- 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
- 1031 s
- total steps
- 82
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 5
Raw transcript
step 9
Raw transcript
step 16
Raw transcript
step 18
Raw transcript
step 24
Raw transcript
step 26
Raw transcript
step 28
Raw transcript
step 30
Raw transcript
step 33
Raw transcript
step 36
Raw transcript
step 40
Raw transcript
step 44
Raw transcript
step 46
Raw transcript
step 48
Raw transcript
step 50
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step 52
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step 58
Raw transcript
step 63
Raw transcript
step 71
Raw transcript
step 81
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 · 12.62 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, 0.7921, 0.6044, -0.3775, -0.0216, -0.038, 0.9995, -0.0162, 0.7906, 0.6086, -0.3763, -0.0216, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2956 right_y=0.0026 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.347, 10.3316, 1.8339, -0.0611, 0.1734, -0.0659, -0.8547, -1.1145, 9.9077, 1.7851, -0.0708, -0.0513, -0.105]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2bd0b611dd0a175a84c6d6aad0eaef7a98302ba8a940d7c6d93682a6c5f1bf90"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cea64a2204455098b560d30a9b87a60ce9a5e8cb20d158fa3d579e03bb8f1e0b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 0):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f1258ec147ad1d58eaceb6fad021989d0152a4b56c8c3496762bca87bddcda1a"
},
"type": "image_url"
}
],
"role": "user"
}call 1 attempt 0 · /chat/completions · status 200 · 10.12 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.05, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see a blue round puzzle piece with a knob to the right of a board with a circular groove. Moving the right arm forward and down as a probe so I can see where the gripper appears in the cameras and calibrate positions.\"}",
"name": "move_to"
},
"id": "toolu_01XERvDaiG7gGvuVcdAK1HN2",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01XERvDaiG7gGvuVcdAK1HN2"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6056, -0.3805, -0.0216, -0.0414, 0.9995, 0.205, 1.1435, 0.5056, -0.0475, 0.1272, 0.0765, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1794 left_yaw=0.0018 left_pitch=-0.008 left_roll=-0.0027 left_gripper=0.9995 right_x=0.33 right_y=0.0494 right_z=0.0995 right_yaw=0.0465 right_pitch=-0.1205 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4427, 6.9538, 1.7558, -0.0806, 0.022, -0.0171, 0.253, -4.2051, 6.5436, 1.9805, 0.2906, 0.2076, -0.1099]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f70296aee203126855464bc4750fbf9040bb46d6ddec29a277476da6d7addc84"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:bb467ebe685203c128f64666e776e284dc20b16327cab49ae3f8d53cb0256ca1"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 5):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:5d87646a6f93de636df425285bb1955acd8c81ff804b7ef9b9be37937d9537ca"
},
"type": "image_url"
}
],
"role": "user"
}call 2 attempt 0 · /chat/completions · status 200 · 15.06 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, 0.7921, 0.6044, -0.3775, -0.0216, -0.038, 0.9995, -0.0162, 0.7906, 0.6086, -0.3763, -0.0216, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2956 right_y=0.0026 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.347, 10.3316, 1.8339, -0.0611, 0.1734, -0.0659, -0.8547, -1.1145, 9.9077, 1.7851, -0.0708, -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\": 0.33, \"right_y\": 0.05, \"right_z\": 0.045}, \"note\": \"The right gripper appears in the top camera right over the blue piece area. Lowering to just above the knob height to check alignment before grasping.\"}",
"name": "move_to"
},
"id": "toolu_015pxJFpFGH4ch6k7VdV5S3y",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_015pxJFpFGH4ch6k7VdV5S3y"
}{
"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, 0.6048, -0.3798, -0.0216, -0.0414, 0.9994, 0.2096, 1.3094, 0.3611, 0.1783, 0.1326, 0.0811, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1787 left_yaw=0.0018 left_pitch=-0.0099 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3166 right_y=0.0471 right_z=0.0324 right_yaw=0.0418 right_pitch=-0.2035 right_roll=-0.0364 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4017, 7.0906, 1.7558, -0.0806, -0.0317, -0.0171, -0.3624, -4.8752, 6.4068, 2.2589, 0.0171, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:dca461f02d2e075bb93f6e0f2a8e7606a89ce1cc5cdf380d3afb2bd5be2285a3"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9260c6e40c10372f79086a707e7d579cf833eda341ebaf13dcf13c92c6d27ce0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 9):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ec9cd8ad08623ea0fb2369d7fdac26968c943c3f825ecd4d61a48c0955d2a0b2"
},
"type": "image_url"
}
],
"role": "user"
