- 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
- 279.2 s
- total steps
- 84
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 9
Raw transcript
step 15
Raw transcript
step 19
Raw transcript
step 21
Raw transcript
step 25
Raw transcript
step 29
Raw transcript
step 31
Raw transcript
step 33
Raw transcript
step 35
Raw transcript
step 38
Raw transcript
step 44
Raw transcript
step 50
Raw transcript
step 54
Raw transcript
step 62
Raw transcript
step 69
Raw transcript
step 71
Raw transcript
step 73
Raw transcript
step 76
Raw transcript
step 79
Raw transcript
step 83
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 · 11.35 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, 0.7929, 0.6041, -0.3794, -0.0216, -0.0402, 0.9993, -0.0151, 0.7914, 0.6094, -0.3756, -0.0235, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1804 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0033 right_z=0.1841 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.3744, 10.3863, 1.8193, -0.0024, 0.2222, -0.0806, -0.8684, -1.1966, 9.853, 1.7363, -0.0366, 0.0024, -0.0806]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9743ef27c361114f611dea92aee6f04d5d397fbcbfed6cf4a78aa382051f4858"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f06e8747695c8614d2770110a7962ad1211582611f5a436462a9707a8f98c7df"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:395c208197d6596a308a1b9045e311df76a8bd98e8ed1edfe11692c6b3f3d06a"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 33.66 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "I'll start by moving the right arm to a lower scanning pose so I can see the gripper relative to the blue puzzle piece and calibrate the camera views.",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.1, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see a blue round puzzle piece with a wooden knob on the table and a white board with a circular groove to its left. Moving the right arm forward and down so I can see the gripper in the cameras and locate it relative to the piece.\"}",
"name": "move_to"
},
"id": "toolu_01GB3HseSVkgE5MF42uUgkrK",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_01GB3HseSVkgE5MF42uUgkrK"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6041, -0.3813, -0.0216, -0.0414, 0.9993, 0.4248, 1.2358, 0.5476, 0.0132, 0.3073, 0.1986, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3365 right_y=0.0975 right_z=0.1032 right_yaw=0.0463 right_pitch=-0.0806 right_roll=-0.0318 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5248, 7.0632, 1.7167, -0.0317, -0.0024, -0.0171, 0.3214, -4.6291, 7.788, 1.9414, 0.2857, 0.1294, -0.0757]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bbd4ac9fbc3dccd8ee2e5850cccc94226786f9f3cfdeca57f9fc6339d89e09d0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:16dc636163c882e128598b41be988ba4bc0898b8ffcd1a7b51d7aa9a1a4915d6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9cb3d7e91a29ef9e6d911d26ec8dbc951e83e0e7c30dd3c86e2678436c2ee20c"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 7.036 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, 0.7929, 0.6041, -0.3794, -0.0216, -0.0402, 0.9993, -0.0151, 0.7914, 0.6094, -0.3756, -0.0235, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1804 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0033 right_z=0.1841 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.3744, 10.3863, 1.8193, -0.0024, 0.2222, -0.0806, -0.8684, -1.1966, 9.853, 1.7363, -0.0366, 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\": 0.36, \"right_y\": 0.03, \"right_z\": 0.09}, \"note\": \"The right wrist camera now shows the blue piece to the lower-right of the image, suggesting the piece is at a smaller y than the gripper. Shifting the arm right (lower y) and slightly forward/down to center over the piece.\"}",
"name": "move_to"
},
"id": "toolu_01SfvQ4MsNCxoGzKxnqozCR4",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01SfvQ4MsNCxoGzKxnqozCR4"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.226, 0.1333, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0008 left_gripper=0.9993 right_x=0.344 right_y=0.0738 right_z=0.0924 right_yaw=0.0376 right_pitch=-0.1004 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7216, -0.0415, -0.0415, -0.0171, -0.2393, -5.7368, 6.3111, 1.6777, -0.0415, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ba7953fbf72aaf3304f80574961bc0b6c922c22eba47315a86add539812f1d3a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ebd7584633f6b3db668651f7fc6feda62af6e214d4ff60715699257976f2dfe2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 15):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:254e97661a85cb59cff9d94f33dbec02db340aacae5e898929a6612adb986e65"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 6.858 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, 0.7986, 0.6041, -0.3813, -0.0216, -0.0414, 0.9993, 0.4248, 1.2358, 0.5476, 0.0132, 0.3073, 0.1986, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3365 right_y=0.0975 right_z=0.1032 right_yaw=0.0463 right_pitch=-0.0806 right_roll=-0.0318 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5248, 7.0632, 1.7167, -0.0317, -0.0024, -0.0171, 0.3214, -4.6291, 7.788, 1.9414, 0.2857, 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\": 0.36, \"right_y\": 0.03, \"right_z\": 0.07, \"right_pitch\": 0}, \"note\": \"The move was clamped and stopped partway (y is still 0.074); the blue piece is near the center of the wrist camera but slightly right. Continuing toward y=0.03 and lowering to z=0.07 while leveling the pitch.\"}",
