- 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
- 421.1 s
- total steps
- 133
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
partial
Grader notes
trial 02
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
Raw transcript
step 0
Raw transcript
step 9
Raw transcript
step 13
Raw transcript
step 21
Raw transcript
step 27
Raw transcript
step 29
Raw transcript
step 31
Raw transcript
step 33
Raw transcript
step 35
Raw transcript
step 42
Raw transcript
step 47
Raw transcript
step 53
Raw transcript
step 58
Raw transcript
step 75
Raw transcript
step 90
Raw transcript
step 92
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step 94
Raw transcript
step 104
Raw transcript
step 110
Raw transcript
step 122
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step 132
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 · 16.91 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, 0.7914, 0.6037, -0.3786, -0.0216, -0.0452, 0.9991, -0.0196, 0.7898, 0.6094, -0.3748, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1808 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2958 right_y=0.0014 right_z=0.1847 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 10.3179, 1.8339, -0.0269, 0.2125, -0.1099, -0.6359, -1.0872, 9.7983, 1.8046, -0.0122, -0.0122, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:67d9127b2ff3d615e26806ea41223775c6319c91703b957319869f42f65fcbd9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:809a322c6ab4341ea7fa37e2cc838916e86dd046b8eff8d9c3354b87f21e8d5d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3e931af69077528229983b25a14b43a12d8441c4ecb4a60e6a97bc5832637372"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 12.44 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with its knob in the right wrist camera, roughly ahead of the right gripper. Moving the right arm forward and down a bit to localize the piece relative to the gripper.\"}",
"name": "move_to"
},
"id": "toolu_017ASVb7n3ZJaFnWowQVgyg1",
"type": "function"
}
]
}{
"content": "executing move_to over 9 steps (0.9s)",
"role": "tool",
"tool_call_id": "toolu_017ASVb7n3ZJaFnWowQVgyg1"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7975, 0.6041, -0.3813, -0.0212, -0.0486, 0.999, -0.0193, 1.3579, 0.5983, 0.0902, -0.0238, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1788 left_yaw=0.0015 left_pitch=-0.0084 left_roll=-0.0029 left_gripper=0.999 right_x=0.3768 right_y=0.0005 right_z=0.092 right_yaw=0.0033 right_pitch=-0.114 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 7.0359, 1.7363, 0.0024, 0.0122, -0.022, 0.0205, -5.6137, 9.2786, 1.9023, -0.0073, -0.0513, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:10cc742f30a93ecf0d9af573c5b2c109247c435dd5ac9229733c9a8607541160"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6893d68471dd52d8f6015583471d9c3800ba1480b8540ada74f5b60ffbbe965b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e4a763245584ff38f1eaaf8ed6ea686e072b3255cb8fadfa40dab21f10a634ce"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 9.207 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, 0.7914, 0.6037, -0.3786, -0.0216, -0.0452, 0.9991, -0.0196, 0.7898, 0.6094, -0.3748, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1808 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2958 right_y=0.0014 right_z=0.1847 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.2923, 10.3179, 1.8339, -0.0269, 0.2125, -0.1099, -0.6359, -1.0872, 9.7983, 1.8046, -0.0122, -0.0122, -0.105]",
"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\": 0.01, \"right_z\": 0.05}, \"note\": \"The wrist camera shows the blue piece with its knob slightly left of center and ahead of the gripper. Moving forward and lower to position over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01NNEffVXhywgGLbMbTUL4x1",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01NNEffVXhywgGLbMbTUL4x1"
}{
"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, 0.6037, -0.3813, -0.0216, -0.0486, 0.999, 0.0116, 1.6333, 0.6212, 0.2401, -0.0158, -0.0093, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1773 left_yaw=0.0018 left_pitch=-0.0133 left_roll=-0.0026 left_gripper=0.999 right_x=0.394 right_y=0.011 right_z=0.0276 right_yaw=0.0241 right_pitch=-0.2167 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.4701, 7.0496, 1.7167, -0.0513, -0.0464, -0.0171, 0.3624, -7.2821, 8.8684, 2.1074, 0.1099, 0.1343, -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,$blob:4a70b68cdad148ef1b3b956c193a46cc92d551e861c8b781fdb0e412fee36dc6"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0221e50c5c26b7895b7fd1df36170661bb69c445b5d35c9fb227faa3c91594ca"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 