adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6044, -0.379, -0.0216, -0.0383, 0.9995, -0.0177, 0.7921, 0.6106, -0.3748, -0.0208, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2961 right_y=0.002 right_z=0.1846 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.3333, 10.3453, 1.8388, -0.0562, 0.1685, -0.0659, -0.6632, -1.1419, 9.8667, 1.7363, -0.0562, -0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f5a0b542e98f8d4466ea07b5d2de39e07b55ab390db763cebe8c34e6a6364c9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:44ecfe1a48e5e27ade1324b55d3e959b8f1b8eec2fee66f7204780eada9a2b29"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b37e7c2ccbe61e4f7d34743b52c144908663fb910e514f9f67593709b5789792"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece with its knob directly ahead and close to the gripper; the board with the circular groove is farther away to the left. Moving the right arm forward and down to hover above the piece before grasping the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Hd56UsthmZTUA8Q8csfgJG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Hd56UsthmZTUA8Q8csfgJG"
}

{
  "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, 0.799, 0.6056, -0.3813, -0.0212, -0.0414, 0.9994, -0.02, 1.2121, 0.4614, 0.0784, -0.0246, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1791 left_yaw=0.0015 left_pitch=-0.0076 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3406 right_y=0.0011 right_z=0.0825 right_yaw=0.0007 right_pitch=-0.1159 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0632, 1.746, 0.0122, -0.0171, -0.0171, -0.212, -4.3556, 5.7915, 2.0, -0.0611, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6073874e82b46f1f74c839f6cd414b29ce9f4b8b5b1c81fa2418c67ee1f4dfa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f13302834fa1bf11947dce3b40e892e354e49b8aad36986d339858ad1e66804d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:743ff7ff8b6800f0c0dcedfde484663e3685914ff55a786471f3ca2ae40aefec"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6044, -0.379, -0.0216, -0.0383, 0.9995, -0.0177, 0.7921, 0.6106, -0.3748, -0.0208, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2961 right_y=0.002 right_z=0.1846 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.3333, 10.3453, 1.8388, -0.0562, 0.1685, -0.0659, -0.6632, -1.1419, 9.8667, 1.7363, -0.0562, -0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.04, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered in the right wrist camera, slightly ahead of the gripper. Descending and moving slightly forward so the open jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UuEZcAbcjRGJTmzCJsbBT5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01UuEZcAbcjRGJTmzCJsbBT5"
}

{
  "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, 0.8028, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, -0.02, 1.5658, 0.3943, 0.4698, -0.028, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.002 left_pitch=-0.0126 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3578 right_y=0.0014 right_z=0.0145 right_yaw=0.0035 right_pitch=-0.1452 right_roll=0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5248, 7.2957, 1.7021, -0.0513, -0.0708, -0.0073, -0.2256, -7.3368, 4.8889, 2.3028, -0.0317, -0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af6ea7c104f8d948dc3c961bc49b394e80ccc1bed3353c1ae34dd96cb6175cc0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4b55fd00b4bb32a4735f08a6d305e1ce6bb0c30ada80e077b001573b47af00d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6030c84271cee4eba4e3e95d43b966ad17105e636a73280c839bd7a71d1e293"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "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, 0.799, 0.6056, -0.3813, -0.0212, -0.0414, 0.9994, -0.02, 1.2121, 0.4614, 0.0784, -0.0246, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1791 left_yaw=0.0015 left_pitch=-0.0076 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3406 right_y=0.0011 right_z=0.0825 right_yaw=0.0007 right_pitch=-0.1159 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0632, 1.746, 0.0122, -0.0171, -0.0171, -0.212, -4.3556, 5.7915, 2.0, -0.0611, -0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.0, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob sits centered between the jaws in the wrist view but still a bit ahead of the fingertips; the tool pitched back slightly. Moving forward and down a little more so the knob is between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_016f6YQVzYRvzMxHetBi7gWL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_016f6YQVzYRvzMxHetBi7gWL"
}

{