"name": "move_to"
},
"id": "toolu_018ZqjsCoctfNrA5jUSZCd7G",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_018ZqjsCoctfNrA5jUSZCd7G"
}{
"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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.2237, 0.1257, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3439 right_y=0.0742 right_z=0.0924 right_yaw=0.0436 right_pitch=-0.1008 right_roll=-0.0413 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.7167, -0.0611, -0.0611, -0.0171, -0.2256, -5.7368, 6.5983, 1.6679, -0.022, -0.0073, -0.0171]\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:82b31c6d1d68639573b039e603ad8a73d70f1ed15d6410f408c7b0233f927b28"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e2c8ab47d8073d8c1ef32584c764d861c74b372227c90fc293b5254e4afccd0a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 19):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6144907a6ff23c9437a62fe2e194c047cce1b80273fa9d5a8eb49fe7eaf6824b"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 10.43 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, 0.8001, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.226, 0.1333, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0008 left_gripper=0.9993 right_x=0.344 right_y=0.0738 right_z=0.0924 right_yaw=0.0376 right_pitch=-0.1004 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.7216, -0.0415, -0.0415, -0.0171, -0.2393, -5.7368, 6.3111, 1.6777, -0.0415, -0.1099, -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\": 0.055, \"right_z\": 0.08}, \"note\": \"The arm did not track my last target (still at y=0.074, z=0.092), likely due to clamping. Trying a smaller incremental step toward the piece: slightly right and down.\"}",
"name": "move_to"
},
"id": "toolu_01A8aa5KuNES4Zjo7ydWRieM",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01A8aa5KuNES4Zjo7ydWRieM"
}{
"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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.2237, 0.1261, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3439 right_y=0.0742 right_z=0.0924 right_yaw=0.0434 right_pitch=-0.1008 right_roll=-0.041 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.0325, 7.0359, 1.7363, -0.0562, -0.0757, -0.0171, -0.253, -5.5863, 6.3111, 1.6874, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f909e36091f7df6b114229c177928d7a135235b32cb0570a2e612da539fea397"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d9d9316e8c6e4a7b43063da372494d74858077a906a9d566d7f8a78cef9a8014"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6a9b6812b3f11b71106a7ab537620bc4d69d48fd8cbb22e6be0eb22deaa6d797"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 11.49 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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.2237, 0.1257, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3439 right_y=0.0742 right_z=0.0924 right_yaw=0.0436 right_pitch=-0.1008 right_roll=-0.0413 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.7167, -0.0611, -0.0611, -0.0171, -0.2256, -5.7368, 6.5983, 1.6679, -0.022, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.055, \"right_z\": 0.12, \"right_yaw\": 0, \"right_pitch\": 0, \"right_roll\": 0}, \"note\": \"The arm hasn't moved in two commands\\u2014likely an awkward IK pose. Lifting back up to z=0.12 with neutral wrist angles to free it, then I'll descend on the piece.\"}",
"name": "move_to"
},
"id": "toolu_01MmmabQKv2ah7ptWydLiDUc",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01MmmabQKv2ah7ptWydLiDUc"
}{
"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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.252, 1.2011, 0.5117, 0.0612, 0.2005, 0.1223, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3456 right_y=0.0563 right_z=0.1059 right_yaw=0.0042 right_pitch=-0.0562 right_roll=-0.0175 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.0462, 7.0906, 1.7411, -0.0708, -0.0659, -0.0073, -0.4991, -5.2034, 6.2017, 2.0879, -0.0464, -0.0269, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:97264e33f4cd92777eee968eefed029e921a3576d8d3075d3831f498abd3145b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:65a2fc6c3cf94dc6f5013d5c308b8afcaee0d456673420a743e447904444305e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 