}call 3 attempt 0 · /chat/completions · status 200 · 11.2 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 5 changed as sent
message 5 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6056, -0.3805, -0.0216, -0.0414, 0.9995, 0.205, 1.1435, 0.5056, -0.0475, 0.1272, 0.0765, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1794 left_yaw=0.0018 left_pitch=-0.008 left_roll=-0.0027 left_gripper=0.9995 right_x=0.33 right_y=0.0494 right_z=0.0995 right_yaw=0.0465 right_pitch=-0.1205 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4427, 6.9538, 1.7558, -0.0806, 0.022, -0.0171, 0.253, -4.2051, 6.5436, 1.9805, 0.2906, 0.2076, -0.1099]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.32, \"right_y\": 0.05, \"right_z\": 0.02, \"right_pitch\": 0}, \"note\": \"The wrist camera shows the blue piece with its knob slightly up-left of center between the finger shadows. Lowering further toward grasp height and re-leveling the pitch to see the offset clearly.\"}",
"name": "move_to"
},
"id": "toolu_01AjvE9BVyeJTTtB4jkB7ty8",
"type": "function"
}
]
}{
"content": "executing move_to over 7 steps (0.7s)",
"role": "tool",
"tool_call_id": "toolu_01AjvE9BVyeJTTtB4jkB7ty8"
}{
"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, 0.6048, -0.3801, -0.0216, -0.0414, 0.9994, 0.21, 1.3281, 0.3454, 0.2474, 0.1299, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1785 left_yaw=0.0018 left_pitch=-0.0107 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3213 right_y=0.0487 right_z=0.0334 right_yaw=0.0493 right_pitch=-0.1696 right_roll=-0.0339 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.2786, 7.0632, 1.7558, -0.0708, -0.0415, -0.0122, -0.3897, -4.547, 6.2701, 1.917, 0.0122, 0.0171, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:7e0e78d53c7a265054e4fe202c07e99fe4c5ec9c35acd9b732042146e78ae390"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:b494bf7148aa79e2665ef7e27287a95a2f2362f2af664638ef624b2624760342"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 16):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:3c99a493cd8d4666c14940acdbe1ccf44bb726ab97ea6365b473b6609edc330f"
},
"type": "image_url"
}
],
"role": "user"
}call 4 attempt 0 · /chat/completions · status 200 · 10.4 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, 0.6048, -0.3798, -0.0216, -0.0414, 0.9994, 0.2096, 1.3094, 0.3611, 0.1783, 0.1326, 0.0811, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1787 left_yaw=0.0018 left_pitch=-0.0099 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3166 right_y=0.0471 right_z=0.0324 right_yaw=0.0418 right_pitch=-0.2035 right_roll=-0.0364 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4017, 7.0906, 1.7558, -0.0806, -0.0317, -0.0171, -0.3624, -4.8752, 6.4068, 2.2589, 0.0171, -0.0757, -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\": 0.33, \"right_y\": 0.055, \"right_z\": 0.005}, \"note\": \"The wrist camera shows the knob slightly above and left of image center between the fingers. Nudging forward/left slightly and descending to grasp height around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01WfBQuhqHmEibM2LKik2qJD",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01WfBQuhqHmEibM2LKik2qJD"
}{
"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, 0.6048, -0.3801, -0.0216, -0.0418, 0.9994, 0.21, 1.3281, 0.3454, 0.2474, 0.1299, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1785 left_yaw=0.002 left_pitch=-0.0107 left_roll=-0.003 left_gripper=0.9994 right_x=0.3213 right_y=0.0487 right_z=0.0334 right_yaw=0.0493 right_pitch=-0.1696 right_roll=-0.0339 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.1863, 1.746, -0.0806, -0.0562, -0.0122, -0.4718, -4.3145, 6.4342, 1.9707, -0.0024, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8b9f4070bbe59ee8570d6fc814dcdd9a672e569649518c376f2cc8f8f73156cb"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8fd848ba6b985c1423602255ef8cd9d1d218ad75107e8fa52c275e7409cebf5e"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 18):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a387f8ca714c98f2f194e923c8c5e71e81086a47203615f4cd6447af71261ed2"
},
"type": "image_url"
}
],
"role": "user"
}call 5 attempt 0 · /chat/completions · status 200 · 15.89 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, 0.6048, -0.3801, -0.0216, -0.0414, 0.9994, 0.21, 1.3281, 0.3454, 0.2474, 0.1299, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1785 left_yaw=0.0018 left_pitch=-0.0107 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3213 right_y=0.0487 right_z=0.0334 right_yaw=0.0493 right_pitch=-0.1696 right_roll=-0.0339 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.2786, 7.0632, 1.7558, -0.0708, -0.0415, -0.0122, -0.3897, -4.547, 6.2701, 1.917, 0.0122, 0.0171, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.055, \"right_z\": 0.01, \"right_pitch\": 0, \"right_yaw\": 0}, \"note\": \"The arm barely moved last step (deltas clamped) and still sits at z\\u22480.033 with the knob between the fingers in the wrist view. Commanding the descent again toward grasp height, leveling pitch and yaw.\"}",
