- 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
- 496 s
- total steps
- 105
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 13
Raw transcript
step 17
Raw transcript
step 24
Raw transcript
step 27
Raw transcript
step 40
Raw transcript
step 42
Raw transcript
step 44
Raw transcript
step 46
Raw transcript
step 50
Raw transcript
step 54
Raw transcript
step 57
Raw transcript
step 59
Raw transcript
step 61
Raw transcript
step 70
Raw transcript
step 79
Raw transcript
step 82
Raw transcript
step 86
Raw transcript
step 95
Raw transcript
step 104
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 · 17.31 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]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0425, 0.999, -0.0151, 0.7918, 0.609, -0.3756, -0.0231, -0.0154, 0.9994]\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=0.999 right_x=0.2958 right_y=0.0032 right_z=0.1838 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.4017, 10.3726, 1.8437, -0.0611, 0.1783, -0.1148, -0.9231, -1.2103, 9.8667, 1.7607, -0.0269, 0.0513, -0.0757]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:faae2d992d94f9597cae8699e2f186b2e252a8af45536e3d45d8fe4580083953"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:81a76b0b690d50350fc9ad7b8adacdd2c4510d9e434b5c871597e77a285dc10c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56fb5981fc54e51046a30b0d28ac7fd409432dcb390c5db7e136937b1d725883"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 26.91 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "Looking at the scene: the blue puzzle piece with its wooden knob is visible in the right camera, and the board with the circular groove is to the left of it (per top camera). I'll start by moving the right arm up and forward to scout the piece's position.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.05, \"right_z\": 0.25, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with a wooden knob in the right camera, slightly ahead of the right arm. Moving the right arm forward and up to get a better view and localize the piece.\"}",
"name": "move_to"
},
"id": "toolu_01FzKZW9ykYLa8N6toU8Y4rz",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01FzKZW9ykYLa8N6toU8Y4rz"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6044, -0.3809, -0.0216, -0.0418, 0.999, 0.1837, 1.1854, 1.0008, -0.4179, 0.1158, 0.0647, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1788 left_yaw=-0.0004 left_pitch=-0.0073 left_roll=0.0008 left_gripper=0.999 right_x=0.3718 right_y=0.052 right_z=0.2316 right_yaw=0.0385 right_pitch=-0.0397 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5248, 7.0222, 1.7216, -0.0757, -0.0513, -0.022, 0.2667, -4.465, 9.1282, 1.6923, 0.2369, 0.1294, -0.0757]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1ecf26494b8fc35cb87aece219ddb7b61bacbc11abb039647b6f7af62b587bc8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f6306b9ba5d2d76ecaaf7cd6c68c69098db70ceacd5c1e8fec9e80cd760e7326"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 7):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:922cd5444e08c2532083a81b27461ab3a490ed18f4551a45aa2d36663b5f602b"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 8.618 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]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0425, 0.999, -0.0151, 0.7918, 0.609, -0.3756, -0.0231, -0.0154, 0.9994]\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=0.999 right_x=0.2958 right_y=0.0032 right_z=0.1838 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.4017, 10.3726, 1.8437, -0.0611, 0.1783, -0.1148, -0.9231, -1.2103, 9.8667, 1.7607, -0.0269, 0.0513, -0.0757]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "The blue piece with knob appears in the right wrist camera below and left of center, suggesting it's slightly closer to the base than my gripper. I'll move down and slightly back to approach it.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.34, \"right_y\": 0.08, \"right_z\": 0.15}, \"note\": \"The blue puzzle piece is visible at the bottom-center of the right wrist camera, so it's a bit closer to the base than the gripper. Moving down and slightly back/left to hover closer over the piece.\"}",
"name": "move_to"
},
"id": "toolu_01GCNAndP2YRteeD9iGjM6FM",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01GCNAndP2YRteeD9iGjM6FM"
}{