13):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c5ad23704fc9d738c788e4fc218f1f283a6657e60eb5570f7413038061ac61df"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 8.277 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, 0.7975, 0.6041, -0.3813, -0.0212, -0.0486, 0.999, -0.0193, 1.3579, 0.5983, 0.0902, -0.0238, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1788 left_yaw=0.0015 left_pitch=-0.0084 left_roll=-0.0029 left_gripper=0.999 right_x=0.3768 right_y=0.0005 right_z=0.092 right_yaw=0.0033 right_pitch=-0.114 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.5658, 7.0359, 1.7363, 0.0024, 0.0122, -0.022, 0.0205, -5.6137, 9.2786, 1.9023, -0.0073, -0.0513, -0.105]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.012, \"right_z\": 0.02, \"right_pitch\": 0}, \"note\": \"The knob is now close and slightly ahead of the gripper in the wrist view. Moving a bit further forward and down, straightening pitch, to get the fingers around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01K5XQ9nwiP4ov7VaC8TE9kS",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01K5XQ9nwiP4ov7VaC8TE9kS"
}{
"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, 0.6037, -0.3809, -0.0216, -0.0486, 0.999, 0.0154, 1.6619, 0.6422, 0.2924, -0.0086, -0.0086, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0018 left_pitch=-0.0122 left_roll=-0.0026 left_gripper=0.999 right_x=0.4077 right_y=0.0114 right_z=0.0337 right_yaw=0.0212 right_pitch=-0.1722 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -1.2376, 7.0085, 1.7363, -0.0806, -0.0464, -0.0171, -0.1573, -7.5419, 7.159, 1.8926, 0.0513, 0.0904, -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:ee691666e706e738f0cc67614b9fdc2bab7c36d45952895fd2d10bf40a827411"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:994c4e6c2314267d108f95697d35f86b3ea67aea7b0ddf2fc1a8e323c85d1200"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 21):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b971de59db3da402c444df426d06a5a4ad2bcab917f13575fe514e36cc573fcc"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 9.61 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 8 changed as sent
message 8 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8021, 0.6037, -0.3813, -0.0216, -0.0486, 0.999, 0.0116, 1.6333, 0.6212, 0.2401, -0.0158, -0.0093, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1773 left_yaw=0.0018 left_pitch=-0.0133 left_roll=-0.0026 left_gripper=0.999 right_x=0.394 right_y=0.011 right_z=0.0276 right_yaw=0.0241 right_pitch=-0.2167 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.4701, 7.0496, 1.7167, -0.0513, -0.0464, -0.0171, 0.3624, -7.2821, 8.8684, 2.1074, 0.1099, 0.1343, -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\": 0.435, \"right_y\": 0.02, \"right_z\": 0.0, \"right_pitch\": 0}, \"note\": \"The knob sits just ahead and slightly left of the gripper fingers in the wrist view. Moving forward-left and down to table level so the open jaws surround the knob.\"}",
"name": "move_to"
},
"id": "toolu_01ST1CKke2i7gArjDXgwkA9e",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01ST1CKke2i7gArjDXgwkA9e"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0212, -0.0486, 0.999, 0.0406, 1.9049, 0.598, 0.717, -0.009, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.016 left_roll=-0.0028 left_gripper=0.999 right_x=0.433 right_y=0.0228 right_z=0.0034 right_yaw=0.0365 right_pitch=-0.035 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.5795, 7.241, 1.7021, -0.0073, -0.0464, -0.0171, 0.1846, -6.2564, 3.0154, 1.0232, 0.1392, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ec15b7748965b9673107081f46c68e4f18b537faf9e5c98ae84401b489f1da92"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a273916aa0fa7c40415e69884af3e51e154542cb43cdf6ee930bc14c30b74713"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 27):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:22d32ce41b9e3929cfcad2f9db65a237f2c2959629291e329f09cae60bdff814"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 6.919 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, 0.6037, -0.3809, -0.0216, -0.0486, 0.999, 0.0154, 1.6619, 0.6422, 0.2924, -0.0086, -0.0086, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0018 left_pitch=-0.0122 left_roll=-0.0026 left_gripper=0.999 right_x=0.4077 right_y=0.0114 right_z=0.0337 right_yaw=0.0212 right_pitch=-0.1722 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -1.2376, 7.0085, 1.7363, -0.0806, -0.0464, -0.0171, -0.1573, -7.5419, 7.159, 1.8926, 0.0513, 0.0904, -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\": 0.447, \"right_y\": 0.022, \"right_z\": -0.01}, \"note\": \"The knob is just ahead of the fingertips in the wrist view. Advancing about 1.5 cm forward and slightly down so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Vof7mUStfiQQz44fFd4cX7",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Vof7mUStfiQQz44fFd4cX7"