  "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, 0.6044, -0.3809, -0.0216, -0.0418, 0.9994, -0.02, 1.6772, 0.3576, 0.6636, -0.0315, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3627 right_y=0.0019 right_z=0.0018 right_yaw=0.0061 right_pitch=-0.0994 right_roll=0.0089 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2239, 7.0496, 1.7021, -0.0757, -0.0806, -0.0122, -0.4171, -5.7641, 4.9162, 2.083, -0.0513, -0.0317, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3ef06e18a6d81d9b8c96e3aa13b33116933ea42503c55847b333bb766f667aa4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee48d04d1d69210b3e46b255de206b42040cda1dc6c598be04d7a419c9e13f2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d1d7f051bf1c3dc569bde963528dbf9b1744306800462be6b936eacfdbb03f00"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "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, 0.8028, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, -0.02, 1.5658, 0.3943, 0.4698, -0.028, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.002 left_pitch=-0.0126 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3578 right_y=0.0014 right_z=0.0145 right_yaw=0.0035 right_pitch=-0.1452 right_roll=0.0076 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.5248, 7.2957, 1.7021, -0.0513, -0.0708, -0.0073, -0.2256, -7.3368, 4.8889, 2.3028, -0.0317, -0.0659, -0.0757]\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\": 0.41, \"right_y\": 0.0, \"right_z\": 0.0, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm barely advanced (x only reached 0.363) and the knob is still ahead of the fingertips in the wrist view. Commanding a farther forward target so the jaws actually reach the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FBi8UApuiaBEHipoWjgLJJ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01FBi8UApuiaBEHipoWjgLJJ"
}

{
  "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, 0.6044, -0.3809, -0.0216, -0.0414, 0.9994, -0.02, 1.6775, 0.3538, 0.6739, -0.0315, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0019 left_gripper=0.9994 right_x=0.3628 right_y=0.0019 right_z=0.0025 right_yaw=0.0065 right_pitch=-0.0933 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.1829, 7.0496, 1.7363, -0.0708, -0.0562, -0.0122, -0.3077, -5.9009, 4.4103, 1.9512, -0.0122, -0.0562, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f9a780c944aa21f25e08be6aeef0451ed942af041682e2822c8f8b90e661ea34"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ff5ecd9f0db9c5efc42a50108595cf3fd03a6752bb38d4078c38c5ad240f0cbc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dbac1dd005abea66932663c164eff5ba412de9c74d8ca51d9787e42caa93d66f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "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, 0.6044, -0.3809, -0.0216, -0.0418, 0.9994, -0.02, 1.6772, 0.3576, 0.6636, -0.0315, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3627 right_y=0.0019 right_z=0.0018 right_yaw=0.0061 right_pitch=-0.0994 right_roll=0.0089 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2239, 7.0496, 1.7021, -0.0757, -0.0806, -0.0122, -0.4171, -5.7641, 4.9162, 2.083, -0.0513, -0.0317, -0.0757]\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\": 0.4, \"right_y\": 0.0, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command (x stuck at 0.363, z near 0), suggesting the fingertips are pressed against the table and blocked. Lifting slightly to z=0.03 while advancing forward so the jaws can move over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CbAoVgkJToWCfzgMV9amgo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01CbAoVgkJToWCfzgMV9amgo"
}

{
  "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, 0.6044, -0.3809, -0.0216, -0.0414, 0.9994, -0.02, 1.6775, 0.3538, 0.6739, -0.0315, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0019 left_gripper=0.9994 right_x=0.3628 right_y=0.0019 right_z=0.0025 right_yaw=0.0065 right_pitch=-0.0933 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.1282, 7.0632, 1.7216, -0.0611, -0.0464, -0.0122, -0.4034, -5.9009, 4.5197, 1.9365, -0.022, -0.0513, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5548df38c309641320b0c4068d81b578c1a2760018236d66f87df7298342fdd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:290b77f00eb066f00d82a3b62edce1a568816ac5565a7f1f8f61939f517ae2ae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fbdb23a7578af75e6cb37d264b7fa62d1fe84249ef764a9c89c21270af6711b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "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, 0.6044, -0.3809, -0.0216, -0.0414, 0.9994, -0.02, 1.6775, 0.3538, 0.6739, -0.0315, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0019 left_gripper=0.9994 right_x=0.3628 right_y=0.0019 right_z=0.0025 right_yaw=0.0065 right_pitch=-0.0933 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.1829, 7.0496, 1.7363, -0.0708, -0.0562, -0.0122, -0.3077, -5.9009, 4.4103, 1.9512, -0.0122, -0.0562, -0.0757]\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\": 0.37, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right arm is completely frozen at the same joint positions despite two commands, so the IK seems stuck at this low, stretched pose. Retreating upward to z=0.1 to free the arm before re-approaching the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HSUm8Y1WguD1QzP3tPwVn2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01HSUm8Y1WguD1QzP3tPwVn2"