"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, 0.7998, 0.6041, -0.3801, -0.0216, -0.0418, 0.999, 0.3328, 1.1408, 0.6582, -0.218, 0.2104, 0.1287, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1784 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=0.0008 left_gripper=0.999 right_x=0.3327 right_y=0.0798 right_z=0.135 right_yaw=0.072 right_pitch=-0.124 right_roll=-0.0363 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4154, 7.0769, 1.7607, -0.0464, -0.0806, -0.0122, 0.2393, -5.1487, 7.5009, 2.044, 0.3004, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8a1d92c736de59837a6bedb9cd828d2d171d233863117a5cc405c9453cbf469"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:88dd7f29e1f9a6628c059d1f35116e7c1fa0f8ba7ce1f54e660b60bd3b7bb433"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ce110262e976d03b8b2ef000db7ccaa5033c8b94f1e5758f3ad7cf403338d70"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 10.18 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, 0.6044, -0.3809, -0.0216, -0.0418, 0.999, 0.1837, 1.1854, 1.0008, -0.4179, 0.1158, 0.0647, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1788 left_yaw=-0.0004 left_pitch=-0.0073 left_roll=0.0008 left_gripper=0.999 right_x=0.3718 right_y=0.052 right_z=0.2316 right_yaw=0.0385 right_pitch=-0.0397 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5248, 7.0222, 1.7216, -0.0757, -0.0513, -0.022, 0.2667, -4.465, 9.1282, 1.6923, 0.2369, 0.1294, -0.0757]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.34, \"right_y\": 0.09, \"right_z\": 0.08}, \"note\": \"The blue piece with its knob is now near the center of the right wrist camera. Lowering toward it to refine alignment before grasping the knob.\"}",
"name": "move_to"
},
"id": "toolu_019eZYngb8cn9GnuT3feQBPq",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_019eZYngb8cn9GnuT3feQBPq"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.3588, 1.2877, 0.5247, -0.0242, 0.2287, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0107 left_roll=0.0012 left_gripper=0.999 right_x=0.3272 right_y=0.0838 right_z=0.0682 right_yaw=0.0696 right_pitch=-0.2037 right_roll=-0.0595 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.388, 7.1453, 1.7216, -0.0171, -0.0366, -0.0122, 0.3897, -4.9162, 7.1453, 2.0977, 0.1001, 0.0464, -0.0122]\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:29a3cd067bf09df7a50abbf1f05e0580abdbcfbf0410315f9f28cab7fb705a17"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:40ba2e3c6d8f067ffa0ef96bd1412464421557466080d69f3c6cb5d9443a2e3c"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 17):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:39b273a869cc7224620e7b99f131f88646eefcd323e790316efe74ac6a0d9ec1"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 12.21 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, 0.7998, 0.6041, -0.3801, -0.0216, -0.0418, 0.999, 0.3328, 1.1408, 0.6582, -0.218, 0.2104, 0.1287, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1784 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=0.0008 left_gripper=0.999 right_x=0.3327 right_y=0.0798 right_z=0.135 right_yaw=0.072 right_pitch=-0.124 right_roll=-0.0363 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4154, 7.0769, 1.7607, -0.0464, -0.0806, -0.0122, 0.2393, -5.1487, 7.5009, 2.044, 0.3004, 0.2418, -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\": 0.35, \"right_y\": 0.088, \"right_z\": 0.02, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The knob sits just above image center in the wrist camera with the open fingers at the bottom, so the piece is slightly further forward. Moving forward and down to bring the fingers around the knob, keeping the gripper open and pitch level.\"}",
"name": "move_to"
},
"id": "toolu_01HW8ZntydL8LTtaxDee92wQ",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01HW8ZntydL8LTtaxDee92wQ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.3622, 1.3075, 0.5117, 0.0422, 0.2283, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=0.0008 left_gripper=0.999 right_x=0.3329 right_y=0.0872 right_z=0.0683 right_yaw=0.0751 right_pitch=-0.1716 right_roll=-0.0495 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.306, 7.0632, 1.707, -0.0806, -0.0708, -0.0122, 0.1709, -5.012, 6.7624, 1.8779, 0.0904, 0.0024, -0.0806]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f12b26320da6d788a065d5f5785cd6ad5a911ffe793bd847d655176fa4b90524"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1b388d8d8a54729611e99aee5e18071edc77c8373b95643e39ab5c4bc6a14339"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d89139b06a5ab21fb9b142d8986ccaa6a50e98dae7c10ddb63471950694cb21"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 10.2 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, 0.8013, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.3588, 