}{
"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, 0.6037, -0.3805, -0.0216, -0.0486, 0.999, 0.041, 1.9621, 0.6235, 0.7956, -0.0124, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.999 right_x=0.4462 right_y=0.0241 right_z=0.0041 right_yaw=0.0398 right_pitch=0.0119 right_roll=0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -1.388, 7.0222, 1.7314, -0.0757, -0.0806, -0.0171, -0.6906, -6.7897, 4.6017, 1.3944, 0.0073, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5a0fff59ff489fd331f695f7681a8a0e595b03db52446382c2dc57ef67b6a0d7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dfae2cbf7e59796c6a7d72bd7823943cf1c57726f10343a9fe440d8b096ffe5d"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 29):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a76f6afe37a9ace4e0191b8c7be13d64f69218b531912f5a6f876e828a145327"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 6.34 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, 0.8051, 0.6037, -0.3809, -0.0212, -0.0486, 0.999, 0.0406, 1.9049, 0.598, 0.717, -0.009, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.016 left_roll=-0.0028 left_gripper=0.999 right_x=0.433 right_y=0.0228 right_z=0.0034 right_yaw=0.0365 right_pitch=-0.035 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.5795, 7.241, 1.7021, -0.0073, -0.0464, -0.0171, 0.1846, -6.2564, 3.0154, 1.0232, 0.1392, -0.0513, -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\": 0.465, \"right_y\": 0.024, \"right_z\": -0.005}, \"note\": \"The knob is still a couple of centimeters ahead of the fingertips. Advancing forward so the knob ends up between the jaws before closing.\"}",
"name": "move_to"
},
"id": "toolu_01WgCmGpoGVN7PmveTHuBpN3",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01WgCmGpoGVN7PmveTHuBpN3"
}{
"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, 0.6033, -0.3809, -0.0216, -0.0486, 0.999, 0.041, 2.0064, 0.6773, 0.8051, -0.0204, 0.0093, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1759 left_yaw=0.0018 left_pitch=-0.0183 left_roll=-0.0025 left_gripper=0.999 right_x=0.4614 right_y=0.0261 right_z=0.0046 right_yaw=0.0473 right_pitch=0.031 right_roll=0.0207 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.0769, 1.7265, -0.0415, -0.0415, -0.0073, -0.4718, -6.735, 4.9026, 1.6874, 0.0073, -0.0562, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7ec994a7d82f61174fa748d64b3d9d9dce5bceea2ec3dc72de74c91237f8480e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:04ef948faee689d03665d9a1bdc913acf3754c611356ac942c808f6b3cbf9994"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 31):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4424a90fb86fd9d43a0d9a5da5ee1f04019082cd624237a6aee6a0f2cbd42af1"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 8.781 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, 0.8059, 0.6037, -0.3805, -0.0216, -0.0486, 0.999, 0.041, 1.9621, 0.6235, 0.7956, -0.0124, 0.0105, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0025 left_gripper=0.999 right_x=0.4462 right_y=0.0241 right_z=0.0041 right_yaw=0.0398 right_pitch=0.0119 right_roll=0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -1.388, 7.0222, 1.7314, -0.0757, -0.0806, -0.0171, -0.6906, -6.7897, 4.6017, 1.3944, 0.0073, -0.0415, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.478, \"right_y\": 0.027, \"right_z\": -0.005}, \"note\": \"The knob is still just ahead of the jaws in the wrist camera. Advancing another ~1.5 cm forward to center it between the fingers.\"}",
"name": "move_to"
},
"id": "toolu_01P6JBF6s1Zixp88XkjJZTc7",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01P6JBF6s1Zixp88XkjJZTc7"
}{
"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, 0.6029, -0.3813, -0.0216, -0.049, 0.999, 0.041, 2.0472, 0.7212, 0.8249, -0.0235, 0.0093, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.999 right_x=0.4745 right_y=0.0272 right_z=0.0051 right_yaw=0.0499 right_pitch=0.0539 right_roll=0.022 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.2, 5.012, 1.6386, -0.022, -0.0415, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:14c43d28fe12599b1eda363577b178f5a55e427afd428f77b08d7a48b832d7d9"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f652d4757a96dc3bb985c40bad2d417ec7ddaa59475620c909510b24529184f4"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:206cc5ae83d8a8680f38ba5c3d1e6d7defef1624c1efbdf9d9d8041b17f61a57"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 8.591 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 20 changed as sent