}

{
  "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, 0.6044, -0.3805, -0.0216, -0.0418, 0.9994, -0.0204, 1.3357, 0.5381, 0.1562, -0.036, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.176 left_yaw=0.002 left_pitch=-0.0179 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3704 right_y=0.0024 right_z=0.0879 right_yaw=0.0106 right_pitch=-0.0848 right_roll=0.0097 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2786, 7.2547, 1.7949, -0.0562, -0.0513, -0.0122, -0.7316, -6.1333, 8.5265, 1.6142, -0.0562, -0.0904, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5940cdd4f932ada4c11778dd65f9483d1d2f62d4ecb02c770579981772473d46"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a345455a81f92e8131acf783cec843fb51cf9fd6d555b997aaa08dd6610a2cc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c168fd2a5caa37e949bac4e5de961ddc695cdc940c96533fda9cbf6167d4c9e1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "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, 0.6044, -0.3809, -0.0216, -0.0414, 0.9994, -0.02, 1.6775, 0.3538, 0.6739, -0.0315, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0018 left_pitch=-0.0164 left_roll=-0.0019 left_gripper=0.9994 right_x=0.3628 right_y=0.0019 right_z=0.0025 right_yaw=0.0065 right_pitch=-0.0933 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.1282, 7.0632, 1.7216, -0.0611, -0.0464, -0.0122, -0.4034, -5.9009, 4.5197, 1.9365, -0.022, -0.0513, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The arm freed itself and the knob now appears just ahead of the fingertips in the wrist view, while the top camera confirms the piece is directly in front of the right gripper. Moving forward to x=0.40 at low height with a slight forward pitch so the fingertips reach over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LGqpjZyDJGRAB5oCfxQ4BC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01LGqpjZyDJGRAB5oCfxQ4BC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3813, -0.0212, -0.0418, 0.9994, -0.0208, 1.737, 0.3996, 0.7528, -0.0467, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0229 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3846 right_y=0.0038 right_z=0.012 right_yaw=0.0186 right_pitch=-0.0278 right_roll=0.0148 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4564, 7.0769, 1.6923, -0.0562, -0.0659, -0.0073, -1.1009, -6.8991, 3.8085, 2.2589, -0.0269, -0.0806, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e4f4c514f6b1a6799eb2dc25d139f177126aea6e0f6e4a2a806bdd867be5848"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:18e40104731c030bb709619610a746dfd4c61d43cc861ba090395367d80e3c4d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:871e2aff1bd3103483da38699e5d8008c4f120d65aaf18cd08ded4367b9c4282"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "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, 0.6044, -0.3805, -0.0216, -0.0418, 0.9994, -0.0204, 1.3357, 0.5381, 0.1562, -0.036, -0.017, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.176 left_yaw=0.002 left_pitch=-0.0179 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3704 right_y=0.0024 right_z=0.0879 right_yaw=0.0106 right_pitch=-0.0848 right_roll=0.0097 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.2786, 7.2547, 1.7949, -0.0562, -0.0513, -0.0122, -0.7316, -6.1333, 8.5265, 1.6142, -0.0562, -0.0904, -0.0806]\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\": 0.42, \"right_y\": 0.0, \"right_z\": 0.015, \"right_pitch\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The knob is now closer, centered between the two fingertips in the wrist view but still appears a couple centimeters ahead of them. Pushing a bit farther forward at the same low height so the knob sits between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WU8XuYexkwMj29HY7fPCs5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01WU8XuYexkwMj29HY7fPCs5"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0257, 1.9034, 0.4469, 0.9371, -0.0586, -0.0212, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4081 