1.2877, 0.5247, -0.0242, 0.2287, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=-0.0006 left_pitch=-0.0107 left_roll=0.0012 left_gripper=0.999 right_x=0.3272 right_y=0.0838 right_z=0.0682 right_yaw=0.0696 right_pitch=-0.2037 right_roll=-0.0595 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.388, 7.1453, 1.7216, -0.0171, -0.0366, -0.0122, 0.3897, -4.9162, 7.1453, 2.0977, 0.1001, 0.0464, -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\": 0.36, \"right_y\": 0.095, \"right_z\": 0.03}, \"note\": \"The arm barely moved last step; the knob is still slightly up-right of center in the wrist view, meaning the piece is a bit further forward and left. Commanding the descent again toward the knob with a slightly adjusted target.\"}",
"name": "move_to"
},
"id": "toolu_0114UV6BtrKGXjXzFmPa6Kqk",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_0114UV6BtrKGXjXzFmPa6Kqk"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, 0.3626, 1.3075, 0.5117, 0.0422, 0.2283, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0012 left_gripper=0.999 right_x=0.3329 right_y=0.0874 right_z=0.0683 right_yaw=0.0755 right_pitch=-0.1716 right_roll=-0.0495 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2923, 7.1726, 1.6972, -0.022, -0.0464, -0.0122, 0.2667, -4.9436, 6.8581, 1.8828, 0.105, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed0abb6ca72565227c09069e6f300e4df4ed3445ed7b7df48fc2fc057e1acad7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56ca9c6e6d97db8fa52ea5098074197021483350d15bb7e29337ce36305a07b7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d62699408d246187e2fc236249b2bea2b9a1b3696d9c24e31e3387056b4594dd"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 15.77 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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.3622, 1.3075, 0.5117, 0.0422, 0.2283, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=0.0008 left_gripper=0.999 right_x=0.3329 right_y=0.0872 right_z=0.0683 right_yaw=0.0751 right_pitch=-0.1716 right_roll=-0.0495 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.306, 7.0632, 1.707, -0.0806, -0.0708, -0.0122, 0.1709, -5.012, 6.7624, 1.8779, 0.0904, 0.0024, -0.0806]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.1, \"right_z\": 0.05, \"right_pitch\": 0.2}, \"note\": \"The arm did not move; targets got clamped. The knob is above center in the wrist view so the piece is further forward. Commanding a larger step forward with a slight downward pitch to keep the gripper pointing at the knob.\"}",
"name": "move_to"
},
"id": "toolu_01DLhkpwtKRqASt4s7idKQWu",
"type": "function"
}
]
}{
"content": "executing move_to over 13 steps (1.3s)",
"role": "tool",
"tool_call_id": "toolu_01DLhkpwtKRqASt4s7idKQWu"
}{
"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, -0.3813, -0.0216, -0.0418, 0.999, 0.3466, 1.824, 0.4442, 0.8997, 0.2401, 0.0536, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=-0.0004 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.999 right_x=0.395 right_y=0.1018 right_z=0.027 right_yaw=0.1015 right_pitch=0.0925 right_roll=-0.0604 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 7.0632, 1.7167, -0.0806, -0.0611, -0.0122, -0.4308, -7.0496, 5.6821, 2.1074, 0.2564, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f30ef75fe49886a9a5ace526bce429f3a36cfeafc0ec06e5047b97404cbf7b81"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bca0a79ba2922cb5343378fefa477d886c9d4efa2e3dbf7091f075a3ef4dccd1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2737f6699bb6031e864e0669c88f61e0b59fcaa07a9d8ba0e5fc4892d5a6a258"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 23.14 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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, 0.3626, 1.3075, 0.5117, 0.0422, 0.2283, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0012 left_gripper=0.999 right_x=0.3329 right_y=0.0874 right_z=0.0683 right_yaw=0.0755 right_pitch=-0.1716 right_roll=-0.0495 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2923, 7.1726, 1.6972, -0.022, -0.0464, -0.0122, 0.2667, -4.9436, 6.8581, 1.8828, 0.105, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.08, \"right_z\": 0.01}, \"note\": \"The wrist camera shows the gripper finger right next to the knob, with the knob slightly to the right of the finger. Shifting slightly right (lower y) and descending so the open jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Ue9ZDHFf9d4xDkHYgy2YeF",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Ue9ZDHFf9d4xDkHYgy2YeF"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2958, 