message 20 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6033, -0.3809, -0.0216, -0.0486, 0.999, 0.041, 2.0064, 0.6773, 0.8051, -0.0204, 0.0093, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1759 left_yaw=0.0018 left_pitch=-0.0183 left_roll=-0.0025 left_gripper=0.999 right_x=0.4614 right_y=0.0261 right_z=0.0046 right_yaw=0.0473 right_pitch=0.031 right_roll=0.0207 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.0769, 1.7265, -0.0415, -0.0415, -0.0073, -0.4718, -6.735, 4.9026, 1.6874, 0.0073, -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\": 0.49, \"right_y\": 0.033, \"right_z\": -0.005}, \"note\": \"The knob is between the jaws but still a bit forward and left of the grasp center in the wrist view. Advancing slightly forward-left before closing.\"}",
"name": "move_to"
},
"id": "toolu_01859xcXNq1ifmJs7Nu8w6g2",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01859xcXNq1ifmJs7Nu8w6g2"
}{
"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, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.0486, 2.0838, 0.7666, 0.836, -0.0231, 0.0078, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.002 left_pitch=-0.0187 left_roll=-0.0028 left_gripper=0.999 right_x=0.487 right_y=0.0314 right_z=0.0059 right_yaw=0.058 right_pitch=0.0738 right_roll=0.0203 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.306, 7.0769, 1.6972, -0.0562, -0.0806, -0.0122, 0.7179, -7.159, 5.3265, 1.5458, 0.0904, 0.0757, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c2f04bc074bbafbd699baa3c8d67d011596d2ae93d233874d84922a68294461b"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:80810670386113fe6de12366d495618e9990cc0d0a5f92aadd3793a27e2c4c9b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 35):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56f1f8523f50aa58d006b5b0aaf65112f7666b70b8c4d8c7f4485da236489bce"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 11.25 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, 0.807, 0.6029, -0.3813, -0.0216, -0.049, 0.999, 0.041, 2.0472, 0.7212, 0.8249, -0.0235, 0.0093, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.999 right_x=0.4745 right_y=0.0272 right_z=0.0051 right_yaw=0.0499 right_pitch=0.0539 right_roll=0.022 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.2, 5.012, 1.6386, -0.022, -0.0415, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.492, \"right_y\": 0.038, \"right_gripper\": 0.3}, \"note\": \"The knob now sits just under the gripper between the jaws, slightly left. Nudging a touch left and closing the gripper on the knob.\"}",
"name": "move_to"
},
"id": "toolu_01EPZEgEiwihqJnZTeWDbdfb",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01EPZEgEiwihqJnZTeWDbdfb"
}{
"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, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0616, 2.0987, 0.7837, 0.8536, -0.02, 0.0105, 0.3053]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.0025 left_gripper=0.999 right_x=0.4927 right_y=0.0375 right_z=0.0086 right_yaw=0.067 right_pitch=0.0936 right_roll=0.0211 right_gripper=0.3053\nstate[joint_eff]: [-0.253, -1.3197, 7.1726, 1.7118, -0.0708, -0.0562, -0.0171, 0.6222, -9.9761, 4.9573, 1.4921, 0.1001, 0.0415, 0.2369]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e6e562884c8837b3aa693be855b6c3d1d14505b11a94161e87f10fb0782a9158"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0a0ffd86d71dec5fdb92a335afbc9b2963194caa470266b5f78b0e777ae3921e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 42):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:babd35fd73179285d48c29712f9e88c7e6ab2c6bb3c68db109b81c36ea87a130"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 14.34 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, 0.807, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.0486, 2.0838, 0.7666, 0.836, -0.0231, 0.0078, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.002 left_pitch=-0.0187 left_roll=-0.0028 left_gripper=0.999 right_x=0.487 right_y=0.0314 right_z=0.0059 right_yaw=0.058 right_pitch=0.0738 right_roll=0.0203 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.306, 7.0769, 1.6972, -0.0562, -0.0806, -0.0122, 0.7179, -7.159, 5.3265, 1.5458, 0.0904, 0.0757, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.08}, \"note\": \"The gripper closed to about 3 cm, hopefully around the knob. Lifting the arm to check whether the blue piece comes up with it.\"}",
"name": "move_to"
},
"id": "toolu_01RGwNjqUmt9oAAkkY3uN4Wk",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01RGwNjqUmt9oAAkkY3uN4Wk"
}{