right_y=0.0034 right_z=0.0028 right_yaw=0.0265 right_pitch=0.0377 right_roll=0.0135 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.0632, 1.6825, -0.0366, -0.0806, -0.0122, -1.0051, -6.7214, 4.8752, 1.873, -0.0952, 0.0269, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eae6d8a1ece442b9f318d0a025352ad87963e6e6580f43a3bac58a537ad2a25a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd7a77a026adc7ca17d689771cb880a615c8f7c173b056602a815e3cea563f02"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:266879d661fed0043649704066c8ff19a93a16fbc27f6ffb710b925becb5df8c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3813, -0.0212, -0.0418, 0.9994, -0.0208, 1.737, 0.3996, 0.7528, -0.0467, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0229 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3846 right_y=0.0038 right_z=0.012 right_yaw=0.0186 right_pitch=-0.0278 right_roll=0.0148 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.4564, 7.0769, 1.6923, -0.0562, -0.0659, -0.0073, -1.1009, -6.8991, 3.8085, 2.2589, -0.0269, -0.0806, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.0, \"right_z\": 0.003, \"right_gripper\": 0.0}, \"note\": \"The knob is now between the two fingertips in the wrist camera, level with them at the bottom of the frame. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K5BgsT8hiX1fHN7gtNnCE2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01K5BgsT8hiX1fHN7gtNnCE2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, -0.0273, 1.9148, 0.4622, 0.9485, -0.0757, -0.0345, 0.0108]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.0233 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4136 right_y=0.0057 right_z=0.0056 right_yaw=0.0467 right_pitch=0.0536 right_roll=0.0092 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.1282, 7.0769, 1.7363, -0.0855, -0.0317, -0.0122, -1.2239, -7.0085, 5.1487, 1.5165, 0.0317, 0.0562, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e90676f747ed2501886f3ad07316a2000a4d4891f559212918a58391b82f825"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee839e9983f77584a42bee675364c802806f5f59abd2fdbf3bcc7b92d76b310a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9562a59abb17b1045ffc828d350d4ef374bd960ad6cfba304ccd430c69f3bc97"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0257, 1.9034, 0.4469, 0.9371, -0.0586, -0.0212, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4081 right_y=0.0034 right_z=0.0028 right_yaw=0.0265 right_pitch=0.0377 right_roll=0.0135 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.347, 7.0632, 1.6825, -0.0366, -0.0806, -0.0122, -1.0051, -6.7214, 4.8752, 1.873, -0.0952, 0.0269, -0.0806]\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\": 0.44, \"right_y\": 0.02, \"right_z\": 0.005, \"right_gripper\": 1.0}, \"note\": \"The jaws closed fully (gripper 0.01) and missed: the wrist camera shows the knob just ahead and slightly left of the closed fingertips. Reopening and shifting about 3 cm forward and 1.5 cm left so the knob lands between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TmEZPJPuFGHafckCf1A5ik",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01TmEZPJPuFGHafckCf1A5ik"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0227, 1.9594, 0.5503, 0.9047, -0.0502, -0.0235, 0.9945]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4343 right_y=0.0223 right_z=0.0052 right_yaw=0.0691 right_pitch=0.0524 right_roll=0.0066 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.3607, 7.0632, 1.7021, -0.0171, -0.0806, -0.0122, 0.335, -6.4479, 5.7641, 1.6874, 0.1832, 0.1392, 0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:77876063d805a3fd63f10bfaebb78a6e8646d7b72eb2d7a0225a52c5ceca7873"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:894cf4789d583592201dd349778b176cf93753c47e0c85af044a5d4572d4f593"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0159b7f6a953fcc7d1d0b58c357f7ba7826a4d9d0b3f405c9bff225693bd555"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, -0.0273, 1.9148, 0.4622, 0.9485, -0.0757, -0.0345, 0.0108]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.0233 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4136 right_y=0.0057 right_z=0.0056 right_yaw=0.0467 right_pitch=0.0536 right_roll=0.0092 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.1282, 7.0769, 1.7363, -0.0855, -0.0317, -0.0122, -1.2239, -7.0085, 5.1487, 1.5165, 0.0317, 0.0562, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.445, \"right_y\": 0.025, \"right_z\": 0.005, \"right_gripper\": 0.0}, \"note\": \"The knob now sits between the open jaws near the bottom of the wrist view, roughly centered. Advancing 1 cm more and closing