0181, 0.9954]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0026 left_gripper=0.9993 right_x=0.5441 right_y=0.0741 right_z=0.0088 right_yaw=0.086 right_pitch=-0.1073 right_roll=-0.0134 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.1966, 7.1453, 1.6777, -0.0708, -0.0708, -0.0073, -0.2803, -10.1402, 6.7624, 1.5067, -0.0317, 0.0513, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.598, \"right_y\": 0.088, \"right_z\": 0.002}, \"note\": \"The knob is still just ahead of the fingertips in the wrist view; the piece got pushed near the reach limit. Advancing to nearly maximum x so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01C6wZnwpUzmaBNcwvKRDGqF",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01C6wZnwpUzmaBNcwvKRDGqF"
}{
"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, -0.0418, 0.9993, 0.1513, 2.3161, 1.4406, 0.2459, 0.0452, 0.0105, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5953 right_y=0.0863 right_z=0.0113 right_yaw=0.0958 right_pitch=-0.0706 right_roll=-0.02 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -1.5248, 7.0085, 1.7021, -0.0611, -0.0415, -0.0122, 0.4308, -11.1385, 7.0769, 1.5604, 0.0415, 0.0708, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:282382c77af5e8f1690443e43ca1666c1be4249fd03fc39c829716f377170597"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d6ddd24c08d8c89e109adb93e1f67ea2015a91722a81b79662ab42059544176b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 88):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ec69ad4c5f0f993cc7ee5cbcbcbf7fbfa994e8fc962e164ebdb2bf4b579eebd4"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 6.735 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 50 changed as sent
message 50 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.1467, 2.2456, 1.3197, 0.2756, 0.0433, 0.0139, 0.9988]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0362 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5709 right_y=0.0802 right_z=0.0093 right_yaw=0.091 right_pitch=-0.0913 right_roll=-0.0172 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -1.6752, 7.2, 1.6728, -0.0317, -0.0611, -0.0073, 0.4308, -11.0427, 6.8034, 1.5263, 0.0464, 0.0904, -0.1343]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.6, \"right_y\": 0.088, \"right_z\": 0.0}, \"note\": \"Previous closes pinched the knob's rear and pushed the piece forward, so the knob must sit deeper between the jaws. Advancing the last 5 mm to the reach limit and settling to table height before closing.\"}",
"name": "move_to"
},
"id": "toolu_01XjMavrv5oCuQbZgrB2Dgub",
"type": "function"
}
]
}{
"content": "executing move_to over 1 steps (0.1s)",
"role": "tool",
"tool_call_id": "toolu_01XjMavrv5oCuQbZgrB2Dgub"
}{
"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, 0.8288, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1528, 2.3276, 1.4567, 0.2424, 0.0483, 0.0101, 0.9988]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.0026 left_pitch=-0.0389 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5982 right_y=0.0871 right_z=0.0104 right_yaw=0.095 right_pitch=-0.0694 right_roll=-0.022 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.347, 7.0359, 1.6679, -0.0513, -0.0464, -0.0122, -0.1709, -11.6171, 7.3094, 1.4872, -0.0073, 0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8fdf261b9d2e8cca75e09642ff4aab558d42022fbfc61f7cc1799c1ded65a44"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4f205a16f5a57c9976260273b5ff9db859e089d148f6e94374a49154fc2e0e16"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 89):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6c130ffac90bb08960db819dfcc36f578e77b309b2f5619fa570b814333d019e"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 19.41 s
- model
- claude-fable-5
- 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, 0.8276, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1513, 2.3161, 1.4406, 0.2459, 0.0452, 0.0105, 0.9988]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5953 right_y=0.0863 right_z=0.0113 right_yaw=0.0958 right_pitch=-0.0706 right_roll=-0.02 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -1.5248, 7.0085, 1.7021, -0.0611, -0.0415, -0.0122, 0.4308, -11.1385, 7.0769, 1.5604, 0.0415, 0.0708, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.1}, \"note\": \"The wooden knob now appears centered between the two fingertips in the wrist camera, and I'm at the reach limit. Closing the gripper on the knob.\"}",
"name": "move_to"
},
"id": "toolu_01SoB9HVgQq3Pye5sQc2Kmwa",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01SoB9HVgQq3Pye5sQc2Kmwa"
}{
"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, 0.8288, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1528, 2.3276, 1.457, 0.242, 0.0475, 0.012, 0.1057]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.0026 left_pitch=-0.0389 left_roll=-0.0025 left_gripper=0.9993 right_x=0.5983 right_y=0.0873 right_z=0.0105 right_yaw=0.0946 right_pitch=-0.0694 right_roll=-0.02 right_gripper=0.1057\nstate[joint_eff]: [-0.1299, -1.4564, 7.1316, 1.707, -0.0806, -0.0855, -0.0122, 0.1299, -11.5897, 7.5829, 1.5897, 0.0366, 0.0513, 0.0757]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e0ca86a93e9e2aa18c43d2b536006b5bf350c17e7e441ee381baab1b84237240"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e127357a0c79b761681915c4c83abb4e703e23dc57be7b616b0e887f3cbe0ed8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 98):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b4aad4d950ac82d57d27b835051570af80cfb52005db17c11b1b0cfeca2031e1"
},
"type": "image_url"
}
],
"role": "user"
}