"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, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.0605, 1.8946, 0.8085, 0.6155, -0.0277, 0.0101, 0.305]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1755 left_yaw=0.0021 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.999 right_x=0.4899 right_y=0.0381 right_z=0.0618 right_yaw=0.0725 right_pitch=0.0845 right_roll=0.0243 right_gripper=0.305\nstate[joint_eff]: [-0.1983, -1.0051, 7.0496, 1.7118, -0.0757, -0.0708, -0.0171, -0.1436, -11.0564, 7.3504, 1.7949, -0.0024, -0.0513, -0.0464]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6f5a0416f87e797cc87a6a6618cf9d36699f808a14b04fd6c4445a83c3f1104f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d3132e5d216f7a32df405e0662f9ab5ecdbd8c5d1714ee910317d0c525914a24"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 47):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:6ea1070b7b675cf343b1a5472162e4afb04ea3a5c1f29871ad60f0b6ac52d514"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 42.42 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, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0616, 2.0987, 0.7837, 0.8536, -0.02, 0.0105, 0.3053]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.0025 left_gripper=0.999 right_x=0.4927 right_y=0.0375 right_z=0.0086 right_yaw=0.067 right_pitch=0.0936 right_roll=0.0211 right_gripper=0.3053\nstate[joint_eff]: [-0.253, -1.3197, 7.1726, 1.7118, -0.0708, -0.0562, -0.0171, 0.6222, -9.9761, 4.9573, 1.4921, 0.1001, 0.0415, 0.2369]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.15}, \"note\": \"I see blue between the fingertips in the wrist camera, suggesting the knob is grasped. Lifting higher to confirm the piece is off the table before moving toward the white board with the circular groove.\"}",
"name": "move_to"
},
"id": "toolu_015ZZZprqj2sn6VgkGW7vp5g",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_015ZZZprqj2sn6VgkGW7vp5g"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0605, 1.7081, 0.9295, 0.2939, -0.0292, 0.0101, 0.3049]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0018 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.999 right_x=0.4897 right_y=0.0384 right_z=0.1294 right_yaw=0.0738 right_pitch=0.0704 right_roll=0.0252 right_gripper=0.3049\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.7021, -0.0269, -0.0513, -0.0171, -0.3897, -10.1128, 8.4991, 1.6581, -0.0611, -0.0806, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bf1a0295655c1be32860615916990288f2f96cb97ef9df3da22737b5fa76526e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1b49757198043214b9d6b02eda219688998f956b52e43206482d80cf467aabd1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 53):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:05236ad5c2d449ad2d849d70be55962116707968d67f390a3896ac9f1248e6bb"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 26.98 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, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.0605, 1.8946, 0.8085, 0.6155, -0.0277, 0.0101, 0.305]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1755 left_yaw=0.0021 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.999 right_x=0.4899 right_y=0.0381 right_z=0.0618 right_yaw=0.0725 right_pitch=0.0845 right_roll=0.0243 right_gripper=0.305\nstate[joint_eff]: [-0.1983, -1.0051, 7.0496, 1.7118, -0.0757, -0.0708, -0.0171, -0.1436, -11.0564, 7.3504, 1.7949, -0.0024, -0.0513, -0.0464]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.55, \"right_y\": 0.02, \"right_z\": 0.12}, \"note\": \"The blue piece is lifted in the gripper; the white board with the circular groove appears ahead in the top and wrist cameras. Moving forward toward the board while staying high.\"}",
"name": "move_to"
},
"id": "toolu_012WVa4si1LzC7WPZaVL5Fzk",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_012WVa4si1LzC7WPZaVL5Fzk"
}{
"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, 0.6029, -0.3813, -0.0216, -0.0486, 0.999, 0.0139, 1.9163, 1.124, 0.2432, -0.0692, -0.0135, 0.3049]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.0236 left_roll=-0.0024 left_gripper=0.999 right_x=0.5342 right_y=0.0232 right_z=0.0997 right_yaw=0.0737 right_pitch=0.0071 right_roll=0.0268 right_gripper=0.3049\nstate[joint_eff]: [-0.3487, -1.4427, 7.241, 1.7021, -0.0708, -0.0366, -0.0171, -0.8547, -10.1265, 8.5812, 2.0488, -0.0708, -0.0952, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f7f93e87f51bc20e5112f7600b529efd93fc0b07eb69c66a0695e5a884eac5f0"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c34b49fb2c54447050a5af2df0fef6e67ba3ff9f69f873761981cf6baeb98adb"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d3b8fbef639f78e1153d820ca6f00228eb5a62370644e4225cc5b44a46901b73"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 22.3 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, 0.8089, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0605, 1.7081, 0.9295, 0.2939, -0.0292, 0.0101, 0.3049]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0018 