1.8908, 0.4469, 1.0042, 0.1925, 0.0261, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=-0.0004 left_pitch=-0.016 left_roll=0.001 left_gripper=0.999 right_x=0.4049 right_y=0.0918 right_z=0.0237 right_yaw=0.1049 right_pitch=0.1269 right_roll=-0.0557 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.388, 7.2274, 1.7509, -0.0562, -0.0806, -0.0122, -0.7043, -6.6256, 4.1368, 1.9756, 0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c55c0aa96553161ba501d98f12694029b06f905abac3e042e48e974ba41b214e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:760fc15cfa6c799f2fdf7b72d6cb1643362536d093124e7cbfc9ac6f9609f362"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:61adb9ef527c17a302546368584831d31ef5972d7bdfe16b4df23e4bdedaeab6"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 16.65 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, 0.8059, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.3466, 1.824, 0.4442, 0.8997, 0.2401, 0.0536, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1765 left_yaw=-0.0004 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.999 right_x=0.395 right_y=0.1018 right_z=0.027 right_yaw=0.1015 right_pitch=0.0925 right_roll=-0.0604 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 7.0632, 1.7167, -0.0806, -0.0611, -0.0122, -0.4308, -7.0496, 5.6821, 2.1074, 0.2564, -0.0806, -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\": 0.1, \"right_z\": 0.0, \"right_pitch\": 0.15}, \"note\": \"The knob has drifted to the bottom-right of the wrist view after my last move, suggesting I overshot forward and to the right. Backing up slightly, shifting left, and descending to table level to get the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01XqYrSG1Kk1fCKrFGW3Y288",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01XqYrSG1Kk1fCKrFGW3Y288"
}{
"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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9871, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4008 right_y=0.0771 right_z=0.0033 right_yaw=0.0977 right_pitch=0.0648 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7363, -0.0562, -0.0611, -0.0122, -0.0205, -7.0632, 3.9863, 1.9609, -0.0171, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:663cf9381efbc99da2723d161114676bf0c88df2ffa2bbabb1109e74a3cda325"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9eba56982d7f3379fca4ea50ddc8e4280ae70cc14dc9b0801f6ef6f7ba6e2d65"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78fd3572d3c704a7e394bcc60bc9d171bdab552477503da81fa537a9994d579b"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 12.83 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, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2958, 1.8908, 0.4469, 1.0042, 0.1925, 0.0261, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=-0.0004 left_pitch=-0.016 left_roll=0.001 left_gripper=0.999 right_x=0.4049 right_y=0.0918 right_z=0.0237 right_yaw=0.1049 right_pitch=0.1269 right_roll=-0.0557 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.388, 7.2274, 1.7509, -0.0562, -0.0806, -0.0122, -0.7043, -6.6256, 4.1368, 1.9756, 0.0952, -0.0562, -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\": 0.39, \"right_y\": 0.055, \"right_z\": 0.02}, \"note\": \"The knob is visible to the lower-right in the wrist camera; based on how the image shifted with my last move, the knob is a few cm at more negative y and slightly behind the gripper. Shifting right and slightly back at knob height.\"}",
"name": "move_to"
},
"id": "toolu_01PaAPxtqAZ1jyw5h62yGkzx",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01PaAPxtqAZ1jyw5h62yGkzx"
}{
"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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9871, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4008 right_y=0.0771 right_z=0.0033 right_yaw=0.0977 right_pitch=0.0648 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.3197, 7.241, 1.7167, -0.0562, -0.0659, -0.0122, -0.0068, -7.4051, 3.9043, 1.9609, 0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a2e70580eca6c72bf18864de85adca7c8d541c8c1ce94a1783500b50ec2b9d17"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:001685bde6b7642503df32ced56d722ba670d0950c980096e1aee9d9de661bc0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d42f03d7d20a2c9c454e7a94dd494902b2859397e42a58fa1ce35903b9e36be4"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 11.25 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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9871, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4008 right_y=0.0771 right_z=0.0033 right_yaw=0.0977 right_pitch=0.0648 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.2786, 7.0906, 1.7363, -0.0562, -0.0611, -0.0122, -0.0205, -7.0632, 3.9863, 1.9609, -0.0171, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.04, \"right_z\": 0.01}, \"note\": \"The arm didn't move last step (clamped). The knob still sits to the right of the gripper fingers in the wrist camera, so I'm commanding a clearer shift in -y (to the arm's right) while staying at knob height.\"}",