25):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de912964929dc33e2fd0be3b14d4285653a1a944a86e3f8a95efbba4774c21a0"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 8.158 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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.3138, 1.2579, 0.5266, 0.0532, 0.2237, 0.1261, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3439 right_y=0.0742 right_z=0.0924 right_yaw=0.0434 right_pitch=-0.1008 right_roll=-0.041 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.0325, 7.0359, 1.7363, -0.0562, -0.0757, -0.0171, -0.253, -5.5863, 6.3111, 1.6874, -0.0171, -0.0269, -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\": 0.045, \"right_z\": 0.05}, \"note\": \"The arm freed up and moved; the knob is near the center of the wrist camera, slightly right and forward. Descending toward the knob with a small forward-right adjustment.\"}",
"name": "move_to"
},
"id": "toolu_01VEZNMWoTBrjWytNyFtKMsX",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01VEZNMWoTBrjWytNyFtKMsX"
}{
"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, -0.3809, -0.0216, -0.0414, 0.9993, 0.1932, 1.4338, 0.4061, 0.2916, 0.1616, 0.0959, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3415 right_y=0.0415 right_z=0.0308 right_yaw=-0.0103 right_pitch=-0.167 right_roll=-0.0385 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4154, 7.0359, 1.7314, -0.0171, -0.0562, -0.0171, -0.4855, -5.8598, 6.2974, 2.1807, 0.0855, -0.1001, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cac561c47963b825c26b28f41cd443ab11df3bc2ff6e9d94ff96ec8c0b15af3c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6d3c5d185dc3b5fa611fb061e11d10ecdccc5cc6055695af0061255e482e694a"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b67f171ebec8320c9e8e4f070b988c9e4a0810cde4f83b4de66340dc87e0f9fe"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 6.346 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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.252, 1.2011, 0.5117, 0.0612, 0.2005, 0.1223, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9993 right_x=0.3456 right_y=0.0563 right_z=0.1059 right_yaw=0.0042 right_pitch=-0.0562 right_roll=-0.0175 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.0462, 7.0906, 1.7411, -0.0708, -0.0659, -0.0073, -0.4991, -5.2034, 6.2017, 2.0879, -0.0464, -0.0269, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.043, \"right_z\": 0.015}, \"note\": \"The knob is nearly centered in the wrist camera, just slightly high/forward in frame. Descending to z=0.015 with a small forward nudge to bring the open jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_014cC6z5i8rHmTTPCsVE3gED",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_014cC6z5i8rHmTTPCsVE3gED"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8047, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.1902, 1.507, 0.4015, 0.4057, 0.1478, 0.0788, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.001 left_gripper=0.9993 right_x=0.3519 right_y=0.0449 right_z=0.0259 right_yaw=0.0086 right_pitch=-0.1333 right_roll=-0.0357 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0359, 1.6874, -0.0611, -0.0659, -0.0073, 0.3077, -4.7248, 6.1607, 1.6337, 0.1148, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d2e915d078fb16283b9dd849beaf2a0931c969d9c30f50ebaaeb250c8921698b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cf2262aa4e219f231fca6726e231e21f9880fa7d99ef7482c00a107ebf572a61"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3b8aa384d7e97b9fea4d1ae29862a388e5e7fc339961846b7c7882753f447648"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 8.582 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, 0.8021, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.1932, 1.4338, 0.4061, 0.2916, 0.1616, 0.0959, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3415 right_y=0.0415 right_z=0.0308 right_yaw=-0.0103 right_pitch=-0.167 right_roll=-0.0385 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4154, 7.0359, 1.7314, -0.0171, -0.0562, -0.0171, -0.4855, -5.8598, 6.2974, 2.1807, 0.0855, -0.1001, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.358, \"right_y\": 0.045, \"right_z\": 0.005}, \"note\": \"Knob is centered horizontally in the wrist view, slightly above center. Descending the last bit to z=0.005 with a small forward nudge so the jaws straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_01CoSe2zb7zefwftef9saWyD",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01CoSe2zb7zefwftef9saWyD"
}{