"name": "move_to"
},
"id": "toolu_01RQfQF8KzVuSMzBQTa4L2zU",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_01RQfQF8KzVuSMzBQTa4L2zU"
}{
"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, 0.8055, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2779, 1.6009, 0.2161, 0.7277, 0.2108, 0.1101, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1771 left_yaw=0.002 left_pitch=-0.016 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3213 right_y=0.057 right_z=-0.002 right_yaw=0.0315 right_pitch=-0.0821 right_roll=-0.0412 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.6889, 7.0359, 1.7021, -0.0513, -0.0611, -0.0122, 0.6085, -4.3556, 3.3026, 1.3211, 0.315, 0.0366, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ed07b0a42c91014e2864bfd419e95b0d09f271ac18944de5628b6b00d8579a36"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a85608efd1828377645d7b060e9334c4a4671ef451e621f8b86e6c589826f6c8"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 24):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2d670213222f888deedc06ace84a4ed60112648ca2d1fd1990ff9a8494963b6a"
},
"type": "image_url"
}
],
"role": "user"
}call 6 attempt 0 · /chat/completions · status 200 · 6.828 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, 0.6048, -0.3801, -0.0216, -0.0418, 0.9994, 0.21, 1.3281, 0.3454, 0.2474, 0.1299, 0.0742, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1785 left_yaw=0.002 left_pitch=-0.0107 left_roll=-0.003 left_gripper=0.9994 right_x=0.3213 right_y=0.0487 right_z=0.0334 right_yaw=0.0493 right_pitch=-0.1696 right_roll=-0.0339 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.2923, 7.1863, 1.746, -0.0806, -0.0562, -0.0122, -0.4718, -4.3145, 6.4342, 1.9707, -0.0024, -0.0171, -0.0171]\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\": 0.345, \"right_y\": 0.06, \"right_z\": -0.005}, \"note\": \"Gripper is at table height but the wrist view shows the knob ahead of the fingertips, slightly up-left of image center. Moving forward ~2.5 cm and a touch left to center the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_0182pSqgHbhtquaE5gUquMVK",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_0182pSqgHbhtquaE5gUquMVK"
}{
"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, 0.6048, -0.3805, -0.0212, -0.0418, 0.9994, 0.2707, 1.6737, 0.2543, 0.7891, 0.2146, 0.1066, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1769 left_yaw=0.0017 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3363 right_y=0.058 right_z=-0.0014 right_yaw=0.0233 right_pitch=-0.0557 right_roll=-0.0397 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.2786, 7.0359, 1.6972, -0.0366, -0.0659, -0.0122, -0.4581, -5.6547, 5.053, 1.0965, 0.1441, -0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:78ed0a130858c5397e7e64d53fe3ab9a11a757222fc63d5ad81c6c933bb15c7a"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1da3a03f250b14f36bd90e315e31536f1bc06dbdec64c90ff82970d8b7638476"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 26):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:1a2d5094f65bad14bb46aec0d7aa109b4df43b4e1f740f72a4eb478fe94ba4d3"
},
"type": "image_url"
}
],
"role": "user"
}call 7 attempt 0 · /chat/completions · status 200 · 6.159 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, 0.8055, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2779, 1.6009, 0.2161, 0.7277, 0.2108, 0.1101, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1771 left_yaw=0.002 left_pitch=-0.016 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3213 right_y=0.057 right_z=-0.002 right_yaw=0.0315 right_pitch=-0.0821 right_roll=-0.0412 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.6889, 7.0359, 1.7021, -0.0513, -0.0611, -0.0122, 0.6085, -4.3556, 3.3026, 1.3211, 0.315, 0.0366, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.06, \"right_z\": -0.008}, \"note\": \"Knob is still ahead of the fingertips in the wrist view. Advancing another ~2.5 cm forward at grasp height so the knob sits between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01Mqbi32kBRuJNE3e7iJHnUD",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Mqbi32kBRuJNE3e7iJHnUD"
}{
"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, 0.6048, -0.3801, -0.0216, -0.0418, 0.9994, 0.2676, 1.71, 0.297, 0.786, 0.1982, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1762 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3473 right_y=0.0629 right_z=-0.0016 right_yaw=0.0373 right_pitch=-0.0548 right_roll=-0.0345 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3744, 7.0496, 1.707, -0.0562, -0.0562, -0.0073, -0.8547, -4.1641, 3.6991, 1.4969, 0.0708, -0.0269, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e486386fcf90fdbb008da0afbd429ff3e1e076e2ff9c1748650449a03784ff3f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:08230ef5e944451be7e1953e7f9e3b288f5998250a6fd7cc4e599ad1f38e749b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 28):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:56ae909c96fef4b40ecbe97a96622400044ca326f9030e749e1399a6afd00e8e"