"name": "move_to"
},
"id": "toolu_011UuDeNDGY54keFAG6hjgdJ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_011UuDeNDGY54keFAG6hjgdJ"
}{
"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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9867, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4007 right_y=0.0771 right_z=0.0032 right_yaw=0.0977 right_pitch=0.0644 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.707, -0.0757, -0.0708, -0.0171, 0.0752, -7.4051, 3.8632, 1.9658, -0.0122, -0.0855, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33504174de11c25d11ab6677a42717591e73081a6d71e59561e037b43f12e57a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5e05807a7635f6ed205d0e8ef3c72dbdcc2e76ef5a8feeef2f210c1542b63df4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b3ca21cf88e0d1bfe313ec451ae2feaa3e59036c3edd1bb1082fa0a605dcf9dd"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 16.94 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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9871, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4008 right_y=0.0771 right_z=0.0033 right_yaw=0.0977 right_pitch=0.0648 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.3197, 7.241, 1.7167, -0.0562, -0.0659, -0.0122, -0.0068, -7.4051, 3.9043, 1.9609, 0.0366, -0.0562, -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_z\": 0.06, \"right_y\": 0.04, \"right_x\": 0.41}, \"note\": \"The arm hasn't moved in two commands\\u2014it may be near the table blocking IK. Lifting up to 6 cm first while shifting right toward the knob, which appears to the lower-right in the wrist camera.\"}",
"name": "move_to"
},
"id": "toolu_01BCUewEMfgPrs5r4EgJmRgf",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01BCUewEMfgPrs5r4EgJmRgf"
}{
"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, 0.8093, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.1692, 1.8278, 0.4553, 0.8829, 0.0883, -0.0273, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=-0.0004 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.999 right_x=0.4076 right_y=0.0575 right_z=0.0234 right_yaw=0.0959 right_pitch=0.0701 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -0.9915, 7.0632, 1.7509, -0.022, -0.0415, -0.0122, -0.759, -8.8137, 6.8581, 2.0781, -0.0659, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5112be9655a08e39670e740d28b4415033b4a2a5d79a9964bfbeb20a4f298738"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3dc7849b5cbf9354cc744fa6e66e9caef33fda592b6ff713a1f39d928aaf8762"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef267bd322d4d1fc68116be994449bceeeff0b8416aa4c48edb77b07010268df"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 12.07 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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.2489, 1.9274, 0.4408, 0.9867, 0.1566, 0.0105, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=-0.0004 left_pitch=-0.0172 left_roll=0.001 left_gripper=0.999 right_x=0.4007 right_y=0.0771 right_z=0.0032 right_yaw=0.0977 right_pitch=0.0644 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.707, -0.0757, -0.0708, -0.0171, 0.0752, -7.4051, 3.8632, 1.9658, -0.0122, -0.0855, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.03, \"right_z\": 0.0}, \"note\": \"The knob now appears between the fingers but slightly right and forward in the wrist view. Shifting a bit right and forward while descending to table level so the jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01ELbxovbfM8AiBMw9ThC4bY",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01ELbxovbfM8AiBMw9ThC4bY"
}{