"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, -0.0414, 0.9993, 0.1894, 1.6028, 0.3981, 0.4587, 0.1452, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3499 right_y=0.0447 right_z=0.0025 right_yaw=0.0098 right_pitch=-0.179 right_roll=-0.0438 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.3744, 7.159, 1.6972, -0.0513, -0.0415, -0.0171, -0.6769, -5.7231, 4.2325, 1.707, 0.0073, -0.0611, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c6cd9d48da5c0fe7c3fa82b5485e60326d007b288b74ced07195e318eb77789"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d95436a0602716cde62ba455d2d76fae6a1d8f9c377ebd1702bb1f9c984464f0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2aacdab372889c76385bebfc2911ca9f429d336561811535f3911acce2f354d5"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 6.845 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, 0.8047, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.1902, 1.507, 0.4015, 0.4057, 0.1478, 0.0788, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1769 left_yaw=0.0008 left_pitch=-0.0141 left_roll=-0.001 left_gripper=0.9993 right_x=0.3519 right_y=0.0449 right_z=0.0259 right_yaw=0.0086 right_pitch=-0.1333 right_roll=-0.0357 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0359, 1.6874, -0.0611, -0.0659, -0.0073, 0.3077, -4.7248, 6.1607, 1.6337, 0.1148, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.372, \"right_y\": 0.043, \"right_z\": 0.005}, \"note\": \"In the wrist camera the knob sits above the jaw tips, meaning it is a couple centimeters forward of the grasp point. Moving forward ~2 cm at the same height before closing.\"}",
"name": "move_to"
},
"id": "toolu_012ustM34xThmkGdkULmxc3A",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_012ustM34xThmkGdkULmxc3A"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3197, 7.0359, 1.6972, -0.0513, -0.0611, -0.0073, -0.6222, -5.1214, 4.4376, 1.917, 0.0904, -0.0317, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5a160c9adfbbb5a79649b325fb037bb258ba5ad4949bb2d73b2fc97f9bcb2a2e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dba324f42cf61298c22e5b7987d53fb6310c32d76e549ac8ee8042659959a76d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:807047780eadbadee9697b55dc6adc47048ff4ae5bed5b82ed77a08849d110d7"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 7.441 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, 0.8062, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.1894, 1.6028, 0.3981, 0.4587, 0.1452, 0.0769, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0156 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3499 right_y=0.0447 right_z=0.0025 right_yaw=0.0098 right_pitch=-0.179 right_roll=-0.0438 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.3744, 7.159, 1.6972, -0.0513, -0.0415, -0.0171, -0.6769, -5.7231, 4.2325, 1.707, 0.0073, -0.0611, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.046, \"right_z\": 0.005}, \"note\": \"The arm only advanced a few mm and the knob still sits ahead of the jaw tips in the wrist view. Pushing the target further forward to x=0.385 to bring the grasp point over the knob.\"}",
"name": "move_to"
},
"id": "toolu_018oHHjApVwg3SQz3eCZVsMR",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_018oHHjApVwg3SQz3eCZVsMR"
}{
"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, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.3333, 7.1043, 1.7167, -0.0757, -0.0659, -0.0122, -0.6632, -4.9436, 4.4513, 1.9219, 0.105, -0.0415, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:783f04c4ac0ea394609ed7d95a0043dd22f1b215808e4ef0bf1b65ce657a789e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c9d06e922466296f05a03cc715a90e486b86b0b9735f3b246fe5e5bfdb8e35f9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 38):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:67b9e6869e8656fab7c00ba45bf4dfe6e0aa5fc46ccd3f79a7334b640a156981"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 7.769 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, 0.807, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.3197, 7.0359, 1.6972, -0.0513, -0.0611, -0.0073, -0.6222, -5.1214, 4.4376, 1.917, 0.0904, -0.0317, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.046, \"right_z\": 0.03, \"right_pitch\": 0}, \"note\": \"The arm is stuck at x=0.353 with the fingertips near the table; it may be dragging on the surface. Lifting to z=0.03 while advancing forward so the jaws can pass over and around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01DBcAKvdwH5DmtpErk7uHh7",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01DBcAKvdwH5DmtpErk7uHh7"
}{
"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, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7314, -0.0562, -0.0855, -0.0171, -0.6632, -4.9436, 4.4376, 1.917, 0.0611, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10b4cb618086926fa1414726b96faa01dda29a1a203dded9968b23b9ca0eabc1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ccca0d69940e7059b3650208b3b48473c7cf4bf3825b4c5a9145df31918a4971"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:55d9046d748813f52f96dfd2fa3d4fa602ed1efa1e9e2a6ce34eabfd926c145e"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 9.186 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, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.3333, 7.1043, 1.7167, -0.0757, -0.0659, -0.0122, -0.6632, -4.9436, 4.4513, 1.9219, 0.105, -0.0415, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.046, \"right_z\": 0.08, \"right_yaw\": 0, \"right_pitch\": 0, \"right_roll\": 0}, \"note\": \"The arm hasn't moved for three commands\\u2014it appears stuck in an awkward IK pose near the table. Retreating up and slightly back with neutral wrist to reset, then I'll re-approach from directly above the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Ev92V8Ye9xzQVEnt3YuLx3",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01Ev92V8Ye9xzQVEnt3YuLx3"