},
"type": "image_url"
}
],
"role": "user"
}call 8 attempt 0 · /chat/completions · status 200 · 7.697 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, 0.8062, 0.6048, -0.3805, -0.0212, -0.0418, 0.9994, 0.2707, 1.6737, 0.2543, 0.7891, 0.2146, 0.1066, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1769 left_yaw=0.0017 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3363 right_y=0.058 right_z=-0.0014 right_yaw=0.0233 right_pitch=-0.0557 right_roll=-0.0397 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.2786, 7.0359, 1.6972, -0.0366, -0.0659, -0.0122, -0.4581, -5.6547, 5.053, 1.0965, 0.1441, -0.1734, -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\": 0.365, \"right_y\": 0.06, \"right_z\": -0.01}, \"note\": \"The top camera shows the fingertips at the near edge of the blue piece; the knob is still ~2 cm ahead in the wrist view. Advancing forward slightly at grasp height.\"}",
"name": "move_to"
},
"id": "toolu_01QBBjyawrYvoUDQbD4uz4ft",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01QBBjyawrYvoUDQbD4uz4ft"
}{
"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, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.268, 1.7199, 0.297, 0.8032, 0.1982, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3485 right_y=0.0633 right_z=-0.0015 right_yaw=0.0378 right_pitch=-0.0477 right_roll=-0.0328 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 7.0632, 1.7021, -0.0659, -0.0562, -0.0073, -0.841, -4.6154, 3.6444, 1.6679, 0.1001, -0.0317, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2e0d470049ffb8b68526b99595cbf218327cb42384bdd3edc506f90e3845af48"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:57d36e14bc763f2e2a526f1bbfd45baaa032f4776efe552b4a1f030be8c73869"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 30):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2b526fea42f36f12d38f7f8c634f2f84548cd5160edcdba8eb95121386016865"
},
"type": "image_url"
}
],
"role": "user"
}call 9 attempt 0 · /chat/completions · status 200 · 7.771 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 23 changed as sent
message 23 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6048, -0.3801, -0.0216, -0.0418, 0.9994, 0.2676, 1.71, 0.297, 0.786, 0.1982, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1762 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3473 right_y=0.0629 right_z=-0.0016 right_yaw=0.0373 right_pitch=-0.0548 right_roll=-0.0345 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3744, 7.0496, 1.707, -0.0562, -0.0562, -0.0073, -0.8547, -4.1641, 3.6991, 1.4969, 0.0708, -0.0269, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.068, \"right_z\": -0.012}, \"note\": \"The arm is only tracking small deltas and the knob is still ahead and slightly left of the fingertips in the wrist view. Commanding a larger forward/left target to bring the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_01VchKgiu2wbsL9rhN1Hb4o3",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01VchKgiu2wbsL9rhN1Hb4o3"
}{
"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, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2676, 1.7199, 0.297, 0.8036, 0.1982, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3486 right_y=0.0632 right_z=-0.0015 right_yaw=0.0372 right_pitch=-0.0473 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.347, 7.0359, 1.7656, -0.0366, -0.0757, -0.0122, -0.6769, -4.6427, 3.6444, 1.7656, 0.0757, -0.022, -0.0073]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a51593db77f6bec515d33a5225830cb30f9c91f28cd81a28f2ff874e8ae0ed81"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f48e7ddc760ba2307602ec95bbf88ead1cce853707c0f79d8d7e43d4f1809756"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 33):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cbc761dee58fcd87ec958074c076612ab67eb4709e2262fb00769b5f900eeef9"
},
"type": "image_url"
}
],
"role": "user"
}call 10 attempt 0 · /chat/completions · status 200 · 8.341 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, 0.8089, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.268, 1.7199, 0.297, 0.8032, 0.1982, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3485 right_y=0.0633 right_z=-0.0015 right_yaw=0.0378 right_pitch=-0.0477 right_roll=-0.0328 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.347, 7.0632, 1.7021, -0.0659, -0.0562, -0.0073, -0.841, -4.6154, 3.6444, 1.6679, 0.1001, -0.0317, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.015, \"right_x\": 0.385, \"right_y\": 0.068}, \"note\": \"The arm did not move at all last command \\u2014 the fingertips may be dragging on the table, blocking forward motion. Raising slightly to z=0.015 while advancing forward so the jaws clear the table and get over the knob.\"}",