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.999 right_x=0.4897 right_y=0.0384 right_z=0.1294 right_yaw=0.0738 right_pitch=0.0704 right_roll=0.0252 right_gripper=0.3049\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.7021, -0.0269, -0.0513, -0.0171, -0.3897, -10.1128, 8.4991, 1.6581, -0.0611, -0.0806, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_z\": 0.25, \"right_pitch\": 0.5}, \"note\": \"I can't see blue between the fingertips anymore and gripper effort is low, so the grasp may have failed; the blue circle appears to be sitting on the white board in the overhead view. Raising the arm and pitching the wrist down to survey the scene and verify whether the piece is held.\"}",
"name": "move_to"
},
"id": "toolu_01MKYCZM69ZvqkcDtthxazTX",
"type": "function"
}
]
}{
"content": "executing move_to over 17 steps (1.7s)",
"role": "tool",
"tool_call_id": "toolu_01MKYCZM69ZvqkcDtthxazTX"
}{
"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, 0.6029, -0.3801, -0.0216, -0.049, 0.999, 0.0132, 1.214, 0.5682, 0.5251, -0.0799, -0.0044, 0.3049]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0294 left_roll=-0.0026 left_gripper=0.999 right_x=0.404 right_y=0.023 right_z=0.2305 right_yaw=0.0838 right_pitch=0.4347 right_roll=0.0108 right_gripper=0.3049\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.7656, -0.0855, -0.0513, -0.0171, -0.1983, -5.0667, 7.2274, 2.1709, 0.0171, 0.1343, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b33cca21a12722272271978bd6cad1053a7417e38807864ce201b3052260e82e"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:595254918c5e46f4843216cf7022cf5f8bedd0e8197a0b52d0a34b0e85412ad3"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 75):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:de48f422f1a31e5de88f7aa2d70774521767b424ba2dce776555a72b7f54e5ee"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 7.61 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, 0.6029, -0.3813, -0.0216, -0.0486, 0.999, 0.0139, 1.9163, 1.124, 0.2432, -0.0692, -0.0135, 0.3049]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.0236 left_roll=-0.0024 left_gripper=0.999 right_x=0.5342 right_y=0.0232 right_z=0.0997 right_yaw=0.0737 right_pitch=0.0071 right_roll=0.0268 right_gripper=0.3049\nstate[joint_eff]: [-0.3487, -1.4427, 7.241, 1.7021, -0.0708, -0.0366, -0.0171, -0.8547, -10.1265, 8.5812, 2.0488, -0.0708, -0.0952, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.49, \"right_y\": 0.038, \"right_z\": 0.01, \"right_pitch\": 0.05, \"right_gripper\": 1}, \"note\": \"The gripper fingers are empty\\u2014closing only to 0.3 (~3 cm) never squeezed the small knob, so the piece stayed on the table. Returning open-handed to the previous grasp position to retry with a full close.\"}",
"name": "move_to"
},
"id": "toolu_01E92crBhsrPjwPLZVSQ77Nu",
"type": "function"
}
]
}{
"content": "executing move_to over 15 steps (1.5s)",
"role": "tool",
"tool_call_id": "toolu_01E92crBhsrPjwPLZVSQ77Nu"
}{
"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, 0.8219, 0.6029, -0.3813, -0.0216, -0.049, 0.999, 0.054, 2.0407, 0.7696, 0.7406, -0.049, -0.0132, 0.9978]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1715 left_yaw=0.0021 left_pitch=-0.0339 left_roll=-0.0025 left_gripper=0.999 right_x=0.4806 right_y=0.0382 right_z=0.0065 right_yaw=0.0964 right_pitch=0.0252 right_roll=0.0158 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.4154, 7.0496, 1.6972, -0.0366, -0.0708, -0.0073, 0.2393, -9.0462, 5.8598, 2.0586, 0.0464, 0.0366, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:02f9b30107f1082ffcc49f857480d33fc51263122dcf9761439ac90298b4d56f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8bc4518a98a3f54de324dba61e04f4611f98da27accbe8c16345ea30bdf16f15"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 90):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d60bb9481084d1bb5e6658ebabbdec76bd0b5624a6ba27808f90322dae8a5289"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 9.698 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, 0.8185, 0.6029, -0.3801, -0.0216, -0.049, 0.999, 0.0132, 1.214, 0.5682, 0.5251, -0.0799, -0.0044, 0.3049]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0294 left_roll=-0.0026 left_gripper=0.999 right_x=0.404 right_y=0.023 right_z=0.2305 right_yaw=0.0838 right_pitch=0.4347 right_roll=0.0108 right_gripper=0.3049\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.7656, -0.0855, -0.0513, -0.0171, -0.1983, -5.0667, 7.2274, 2.1709, 0.0171, 0.1343, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.495, \"right_y\": 0.038, \"right_z\": -0.008}, \"note\": \"The wrist camera shows the blue piece just below and slightly ahead of the open jaws. Moving forward ~1.5 cm and down to table level so the center knob sits between the fingertips.\"}",