}{
"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, 0.8101, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.1921, 1.3228, 0.3775, 0.3603, 0.1383, 0.078, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3492 right_y=0.0468 right_z=0.0693 right_yaw=0.0205 right_pitch=-0.0212 right_roll=-0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.2376, 7.241, 1.7949, -0.0659, -0.0464, -0.0171, 0.335, -4.8615, 6.7897, 1.7802, 0.2808, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:76687315ec926d4fb688be41bd111b771aafc425ba113cdd97476e703ed7878f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b09309d15890018303e7f0253982cba4555e27e0bc08c10f7ca50f736d7b6db0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:111af7a176e958f1a1571b22ec38ff04afe8a82385b634ac8c9e549316dd487d"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 13.89 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, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6295, 0.392, 0.5098, 0.1368, 0.0738, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3529 right_y=0.0468 right_z=0.0008 right_yaw=0.0192 right_pitch=-0.162 right_roll=-0.0373 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7314, -0.0562, -0.0855, -0.0171, -0.6632, -4.9436, 4.4376, 1.917, 0.0611, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.362, \"right_y\": 0.047, \"right_z\": 0.012}, \"note\": \"The arm reset and the knob now sits centered between the jaw tips in the wrist camera, just a bit forward. Descending straight down to z=0.012 with a slight forward shift to straddle the knob.\"}",
"name": "move_to"
},
"id": "toolu_012E2boWe2foWT23gszJi9UL",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_012E2boWe2foWT23gszJi9UL"
}{
"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, -0.0219, -0.0414, 0.9993, 0.189, 1.652, 0.3233, 0.6533, 0.1329, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.0009 left_pitch=-0.0236 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3474 right_y=0.0463 right_z=-0.0015 right_yaw=0.0226 right_pitch=-0.1109 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5795, 7.0496, 1.7265, -0.0659, -0.0415, -0.0171, -0.6632, -4.9436, 4.3829, 1.5116, -0.0366, 0.0366, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f388e4ad27151142fed830c63eb19d64d7c77c9c28229d493be0c06b7e185c2c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:af40ea8aeb718d2b566cf85c634873722bb1767eba32306614d0a65a9ef4a396"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 54):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a2cca6e4928fbd4776aa358547288811b6cb348e401ffefbf591d80860fbde2d"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 15.48 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, 0.8101, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.1921, 1.3228, 0.3775, 0.3603, 0.1383, 0.078, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1756 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3492 right_y=0.0468 right_z=0.0693 right_yaw=0.0205 right_pitch=-0.0212 right_roll=-0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.2376, 7.241, 1.7949, -0.0659, -0.0464, -0.0171, 0.335, -4.8615, 6.7897, 1.7802, 0.2808, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.365, \"right_y\": 0.047, \"right_z\": 0.005, \"right_pitch\": 0.1}, \"note\": \"The jaws are at table height but the knob is still a couple of centimeters ahead of the fingertips in the wrist view; pitch keeps sagging to -0.11 which pulls the grasp point back. Commanding forward with a positive pitch to tip the tool toward the knob.\"}",
"name": "move_to"
},
"id": "toolu_01MEzN2Y2zVJbqbX9XHunkpT",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01MEzN2Y2zVJbqbX9XHunkpT"
}{