"name": "move_to"
},
"id": "toolu_01NdHvZqHTE8XWqbV8NwZvJn",
"type": "function"
}
]
}{
"content": "executing move_to over 3 steps (0.3s)",
"role": "tool",
"tool_call_id": "toolu_01NdHvZqHTE8XWqbV8NwZvJn"
}{
"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, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2676, 1.7199, 0.297, 0.8036, 0.1986, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3486 right_y=0.0632 right_z=-0.0015 right_yaw=0.0371 right_pitch=-0.0473 right_roll=-0.0329 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.306, 7.0222, 1.7363, -0.0562, -0.0611, -0.0122, -0.9641, -4.8205, 3.6444, 1.6825, 0.1245, -0.0269, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8946704e72d600b6943c995d66ad23910a5c8932f9edcdae2493c1580b543d2f"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:0eed9fb1813f30b1a2aaad913029318d2c15fce2fa49e6df50bb06f6d41e96b6"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 36):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:01b0e3df01a012b6347c6240bcd411bf6870155dec9fdc3b197cff82a4661d02"
},
"type": "image_url"
}
],
"role": "user"
}call 11 attempt 0 · /chat/completions · status 200 · 10.09 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, 0.8089, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2676, 1.7199, 0.297, 0.8036, 0.1982, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3486 right_y=0.0632 right_z=-0.0015 right_yaw=0.0372 right_pitch=-0.0473 right_roll=-0.0324 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.347, 7.0359, 1.7656, -0.0366, -0.0757, -0.0122, -0.6769, -4.6427, 3.6444, 1.7656, 0.0757, -0.022, -0.0073]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_z\": 0.06}, \"note\": \"The arm is completely stuck at x\\u22480.349 \\u2014 likely an awkward IK pose near the table. Lifting straight up to z=0.06 to free it before re-approaching the knob from above.\"}",
"name": "move_to"
},
"id": "toolu_01TwjRiGbDmnc8iYEqp5fzM8",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01TwjRiGbDmnc8iYEqp5fzM8"
}{
"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, 0.8124, 0.6048, -0.3794, -0.0212, -0.0418, 0.9994, 0.268, 1.4609, 0.3557, 0.561, 0.1894, 0.0971, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1754 left_yaw=0.0017 left_pitch=-0.0217 left_roll=-0.003 left_gripper=0.9994 right_x=0.3581 right_y=0.0676 right_z=0.0565 right_yaw=0.0472 right_pitch=0.0248 right_roll=-0.0141 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.4701, 7.1863, 1.7851, -0.0806, -0.0513, -0.0122, -0.253, -4.3145, 6.9949, 1.6777, 0.2125, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:80763517179cba68006a12a8d4f2dbccb19a580262ccd8cac04953949d61c0c1"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:47f0defa62a0c1b1bc8dc6958a6fc6135514a5f10489d766bf14d49e521c2bd0"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 40):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9c43fc51acbc6d38811ac2754db71d6b37c5d97fc4a1c5094634f357c70e028e"
},
"type": "image_url"
}
],
"role": "user"
}call 12 attempt 0 · /chat/completions · status 200 · 5.491 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, 0.8089, 0.6048, -0.3805, -0.0216, -0.0418, 0.9994, 0.2676, 1.7199, 0.297, 0.8036, 0.1986, 0.1005, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1761 left_yaw=0.002 left_pitch=-0.0194 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3486 right_y=0.0632 right_z=-0.0015 right_yaw=0.0371 right_pitch=-0.0473 right_roll=-0.0329 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.306, 7.0222, 1.7363, -0.0562, -0.0611, -0.0122, -0.9641, -4.8205, 3.6444, 1.6825, 0.1245, -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\": 0.372, \"right_y\": 0.068, \"right_z\": 0.0}, \"note\": \"The lift freed the arm and the wrist camera now shows the knob nearly centered between the jaws, slightly ahead. Descending to table level a touch forward to place the jaws around the knob.\"}",
"name": "move_to"
},
"id": "toolu_01QkPoJFPo5dKVVgRofZCBaZ",
"type": "function"
}
]
}{
"content": "executing move_to over 4 steps (0.4s)",
"role": "tool",
"tool_call_id": "toolu_01QkPoJFPo5dKVVgRofZCBaZ"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8173, 0.6044, -0.3813, -0.0212, -0.0418, 0.9994, 0.2592, 1.7981, 0.3458, 0.8658, 0.1802, 0.0906, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.029 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3661 right_y=0.068 right_z=-0.0018 right_yaw=0.0496 right_pitch=-0.0176 right_roll=-0.0239 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.7436, 7.0632, 1.7167, -0.0317, -0.0513, -0.0122, -0.6496, -5.053, 3.5077, 0.9499, -0.0073, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d1d4d2d3bf6bdcb9e29d594c2d714b7a2fd115700d17ed7592983d2bd44befbc"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:4c9b4e7692a732f68209fd95b6d868a109c1f832f61e05fa993c1239cd251d87"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 44):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:9fe54f65da7fdbf948e29a13440f3c6f36038c6e6d22618f902e10e27849b39e"