the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_015jPkhouewtYQNDVJxVq7Tu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_015jPkhouewtYQNDVJxVq7Tu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.028, 1.9705, 0.5797, 0.8913, -0.0566, -0.0307, 0.0098]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4416 right_y=0.026 right_z=0.007 right_yaw=0.0838 right_pitch=0.0576 right_roll=0.0031 right_gripper=0.0098\nstate[joint_eff]: [-0.2393, -1.306, 7.3231, 1.7265, -0.0611, -0.0659, -0.0122, 0.4171, -6.653, 5.5316, 1.7411, 0.0806, 0.0659, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7b8ae0afe95ee6eea9081aeadecdf46a17a0502a42df8078faa3905ae59df38"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7868e90295c4bdad8644f63906581b67713c71a74e186af025ec76e41d2b138"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ebe4f83ebb64b02f549140d15831f684ba2002ddfd767e167a04c835e48455ca"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0227, 1.9594, 0.5503, 0.9047, -0.0502, -0.0235, 0.9945]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4343 right_y=0.0223 right_z=0.0052 right_yaw=0.0691 right_pitch=0.0524 right_roll=0.0066 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -1.3607, 7.0632, 1.7021, -0.0171, -0.0806, -0.0122, 0.335, -6.4479, 5.7641, 1.6874, 0.1832, 0.1392, 0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.48, \"right_y\": 0.045, \"right_z\": 0.005, \"right_gripper\": 1.0}, \"note\": \"Missed again: the gripper closed fully and the wrist camera shows the knob about 3-4 cm ahead and 2 cm left of the closed fingertips (the camera sits behind the fingertips, so the knob appearing at frame center is still ahead). Reopening and moving 4 cm forward and 2 cm left to put the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NY9uRZGNHGQTq3aspq3HoN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NY9uRZGNHGQTq3aspq3HoN"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0795, 2.0495, 0.7277, 0.8268, -0.0273, -0.0147, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4752 right_y=0.0463 right_z=0.0067 right_yaw=0.1018 right_pitch=0.0615 right_roll=0.003 right_gripper=0.9948\nstate[joint_eff]: [-0.2256, -1.4017, 7.0632, 1.6972, -0.022, -0.0659, -0.0122, 0.2393, -7.9932, 5.7641, 1.7851, 0.1587, 0.0904, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:593277c365c730e409e537d8e10765266e8b0fbf11cd916135d41a88266b03df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b66ffc3ba55ea24c69c2dd2e0811134a054fd722b67a0d04f7e7964674d0f943"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2083dbcbaee6984703763a89881dbc5deba85189bbe667445256d624ffd9d6cc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.028, 1.9705, 0.5797, 0.8913, -0.0566, -0.0307, 0.0098]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4416 right_y=0.026 right_z=0.007 right_yaw=0.0838 right_pitch=0.0576 right_roll=0.0031 right_gripper=0.0098\nstate[joint_eff]: [-0.2393, -1.306, 7.3231, 1.7265, -0.0611, -0.0659, -0.0122, 0.4171, -6.653, 5.5316, 1.7411, 0.0806, 0.0659, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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\": 0.03, \"right_z\": 0.005, \"right_gripper\": 1.0}, \"note\": \"The knob is now between the open jaws but close to the image-left finger and slightly ahead of the fingertips. Shifting 1.5 cm forward and 1.5 cm toward -y to center the knob between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KJFw5SXveyJ93zSozVspEP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01KJFw5SXveyJ93zSozVspEP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3801, -0.0216, -0.0418, 0.9994, 0.0605, 2.0647, 0.757, 0.8143, -0.0578, -0.025, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.002 left_pitch=-0.0225 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4823 right_y=0.043 right_z=0.0069 right_yaw=0.1142 right_pitch=0.0636 right_roll=0.0084 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7705, -0.0757, -0.0806, -0.0073, -1.5111, -7.9248, 6.065, 1.6386, 0.1245, -0.0708, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:598a622d1b4c2648b797639230f93a2b6445d38d73f9162335af5d5c0b478218"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3760d81bfba25d7f3026bab275254e5ef44c6e2ac48eda742437905abed6d3f0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:996b8a8747a85aeba880869612534b623cfed17f59f1484e7b80ad2780e14036"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0795, 2.0495, 0.7277, 0.8268, -0.0273, -0.0147, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4752 right_y=0.0463 right_z=0.0067 right_yaw=0.1018 right_pitch=0.0615 right_roll=0.003 right_gripper=0.9948\nstate[joint_eff]: [-0.2256, -1.4017, 7.0632, 1.6972, -0.022, -0.0659, -0.0122, 0.2393, -7.9932, 5.7641, 1.7851, 0.1587, 0.0904, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.485, \"right_y\": 0.043, \"right_z\": 0.005, \"right_gripper\": 0.0}, \"note\": \"The knob is between the two open jaws, touching the left finger; the arm barely moved on the fine adjustment. Closing the gripper now to grasp the knob, which should center it between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_018aSknTxEgqzdeMNkiFyK7w",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_018aSknTxEgqzdeMNkiFyK7w"