"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, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6806, 0.3138, 0.7181, 0.1299, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0008 left_pitch=-0.0233 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3502 right_y=0.0475 right_z=-0.0014 right_yaw=0.0285 right_pitch=-0.0848 right_roll=-0.0225 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2513, 7.0085, 1.6874, -0.0757, -0.0757, -0.0171, -0.2667, -5.9145, 3.5761, 1.7118, 0.0757, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:558d80ab4b9069dbc848e7d02896e75346e1fe3edfe09e131ae2c6fbcc35b63a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:13bed109111509814ab0cdbab656cba4fb2edb524a979ee298c0a8a87db6d530"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 62):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:85de2712b555f9cdb573a5bec9398facab6dcf6bb7ef64d1399f538d461949ec"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 12.78 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, 0.8135, 0.6037, -0.3813, -0.0219, -0.0414, 0.9993, 0.189, 1.652, 0.3233, 0.6533, 0.1329, 0.075, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.0009 left_pitch=-0.0236 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3474 right_y=0.0463 right_z=-0.0015 right_yaw=0.0226 right_pitch=-0.1109 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5795, 7.0496, 1.7265, -0.0659, -0.0415, -0.0171, -0.6632, -4.9436, 4.3829, 1.5116, -0.0366, 0.0366, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.048, \"right_z\": 0.012, \"right_pitch\": 0.1}, \"note\": \"The fingertips look like they're scraping the table, which stops forward progress; the knob is still ahead of the jaws. Raising slightly to z=0.012 and pushing forward to x=0.39 so the open jaws slide around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Qr3wSxTVzkCMhApWDiZ7z6",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01Qr3wSxTVzkCMhApWDiZ7z6"
}{
"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, 0.8165, 0.6037, -0.3813, -0.0216, -0.0414, 0.9993, 0.1787, 1.8656, 0.35, 0.9833, 0.1276, 0.0414, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1734 left_yaw=0.0006 left_pitch=-0.0267 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3789 right_y=0.0493 right_z=-0.001 right_yaw=0.0356 right_pitch=0.0299 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0222, 1.707, -0.0855, -0.0122, -0.0073, -0.841, -5.8188, 4.588, 2.0635, 0.0366, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:37b1220c428535795e36d4ffdb04745ee9d70b3fb592d7c947f7d42f98bc360c"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0fc9d15dde99d194711ec8e580363dbda12b5dfeee8e939ee31fa6d5c7f8854b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 69):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b4a92245ba5866766810a5ef6aed45b22759e92e7faf56656799cd76193933db"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 9.372 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, 0.8135, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1894, 1.6806, 0.3138, 0.7181, 0.1299, 0.0704, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0008 left_pitch=-0.0233 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3502 right_y=0.0475 right_z=-0.0014 right_yaw=0.0285 right_pitch=-0.0848 right_roll=-0.0225 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2513, 7.0085, 1.6874, -0.0757, -0.0757, -0.0171, -0.2667, -5.9145, 3.5761, 1.7118, 0.0757, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.052, \"right_z\": 0.008}, \"note\": \"Good progress\\u2014the jaw tip is now at the edge of the blue piece with the knob just ahead of the grasp point. Advancing ~2 cm more and lowering slightly so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01QisrEGk4UAUAXHBFGCcw4k",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01QisrEGk4UAUAXHBFGCcw4k"
}{
"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, 0.8165, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, 0.178, 1.8759, 0.392, 0.9531, 0.1246, 0.036, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0255 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3891 right_y=0.0513 right_z=0.0009 right_yaw=0.0402 right_pitch=0.0312 right_roll=-0.0307 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.2684, 1.7363, -0.0415, -0.0611, -0.0073, -0.5949, -8.2803, 5.2855, 2.1612, 0.0024, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a80ac5681b2b7b40952bf9ede32c89c1d62a2a739a9a9c28affbf0f9634d9a5e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:736adf275a3982ae30a9cdc9a2162441c54c579e453e5353dc204070f24f9725"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f55056ea33a41a99e9f42aef79c0d726dd17e6736cd76b4d9585d7c8ab89769a"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 13.71 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, 0.8165, 0.6037, -0.3813, -0.0216, -0.0414, 0.9993, 0.1787, 1.8656, 0.35, 0.9833, 0.1276, 0.0414, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1734 left_yaw=0.0006 left_pitch=-0.0267 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3789 right_y=0.0493 right_z=-0.001 right_yaw=0.0356 right_pitch=0.0299 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.4154, 7.0222, 1.707, -0.0855, -0.0122, -0.0073, -0.841, -5.8188, 4.588, 2.0635, 0.0366, -0.0562, -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\": 0.415, \"right_y\": 0.054, \"right_z\": 0.008}, \"note\": \"The jaw tip has reached the edge of the blue disc but the knob is still ~2-3 cm ahead. Continuing forward to x=0.415 at the same low height to get the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01J3ZrZ9LawKYskGSkCTfTrN",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01J3ZrZ9LawKYskGSkCTfTrN"