},
"type": "image_url"
}
],
"role": "user"
}call 13 attempt 0 · /chat/completions · status 200 · 5.546 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, 0.8124, 0.6048, -0.3794, -0.0212, -0.0418, 0.9994, 0.268, 1.4609, 0.3557, 0.561, 0.1894, 0.0971, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1754 left_yaw=0.0017 left_pitch=-0.0217 left_roll=-0.003 left_gripper=0.9994 right_x=0.3581 right_y=0.0676 right_z=0.0565 right_yaw=0.0472 right_pitch=0.0248 right_roll=-0.0141 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.4701, 7.1863, 1.7851, -0.0806, -0.0513, -0.0122, -0.253, -4.3145, 6.9949, 1.6777, 0.2125, 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\": 0.39, \"right_y\": 0.07, \"right_z\": -0.005}, \"note\": \"The wrist view shows the knob still a couple of centimeters ahead of the fingertips, roughly centered laterally. Advancing forward at table height to bracket the knob between the jaws.\"}",
"name": "move_to"
},
"id": "toolu_016NXvueLA3dvUkqh9DShhzV",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_016NXvueLA3dvUkqh9DShhzV"
}{
"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, 0.8181, 0.6044, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3683, 0.9092, 0.1753, 0.0788, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1734 left_yaw=0.0021 left_pitch=-0.029 left_roll=-0.0026 left_gripper=0.9994 right_x=0.3755 right_y=0.0704 right_z=-0.0004 right_yaw=0.0574 right_pitch=0.0079 right_roll=-0.0258 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4838, 7.0359, 1.6728, -0.0269, -0.0317, -0.0073, -0.7453, -6.2154, 4.6838, 1.7314, 0.0464, 0.0513, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e62c0d44fb9520dd282a6efdeabb00d0a950c40c9d864836b2436e84ee4190a7"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e204f011cb5c121c6bed6bb07cabe470d41b0383031f030f9946363225afe5a9"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 46):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:fed21f4e610c237cbc8c4b4707a386d77ef6071c00a0679328ada1f0c271a978"
},
"type": "image_url"
}
],
"role": "user"
}call 14 attempt 0 · /chat/completions · status 200 · 6.919 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, 0.8173, 0.6044, -0.3813, -0.0212, -0.0418, 0.9994, 0.2592, 1.7981, 0.3458, 0.8658, 0.1802, 0.0906, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.029 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3661 right_y=0.068 right_z=-0.0018 right_yaw=0.0496 right_pitch=-0.0176 right_roll=-0.0239 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.7436, 7.0632, 1.7167, -0.0317, -0.0513, -0.0122, -0.6496, -5.053, 3.5077, 0.9499, -0.0073, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.392, \"right_y\": 0.072, \"right_z\": -0.008}, \"note\": \"The knob is now just ahead of the fingertips and centered. One more small advance at table height, then I'll close the gripper.\"}",
"name": "move_to"
},
"id": "toolu_01SmLLzoYUQv83YHxy3j6D2c",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01SmLLzoYUQv83YHxy3j6D2c"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3832, 0.8864, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0313 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3778 right_y=0.0717 right_z=-0.0008 right_yaw=0.0608 right_pitch=-0.0003 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5932, 7.1179, 1.7314, -0.0806, -0.0269, -0.0122, -0.7453, -6.7761, 4.2872, 1.5067, -0.0024, 0.0415, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:053fc683d38e5776f7d31ef6bdff9875ff59edc458846fcb9aaeb3be6f895285"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:f145a135f5afee801a759d90b0967f561a20877bb816c1ed410f460a6aa4cea2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 48):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:eb1a2f1f5121cb55bcd4ede8d1aa13de98e6123d15e4a9a70b07b4a09fd59ad4"
},
"type": "image_url"
}
],
"role": "user"
}call 15 attempt 0 · /chat/completions · status 200 · 38.47 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, 0.8181, 0.6044, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3683, 0.9092, 0.1753, 0.0788, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1734 left_yaw=0.0021 left_pitch=-0.029 left_roll=-0.0026 left_gripper=0.9994 right_x=0.3755 right_y=0.0704 right_z=-0.0004 right_yaw=0.0574 right_pitch=0.0079 right_roll=-0.0258 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4838, 7.0359, 1.6728, -0.0269, -0.0317, -0.0073, -0.7453, -6.2154, 4.6838, 1.7314, 0.0464, 0.0513, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.073, \"right_z\": -0.01}, \"note\": \"The knob sits just past the fingertips in the wrist view; the arm advances slowly per command. Pushing forward ~2 cm more so the jaws surround the knob before closing.\"}",