"name": "move_to"
},
"id": "toolu_01LuVQFE6hYhBhWq5yJPHiFX",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01LuVQFE6hYhBhWq5yJPHiFX"
}{
"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, 0.8223, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0547, 2.0857, 0.8085, 0.7715, -0.0467, -0.0208, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1715 left_yaw=0.0019 left_pitch=-0.0339 left_roll=-0.0022 left_gripper=0.999 right_x=0.4928 right_y=0.0389 right_z=0.0054 right_yaw=0.0993 right_pitch=0.05 right_roll=0.0069 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.4017, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171, -0.6359, -7.3641, 4.9846, 1.4383, -0.1148, 0.0269, 0.022]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 92):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:06cf4e43361d5d03be268fc230d127c299d85eeceb5672d8c58a03e1caefc37f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 92):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:366fcbd08e4ded212a3bd9bd48c7b94414a497991ad4c8c2dd785893ea85d3cc"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 92):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:c30dee177648c9a6f4c7be9ffd61388068c79859843a562c8d7e3de11179d651"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 14.64 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, 0.8219, 0.6029, -0.3813, -0.0216, -0.049, 0.999, 0.054, 2.0407, 0.7696, 0.7406, -0.049, -0.0132, 0.9978]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1715 left_yaw=0.0021 left_pitch=-0.0339 left_roll=-0.0025 left_gripper=0.999 right_x=0.4806 right_y=0.0382 right_z=0.0065 right_yaw=0.0964 right_pitch=0.0252 right_roll=0.0158 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.4154, 7.0496, 1.6972, -0.0366, -0.0708, -0.0073, 0.2393, -9.0462, 5.8598, 2.0586, 0.0464, 0.0366, -0.1001]\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\": 0.515, \"right_y\": 0.04, \"right_z\": -0.01}, \"note\": \"The blue piece is at the bottom edge of the wrist view, meaning its center knob is still a couple of centimeters ahead of the fingertips. Advancing ~2 cm forward at table level to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_0194RUqLJJRWAUML49j5btAX",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_0194RUqLJJRWAUML49j5btAX"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8238, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.054, 2.1475, 0.8783, 0.8001, -0.0483, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1711 left_yaw=0.0019 left_pitch=-0.0355 left_roll=-0.0021 left_gripper=0.999 right_x=0.5127 right_y=0.0398 right_z=0.0059 right_yaw=0.106 right_pitch=0.0867 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 7.0496, 1.7118, -0.0757, -0.0708, -0.0171, -0.212, -8.4581, 4.4786, 1.4481, -0.0611, 0.0806, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:83308015ddebefa38b048491cfa33e353655124dbb2decd5bb4d6c1836ac7517"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bdda9d6c4314baf12e2983eb4fd0785102bfd31dfb417205b1c289d257f76bb0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 94):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2b13514020635cbecb1681f0af1a157286e70a07627c7fb758933f31b0581944"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 9.737 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, 0.8223, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.0547, 2.0857, 0.8085, 0.7715, -0.0467, -0.0208, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1715 left_yaw=0.0019 left_pitch=-0.0339 left_roll=-0.0022 left_gripper=0.999 right_x=0.4928 right_y=0.0389 right_z=0.0054 right_yaw=0.0993 right_pitch=0.05 right_roll=0.0069 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.4017, 7.0085, 1.6679, -0.0366, -0.0317, -0.0171, -0.6359, -7.3641, 4.9846, 1.4383, -0.1148, 0.0269, 0.022]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The blue piece has slipped just below the wrist camera's view, which means the knob should now be directly between the fingertips. Closing the gripper fully this time to firmly squeeze the small knob.\"}",
"name": "move_to"
},
"id": "toolu_01N8aeDedpt6GtSKhDS8VWow",
"type": "function"
}
]
}{
"content": "executing move_to over 10 steps (1.0s)",
"role": "tool",