"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, -0.0414, 0.999, 0.0811, 1.9545, 0.4854, 0.9768, 0.0124, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=-0.0006 left_pitch=-0.021 left_roll=0.0014 left_gripper=0.999 right_x=0.4195 right_y=0.0355 right_z=0.0027 right_yaw=0.1022 right_pitch=0.065 right_roll=-0.0781 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.1692, 7.0496, 1.746, -0.0366, -0.0464, -0.0122, -1.0462, -7.1726, 3.535, 0.6227, -0.2369, 0.3443, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b825fa0ae2e567ffdc316bbf635717fcfb86ba2ee22d8b754b8b56b6917fdbcc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:858ac67e39d8d9920d9dd8e6a2913e0f016496189988ce005611b1e0d18d0da7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 57):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:954e49f5fc02a6373010eb0e01811d0390a56e9249726f53a8cc30980bb7c646"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 12.27 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, 0.8093, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.1692, 1.8278, 0.4553, 0.8829, 0.0883, -0.0273, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1756 left_yaw=-0.0004 left_pitch=-0.0187 left_roll=0.001 left_gripper=0.999 right_x=0.4076 right_y=0.0575 right_z=0.0234 right_yaw=0.0959 right_pitch=0.0701 right_roll=-0.064 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -0.9915, 7.0632, 1.7509, -0.022, -0.0415, -0.0122, -0.759, -8.8137, 6.8581, 2.0781, -0.0659, -0.0122, -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\": 0.405, \"right_y\": 0.05, \"right_z\": 0.0}, \"note\": \"My last move overshot: the knob shifted down-right in the wrist view, meaning it is now slightly behind and left of the jaws. Moving back ~1.5 cm and left ~1.5 cm at table height to center the knob between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01NUGQVspz15rd12LkYfQGZ4",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01NUGQVspz15rd12LkYfQGZ4"
}{
"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, -0.3809, -0.0216, -0.0418, 0.999, 0.0601, 1.9614, 0.4831, 0.9989, -0.0051, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.999 right_x=0.421 right_y=0.0298 right_z=0.0041 right_yaw=0.0962 right_pitch=0.0782 right_roll=-0.0703 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.2376, 7.0496, 1.707, -0.0269, -0.0513, -0.0122, -0.4308, -6.7214, 3.4256, 1.8144, -0.105, -0.0073, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:94fd6887809a45a3f93db8fac1b3e320eb58f65460e508e887aef2e6d286fc35"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9b2d7c84f446fcb13d40888cf620664a3dbdcb5dd8be03090f0a7fab1744c391"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 59):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26edfd81c1976d918eb8ea55c368acbb4fc940a97d33c98b49848c25f728aa9f"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 11.41 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, 0.8116, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.0811, 1.9545, 0.4854, 0.9768, 0.0124, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.175 left_yaw=-0.0006 left_pitch=-0.021 left_roll=0.0014 left_gripper=0.999 right_x=0.4195 right_y=0.0355 right_z=0.0027 right_yaw=0.1022 right_pitch=0.065 right_roll=-0.0781 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.1692, 7.0496, 1.746, -0.0366, -0.0464, -0.0122, -1.0462, -7.1726, 3.535, 0.6227, -0.2369, 0.3443, -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\": 0.408, \"right_y\": 0.042, \"right_z\": -0.005}, \"note\": \"The knob is at the bottom of the wrist view right beside the right finger, so it sits just right of and slightly behind the grasp point. Nudging back and left ~1 cm and lowering slightly so the knob is centered between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01RmaGB8gMujuUmyN9b4XCfM",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01RmaGB8gMujuUmyN9b4XCfM"
}{
"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, 0.0601, 1.9614, 0.4831, 0.9989, -0.0051, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0217 left_roll=0.0011 left_gripper=0.999 right_x=0.421 right_y=0.0298 right_z=0.0041 right_yaw=0.0962 right_pitch=0.0782 right_roll=-0.0703 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.1966, 7.0496, 1.7216, -0.0317, -0.0806, -0.0122, -0.4171, -6.7077, 3.4256, 1.8339, -0.0757, -0.0073, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5d96131806c50fd16f8dcc1bea4cec5489d12eac36d090b0173c7e48ffd76143"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d2b040451e89ebaa4ac7b198f51d0126dab4a6a641d067ef0f319fc0c3d662f5"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 61):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4d9028ff6e5b8a6a1bad8188bffb389684502fb2ba1fd87c39ecefa1d11902ce"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 39.75 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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0601, 1.9614, 0.4831, 0.9989, -0.0051, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.999 right_x=0.421 right_y=0.0298 right_z=0.0041 right_yaw=0.0962 right_pitch=0.0782 right_roll=-0.0703 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.2376, 7.0496, 1.707, -0.0269, -0.0513, -0.0122, -0.4308, -6.7214, 3.4256, 1.8144, -0.105, -0.0073, -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 arm is holding position with the knob appearing between the open fingers in the side camera. Closing the gripper to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01WcQQtqJv1bSmmwiirMeHBf",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01WcQQtqJv1bSmmwiirMeHBf"