}{
"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, 0.8185, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.178, 1.8763, 0.4324, 0.894, 0.1215, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0008 left_pitch=-0.0278 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3962 right_y=0.0531 right_z=0.0003 right_yaw=0.0427 right_pitch=0.0121 right_roll=-0.0314 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.5521, 7.0632, 1.7216, -0.0806, -0.0464, -0.0171, -0.6222, -6.0376, 5.012, 1.917, 0.0171, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f6a053b0eee19a15196f03ae0ef3ee0ea7fe386b1ebee26e410a491cb511be22"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8ed6826f32ad0bccefd800e151a5606228d7ef8886bb71278f3fb05721cc119"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 73):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d3dde245610260901fb21123dc95ee1d7b27bb32da15ff5a6e895cf9903e0f02"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 20.75 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, 0.8165, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, 0.178, 1.8759, 0.392, 0.9531, 0.1246, 0.036, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0255 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3891 right_y=0.0513 right_z=0.0009 right_yaw=0.0402 right_pitch=0.0312 right_roll=-0.0307 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.2684, 1.7363, -0.0415, -0.0611, -0.0073, -0.5949, -8.2803, 5.2855, 2.1612, 0.0024, 0.0024, -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\": 0.43, \"right_y\": 0.056, \"right_z\": 0.008}, \"note\": \"The knob is centered in the wrist view but still slightly ahead of the jaw tips visible at the bottom corners. Advancing another ~3 cm forward at the same height to bring the knob between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01Haka6TyQaiCSfXMuATUKnh",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01Haka6TyQaiCSfXMuATUKnh"
}{
"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, 0.8185, 0.6037, -0.3805, -0.0216, -0.0414, 0.9993, 0.178, 1.8771, 0.4324, 0.8967, 0.1215, 0.036, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0006 left_pitch=-0.0278 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3964 right_y=0.0532 right_z=0.0005 right_yaw=0.0429 right_pitch=0.0139 right_roll=-0.0315 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.4154, 7.0359, 1.6825, -0.0659, -0.0073, -0.0171, -0.5812, -6.6393, 4.7795, 1.8144, -0.0269, -0.0659, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:26a4fc05ca1ae24b7a6e01e32cefc31d4e22a4689b09f0285b3c8f2678dc4557"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b652eae11ca4f1b00c1a4ecebda9d72842e6c3f83c4e6becfa64c9fb5732a236"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 76):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f2869cbb3f17639717202db10051c11016e6e7e39c53514199eacd3bc30dfb23"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 30.23 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, 0.8185, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.178, 1.8763, 0.4324, 0.894, 0.1215, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0008 left_pitch=-0.0278 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3962 right_y=0.0531 right_z=0.0003 right_yaw=0.0427 right_pitch=0.0121 right_roll=-0.0314 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.5521, 7.0632, 1.7216, -0.0806, -0.0464, -0.0171, -0.6222, -6.0376, 5.012, 1.917, 0.0171, -0.0464, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.056, \"right_z\": 0.03}, \"note\": \"The arm is stuck again at x=0.396 with fingertips likely dragging on the table. Lifting to z=0.03 while moving forward to x=0.43 so the jaws clear the surface and pass over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01E9jkq5UUYXAPQWqw4SEqq2",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01E9jkq5UUYXAPQWqw4SEqq2"
}{
"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, 0.8185, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.178, 1.8771, 0.4328, 0.8967, 0.1215, 0.036, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0008 left_pitch=-0.0278 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3966 right_y=0.0532 right_z=0.0006 right_yaw=0.0429 right_pitch=0.0143 right_roll=-0.0314 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4017, 7.2137, 1.7216, -0.0611, -0.0806, -0.0171, -0.6632, -6.6393, 4.6291, 1.8242, -0.0366, -0.0904, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2ae93f22bfd78bd568bdf3786f9f51baf065f444e92da9303d076574c01c5d12"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ecd31af4df42f68401aa3152a9850d687cdb2bcdb46e5b7a0e2acb3f6bff7ec"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 79):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:683b3d4bf24dbfd7faffcfbc8b061b2d36cf0be0339ec311957aa72b8db5eb08"
},
"type": "image_url"
}
],
"role": "user"
}