"tool_call_id": "toolu_01N8aeDedpt6GtSKhDS8VWow"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8265, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.054, 2.1628, 0.8879, 0.8253, -0.0536, -0.0353, 0.1959]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0381 left_roll=-0.0024 left_gripper=0.999 right_x=0.5169 right_y=0.041 right_z=0.0073 right_yaw=0.1123 right_pitch=0.1062 right_roll=-0.0057 right_gripper=0.1959\nstate[joint_eff]: [-0.212, -1.6889, 7.0359, 1.7021, -0.0855, -0.0708, -0.0073, -0.0752, -11.5214, 3.7812, 1.536, 0.0171, -0.0269, 1.0183]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5cce6866557beedcacf2c8277d4c366ed363c45b3d18da1fe42a21b503b1b4b8"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b66faad8a58986b76edb4da531e96d4ded276a33f48ceb0964a6c9847715bf65"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 104):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:544a5ea4a90d3ead729b9590497f93ec3b17fa6f7da956a986310b69b90a3d66"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 97.63 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, 0.8238, 0.6029, -0.3809, -0.0216, -0.0486, 0.999, 0.054, 2.1475, 0.8783, 0.8001, -0.0483, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1711 left_yaw=0.0019 left_pitch=-0.0355 left_roll=-0.0021 left_gripper=0.999 right_x=0.5127 right_y=0.0398 right_z=0.0059 right_yaw=0.106 right_pitch=0.0867 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 7.0496, 1.7118, -0.0757, -0.0708, -0.0171, -0.212, -8.4581, 4.4786, 1.4481, -0.0611, 0.0806, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.1}, \"note\": \"The gripper closed to ~2 cm with rising effort, suggesting it caught the knob this time. Lifting to verify the blue piece comes up with the gripper.\"}",
"name": "move_to"
},
"id": "toolu_011GREishgDDN1jchFbXECCa",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_011GREishgDDN1jchFbXECCa"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8288, 0.6029, -0.3805, -0.0216, -0.0486, 0.999, 0.054, 1.9266, 0.926, 0.5259, -0.0574, -0.0383, 0.1959]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1698 left_yaw=0.0019 left_pitch=-0.04 left_roll=-0.002 left_gripper=0.999 right_x=0.5126 right_y=0.0414 right_z=0.0731 right_yaw=0.117 right_pitch=0.0812 right_roll=-0.0052 right_gripper=0.1959\nstate[joint_eff]: [-0.0889, -1.0598, 7.1726, 1.6825, -0.0806, -0.0562, -0.0171, -0.2393, -12.2872, 8.335, 1.7851, -0.0317, 0.0024, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 110):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8b9cbe5d2dd0adcada64703576101c58164b0eeb4cf051b163fe8656d5536565"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 110):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:737493ebf0234757e005759ca7fa3fc9cb60a1564b1b18802f78cb7941c45207"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 110):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8f0db7a1014e084ab45c711045ccc1bcc2b3b7d26ccb1d2c033060bf5a71cb28"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 22.17 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, 0.8265, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.054, 2.1628, 0.8879, 0.8253, -0.0536, -0.0353, 0.1959]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0381 left_roll=-0.0024 left_gripper=0.999 right_x=0.5169 right_y=0.041 right_z=0.0073 right_yaw=0.1123 right_pitch=0.1062 right_roll=-0.0057 right_gripper=0.1959\nstate[joint_eff]: [-0.212, -1.6889, 7.0359, 1.7021, -0.0855, -0.0708, -0.0073, -0.0752, -11.5214, 3.7812, 1.536, 0.0171, -0.0269, 1.0183]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.18, \"right_z\": 0.12, \"right_pitch\": 0.35}, \"note\": \"The gripper is stalled at ~2 cm with sustained squeezing effort, so I believe the knob is held; the white board with the blue circular groove sits to the arm's left in the top camera. Traversing left over the board and pitching the wrist down to line up the drop.\"}",
"name": "move_to"
},
"id": "toolu_01C5bvu85Ud1sLihdrHW5Ena",
"type": "function"
}
]
}{
"content": "executing move_to over 12 steps (1.2s)",
"role": "tool",
"tool_call_id": "toolu_01C5bvu85Ud1sLihdrHW5Ena"
}{
"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, 0.8322, 0.6029, -0.3809, -0.0216, -0.049, 0.999, 0.4286, 1.9656, 0.8894, 0.7853, 0.2668, 0.0448, 0.1957]\nstate[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.1688 left_yaw=0.0021 left_pitch=-0.0438 left_roll=-0.0023 left_gripper=0.999 right_x=0.492 right_y=0.1775 right_z=0.0998 right_yaw=0.1628 right_pitch=0.2747 right_roll=-0.03 right_gripper=0.1957\nstate[joint_eff]: [-0.3214, -1.5521, 7.241, 1.7314, -0.0855, -0.0757, -0.0073, 0.4171, -9.0598, 8.0889, 2.1758, 0.2271, 0.1197, 0.9206]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a68677f490484d273e51810563d183001c50bd4e567ef7b7c939dc72b56c2374"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5659066fe2d3722e5f98b4baa2e8be08898ebb954236ddf765a129922eeb4804"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 122):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f4cbc0625077fb6f42411d82e542acd734e02c0a3c46cec45f2787592eb5218c"
},
"type": "image_url"
}
],
"role": "user"
}