}{
"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, 0.0605, 1.9617, 0.4824, 1.0058, -0.0051, -0.0872, 0.105]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0217 left_roll=0.0011 left_gripper=0.999 right_x=0.4214 right_y=0.03 right_z=0.0052 right_yaw=0.0984 right_pitch=0.0838 right_roll=-0.0735 right_gripper=0.105\nstate[joint_eff]: [-0.0615, -1.347, 7.0769, 1.6923, -0.0464, -0.0562, -0.0122, -0.0068, -7.7197, 3.494, 1.7949, -0.0171, 0.0024, 0.1441]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:73160c9538f641c9a4202586269c742e93c2e73eab82e8c81b0175f82412c57c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:96c8803a16b12729b85ac8e9d2e629743f52f389eb53ad67ea4d172bc0f982fb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 70):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9130ddca383aae41a9e57e38e6d6d553ca6dac4bfb226ab5ac1856f83100be37"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 58.14 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0601, 1.9614, 0.4831, 0.9989, -0.0051, -0.0837, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0217 left_roll=0.0011 left_gripper=0.999 right_x=0.421 right_y=0.0298 right_z=0.0041 right_yaw=0.0962 right_pitch=0.0782 right_roll=-0.0703 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.1966, 7.0496, 1.7216, -0.0317, -0.0806, -0.0122, -0.4171, -6.7077, 3.4256, 1.8339, -0.0757, -0.0073, -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\": 0.428, \"right_y\": 0.012, \"right_z\": 0.0}, \"note\": \"The gripper closed empty\\u2014the knob sits about 2 cm to the right and slightly ahead of the fingers in the wrist camera. Reopening the jaws and shifting right/forward to center them over the knob.\"}",
"name": "move_to"
},
"id": "toolu_011QJt2pGSNjc9bTiAqLA1bc",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_011QJt2pGSNjc9bTiAqLA1bc"
}{
"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, -0.3809, -0.0216, -0.0418, 0.999, 0.0044, 1.9839, 0.4927, 1.0245, -0.0643, -0.1249, 0.9951]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.999 right_x=0.4254 right_y=0.0168 right_z=0.0037 right_yaw=0.1128 right_pitch=0.0914 right_roll=-0.081 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.3333, 7.0632, 1.6972, -0.0513, -0.0513, -0.0171, -0.8547, -5.9829, 4.9846, 1.7167, -0.022, 0.0366, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6e429f7ce735288605d15867c3658808dfa730fa1c3173a294a613771444b662"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:65b19661a8fd780596580095c0b11caaaac9251bd9fed9d917c0b4f2f9c88239"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d36e1d8e632c02adb445a0783d59bc4a5a4fedbd7e43155049175ccc7dde1fe6"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 22.51 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0605, 1.9617, 0.4824, 1.0058, -0.0051, -0.0872, 0.105]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0217 left_roll=0.0011 left_gripper=0.999 right_x=0.4214 right_y=0.03 right_z=0.0052 right_yaw=0.0984 right_pitch=0.0838 right_roll=-0.0735 right_gripper=0.105\nstate[joint_eff]: [-0.0615, -1.347, 7.0769, 1.6923, -0.0464, -0.0562, -0.0122, -0.0068, -7.7197, 3.494, 1.7949, -0.0171, 0.0024, 0.1441]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.426, \"right_y\": 0.046, \"right_z\": 0.005}, \"note\": \"Based on how the knob shifted in the wrist camera when I moved, image-right corresponds to +y, and the knob sits right of the fingers\\u2014so my last shift went the wrong way. Moving back toward +y about 3 cm to center the knob between the open jaws.\"}",
"name": "move_to"
},
"id": "toolu_01AFqfy3zm6UB2wHMKnGVbfz",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01AFqfy3zm6UB2wHMKnGVbfz"
}{