"name": "move_to"
},
"id": "toolu_01CFhK7Nj5G2SCpq1r5jG5kR",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01CFhK7Nj5G2SCpq1r5jG5kR"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6041, -0.3805, -0.0216, -0.0422, 0.9994, 0.2565, 1.8374, 0.3832, 0.8864, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0023 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3778 right_y=0.0717 right_z=-0.0008 right_yaw=0.0608 right_pitch=-0.0003 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.306, 7.0222, 1.7265, -0.0317, -0.0659, -0.0073, -0.8684, -6.7761, 4.2598, 1.4872, 0.0171, 0.0317, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:53a05d4ff81343c142ea42099c2e470c290b7867a41157ada356cddfe67b5134"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:028ccf0fd64d12c75b24e5688029bd282864fa91a2cdb1921d313ea465c5dbf2"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 50):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ef31358fe5953411a6d0c0f0fbfd7a909154f977bc058e7dfa1cd8a3d6ea2749"
},
"type": "image_url"
}
],
"role": "user"
}call 16 attempt 0 · /chat/completions · status 200 · 10.05 s
- model
- claude-fable-5
- effort
- medium
- temperature
- n/a
- tool count
- 3
message 44 changed as sent
message 44 current as-sent form
{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3832, 0.8864, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0313 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3778 right_y=0.0717 right_z=-0.0008 right_yaw=0.0608 right_pitch=-0.0003 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5932, 7.1179, 1.7314, -0.0806, -0.0269, -0.0122, -0.7453, -6.7761, 4.2872, 1.5067, -0.0024, 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\": 0.402, \"right_y\": 0.074, \"right_z\": 0.028}, \"note\": \"The arm stalled again at table height with the knob just ahead \\u2014 dragging on the table blocks forward motion. Lifting to ~3 cm while advancing so I can come down directly on top of the knob.\"}",
"name": "move_to"
},
"id": "toolu_01Uhuwo1F2GwWzWeQgpnfLVh",
"type": "function"
}
]
}{
"content": "executing move_to over 2 steps (0.2s)",
"role": "tool",
"tool_call_id": "toolu_01Uhuwo1F2GwWzWeQgpnfLVh"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3832, 0.886, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0313 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3778 right_y=0.0716 right_z=-0.0009 right_yaw=0.0608 right_pitch=-0.0007 right_roll=-0.0258 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4017, 7.0222, 1.6874, -0.0562, -0.022, -0.0073, -0.7453, -6.7761, 4.2462, 1.4481, 0.0073, 0.0122, -0.0171]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:d267f26305860a7593f5313e817fa2b641566a8f62e892338373987120d42ed5"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:33171a07938f7d55e5bfdf640153a49ae9ea0ebf1f66b18040cc37a5cd86b1ed"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 52):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:ee03452c208c5b1729b4409636debe8a23eaecdd4513b6e549293ea5f7c215f9"
},
"type": "image_url"
}
],
"role": "user"
}call 17 attempt 0 · /chat/completions · status 200 · 14.67 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, 0.82, 0.6041, -0.3805, -0.0216, -0.0422, 0.9994, 0.2565, 1.8374, 0.3832, 0.8864, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0023 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3778 right_y=0.0717 right_z=-0.0008 right_yaw=0.0608 right_pitch=-0.0003 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.306, 7.0222, 1.7265, -0.0317, -0.0659, -0.0073, -0.8684, -6.7761, 4.2598, 1.4872, 0.0171, 0.0317, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.37, \"right_y\": 0.07, \"right_z\": 0.09}, \"note\": \"The arm is not responding to small forward/up targets \\u2014 likely stuck against the piece or in a bad IK pose. Commanding a clear retreat upward to z=0.09 to reset before a vertical approach onto the knob.\"}",
"name": "move_to"
},
"id": "toolu_011hg8TPkGzrWVV72T4e9C3z",
"type": "function"
}
]
}{
"content": "executing move_to over 6 steps (0.6s)",
"role": "tool",
"tool_call_id": "toolu_011hg8TPkGzrWVV72T4e9C3z"
}{
"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, 0.823, 0.6041, -0.3798, -0.0216, -0.0418, 0.9994, 0.2569, 1.5429, 0.4538, 0.6079, 0.1589, 0.0734, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.172 left_yaw=0.0021 left_pitch=-0.0335 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3894 right_y=0.0771 right_z=0.0736 right_yaw=0.0738 right_pitch=0.0835 right_roll=-0.0075 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.4017, 7.2137, 1.7802, -0.0757, -0.0611, -0.0073, 0.1299, -5.6684, 7.2684, 1.8437, 0.3053, 0.0317, -0.0122]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8509f1e08af3a0a3105002342db15397fc788323dc500de67ff90fddb62517a4"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:559c23f52d71b78dcecf910ae9771c3b4aee3f6ba6bb237ca278352caddbd0bc"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 58):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:63b9e032546ec78e3ac8b02662750f1253826fb83d20e24b9e9fead7483ebc4a"