"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, -0.0414, 0.999, 0.0948, 1.9839, 0.4938, 1.0229, -0.0074, -0.1013, 0.9962]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0217 left_roll=0.0014 left_gripper=0.999 right_x=0.4236 right_y=0.0452 right_z=0.0035 right_yaw=0.1422 right_pitch=0.0899 right_roll=-0.0854 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.0359, 1.7411, -0.0513, -0.0415, -0.0122, -0.0068, -7.9932, 4.5333, 1.6679, 0.1734, 0.1538, 0.1001]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:271ae9c747dfb89ef1bf7f139264d3d50678dd363b70331fda994460903e6480"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:832950acf3651edd3a30cd52518dea452dece3e98b088c7946819028573733d7"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 82):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:18a31c65e4afb829f90e15d4ba1a16d70a88cf24b08a2f3e06403aa148dfac80"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 68.98 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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0044, 1.9839, 0.4927, 1.0245, -0.0643, -0.1249, 0.9951]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.999 right_x=0.4254 right_y=0.0168 right_z=0.0037 right_yaw=0.1128 right_pitch=0.0914 right_roll=-0.081 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.3333, 7.0632, 1.6972, -0.0513, -0.0513, -0.0171, -0.8547, -5.9829, 4.9846, 1.7167, -0.022, 0.0366, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
"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\": 0.002, \"right_z\": 0.005}, \"note\": \"Moving +y made the knob shift right in the wrist image, so image-right corresponds to -y: the knob actually sits at smaller y than the gripper. Moving right (toward y\\u22480) to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01BCCaSPpu8dTr45xM8Wa8WM",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01BCCaSPpu8dTr45xM8Wa8WM"
}{
"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, -0.3809, -0.0216, -0.0418, 0.999, -0.0532, 1.9835, 0.4934, 1.0191, -0.1101, -0.1509, 0.9963]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.999 right_x=0.4252 right_y=0.0004 right_z=0.0032 right_yaw=0.1079 right_pitch=0.0892 right_roll=-0.0831 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.1009, 7.0769, 1.7314, -0.0562, -0.0464, -0.0171, -0.2667, -8.5402, 3.6991, 1.707, -0.022, -0.1099, -0.0024]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:95c154b3a3180c665f6cc793c79f95665bb2761c91cfbedb7a3365440a280ab2"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b52fde0fa3edbb5cb0070be0f0aa69dbd4492c51c7a96c144a137602c093a788"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 86):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9727d18152ee31889258c57142ca7136e004c790ae93d973de8620066179c3f9"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 52.86 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, 0.8127, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, 0.0948, 1.9839, 0.4938, 1.0229, -0.0074, -0.1013, 0.9962]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0006 left_pitch=-0.0217 left_roll=0.0014 left_gripper=0.999 right_x=0.4236 right_y=0.0452 right_z=0.0035 right_yaw=0.1422 right_pitch=0.0899 right_roll=-0.0854 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.3744, 7.0359, 1.7411, -0.0513, -0.0415, -0.0122, -0.0068, -7.9932, 4.5333, 1.6679, 0.1734, 0.1538, 0.1001]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.438, \"right_y\": -0.012, \"right_z\": 0.003, \"right_gripper\": 0.12}, \"note\": \"The knob sits up-and-right of the fingers in the wrist camera, which maps to slightly forward and slightly negative y. Moving there while closing the jaws to grasp the knob in one motion since my call budget is nearly exhausted.\"}",
"name": "move_to"
},
"id": "toolu_0144fc2JGdsmzEJt54czr4gc",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_0144fc2JGdsmzEJt54czr4gc"
}{
"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, -0.086, 1.9919, 0.5304, 0.981, -0.1432, -0.1726, 0.1251]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0217 left_roll=0.0011 left_gripper=0.999 right_x=0.4325 right_y=-0.0084 right_z=0.0029 right_yaw=0.1147 right_pitch=0.0818 right_roll=-0.0858 right_gripper=0.1251\nstate[joint_eff]: [-0.2803, -1.1829, 7.4051, 1.7656, -0.0269, -0.0757, -0.0171, -0.9778, -6.2838, 5.6, 1.8828, -0.105, -0.0122, 0.2173]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1e2221b6f9204d7440291fc2cd719d777d72b89fa5c6535d1e05f21e4deb5917"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a11ec7375249c55209af17cd19429837fd3e6ecc8ca65be9e0ba62e6d2ba5ccb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 95):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8bf53250faf8ec7163e549e042454a7f5965c2eb07a1611ee5a25914931ced20"
},
"type": "image_url"
}
],
"role": "user"
}