},
"type": "image_url"
}
],
"role": "user"
}call 18 attempt 0 · /chat/completions · status 200 · 7.988 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, 0.82, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.2565, 1.8374, 0.3832, 0.886, 0.1715, 0.0784, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0021 left_pitch=-0.0313 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3778 right_y=0.0716 right_z=-0.0009 right_yaw=0.0608 right_pitch=-0.0007 right_roll=-0.0258 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.4017, 7.0222, 1.6874, -0.0562, -0.022, -0.0073, -0.7453, -6.7761, 4.2462, 1.4481, 0.0073, 0.0122, -0.0171]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.397, \"right_y\": 0.075, \"right_z\": 0.0}, \"note\": \"From above, the knob now sits centered between the two jaws in the wrist camera. Descending straight down to table level so the jaws surround the knob, then I will close.\"}",
"name": "move_to"
},
"id": "toolu_01GowyDuNe9Aas71WLwrJ7Ba",
"type": "function"
}
]
}{
"content": "executing move_to over 5 steps (0.5s)",
"role": "tool",
"tool_call_id": "toolu_01GowyDuNe9Aas71WLwrJ7Ba"
}{
"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, 0.828, 0.6037, -0.3813, -0.0216, -0.0422, 0.9995, 0.2474, 1.9114, 0.4107, 0.9798, 0.1535, 0.0616, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1702 left_yaw=0.0023 left_pitch=-0.0404 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3912 right_y=0.0746 right_z=-0.0009 right_yaw=0.0755 right_pitch=0.044 right_roll=-0.0224 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7026, 7.0496, 1.7118, -0.0073, -0.0708, -0.0073, -0.3077, -5.6274, 3.6718, 0.9402, -0.0952, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
"type": "text"
},
{
"text": "camera 'top_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:2cd6d35c2229494111d4b86c225fc8773c4a2d814e91d551e81814617baf11aa"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:a8060b1f0f30563a0076deb8d9a2aefd09fafc2a2f87974a37be9ce97b46b95b"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 63):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:e1bf0e839082b439dbd3de87f29e195e5400fbfd34771c26a6d2ea4bfe1cf55b"
},
"type": "image_url"
}
],
"role": "user"
}call 19 attempt 0 · /chat/completions · status 200 · 30.04 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, 0.823, 0.6041, -0.3798, -0.0216, -0.0418, 0.9994, 0.2569, 1.5429, 0.4538, 0.6079, 0.1589, 0.0734, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.172 left_yaw=0.0021 left_pitch=-0.0335 left_roll=-0.0025 left_gripper=0.9994 right_x=0.3894 right_y=0.0771 right_z=0.0736 right_yaw=0.0738 right_pitch=0.0835 right_roll=-0.0075 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.4017, 7.2137, 1.7802, -0.0757, -0.0611, -0.0073, 0.1299, -5.6684, 7.2684, 1.8437, 0.3053, 0.0317, -0.0122]",
"type": "text"
},
{
"text": "[3 camera frame(s) elided]",
"type": "text"
}
],
"role": "user"
}{
"content": "",
"role": "assistant",
"tool_calls": [
{
"function": {
"arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.075, \"right_z\": -0.005, \"right_gripper\": 0.2}, \"note\": \"The knob is between the jaw tips, just slightly ahead. Advancing ~1.5 cm while closing the gripper to 0.2 to grasp the knob.\"}",
"name": "move_to"
},
"id": "toolu_01YVr2BS9koXemfGSBMjFhKD",
"type": "function"
}
]
}{
"content": "executing move_to over 8 steps (0.8s)",
"role": "tool",
"tool_call_id": "toolu_01YVr2BS9koXemfGSBMjFhKD"
}{
"content": [
{
"text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8288, 0.6037, -0.3809, -0.0216, -0.0422, 0.9994, 0.2432, 1.9427, 0.448, 0.9939, 0.1444, 0.0517, 0.9146]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4026 right_y=0.0774 right_z=0.0009 right_yaw=0.0841 right_pitch=0.0632 right_roll=-0.0234 right_gripper=0.9146\nstate[joint_eff]: [-0.253, -1.4974, 7.0222, 1.6679, -0.0464, -0.0513, -0.0171, -0.9641, -5.8872, 5.1624, 1.5897, -0.022, -0.0366, 1.033]",
"type": "text"
},
{
"text": "camera 'top_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:244bafbe318e9faa58ee027d735306292859b7f3e77ae16ab211b9a947a2806d"
},
"type": "image_url"
},
{
"text": "camera 'left_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:cb5ccfeec2caa15924df3e47780c5e86e3bf943a7731a98895a52dab974f0051"
},
"type": "image_url"
},
{
"text": "camera 'right_cam' (step 71):",
"type": "text"
},
{
"image_url": {
"url": "data:image/png;base64,$blob:8ac36a7d3dab5e365c36b542c9e3789510a05f8d790af3396a2d22cd311a9bbd"
},
"type": "image_url"
}
],
"role": "user"
}