}

{
  "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, 0.8154, 0.6041, -0.3805, -0.0208, -0.0418, 0.9994, 0.0605, 2.0705, 0.7662, 0.8207, -0.0639, -0.0311, 0.01]\nstate[eef_state]: left_x=0.2961 left_y=0.0013 left_z=0.174 left_yaw=0.0014 left_pitch=-0.0248 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4854 right_y=0.0443 right_z=0.0088 right_yaw=0.1226 right_pitch=0.0738 right_roll=0.0053 right_gripper=0.01\nstate[joint_eff]: [-0.253, -1.2376, 7.1179, 1.7753, -0.0024, -0.0611, -0.0122, -0.1846, -8.4991, 4.9436, 1.8632, 0.0024, 0.0317, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6030c87de3e5d8f73b2a655758133dcec3d2bfe60b7c5c3673a0d9d2a0325af7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e87c70ad109599c1444dfb1e84c1a454bc74f77fd683d84e37a412643de8b673"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a3619f7867ef0eb5bbcc92ab2e6cdda1728afab611821f09ff9bfa61a4d16caf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3801, -0.0216, -0.0418, 0.9994, 0.0605, 2.0647, 0.757, 0.8143, -0.0578, -0.025, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.002 left_pitch=-0.0225 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4823 right_y=0.043 right_z=0.0069 right_yaw=0.1142 right_pitch=0.0636 right_roll=0.0084 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4017, 7.1043, 1.7705, -0.0757, -0.0806, -0.0073, -1.5111, -7.9248, 6.065, 1.6386, 0.1245, -0.0708, -0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.525, \"right_y\": 0.055, \"right_z\": 0.035, \"right_gripper\": 1.0}, \"note\": \"Missed again; the fingertips at z\\u22480.007 seem to be pushing the piece forward each time rather than straddling the knob, which keeps appearing just ahead. Reopening, raising to z=0.035 (knob height) and moving 4 cm forward and 1 cm left so the jaws pass over the piece and around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NMuUUEhhoVEGbktedwrBQ3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01NMuUUEhhoVEGbktedwrBQ3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.3809, -0.0216, -0.0414, 0.9994, 0.0769, 2.0705, 0.9287, 0.6456, -0.0601, -0.0353, 0.9947]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0286 left_roll=-0.0016 left_gripper=0.9994 right_x=0.5172 right_y=0.0541 right_z=0.0288 right_yaw=0.138 right_pitch=0.0611 right_roll=0.0005 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -1.6342, 7.0359, 1.7411, -0.0513, -0.0415, -0.0073, 0.4581, -9.8256, 7.4735, 1.9316, 0.1441, 0.2222, 0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b1db2849ad17a479d5fbaf42337e4ec61bbd054f72d4de0753306fd473cffa56"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b62f7a673f6d981695430b2f365d584f113bc1116f27e47d43c6e2c2f4dc9864"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36d2be68fbd872b0adfe3f838dae6cc60adb0802cd8f6c68283917b2596612ff"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "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, 0.8154, 0.6041, -0.3805, -0.0208, -0.0418, 0.9994, 0.0605, 2.0705, 0.7662, 0.8207, -0.0639, -0.0311, 0.01]\nstate[eef_state]: left_x=0.2961 left_y=0.0013 left_z=0.174 left_yaw=0.0014 left_pitch=-0.0248 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4854 right_y=0.0443 right_z=0.0088 right_yaw=0.1226 right_pitch=0.0738 right_roll=0.0053 right_gripper=0.01\nstate[joint_eff]: [-0.253, -1.2376, 7.1179, 1.7753, -0.0024, -0.0611, -0.0122, -0.1846, -8.4991, 4.9436, 1.8632, 0.0024, 0.0317, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.525, \"right_y\": 0.062, \"right_z\": 0.025, \"right_gripper\": 0.0}, \"note\": \"The knob now sits between the two fingertips at the bottom of the wrist view, slightly toward the left jaw, and the piece was pushed a little forward. Shifting 1 cm left and closing the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_017s7FrBurZbcgCfRv55r6it",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_017s7FrBurZbcgCfRv55r6it"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0879, 2.0911, 0.939, 0.635, -0.0551, -0.0334, 0.0097]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.002 left_pitch=-0.0286 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5169 right_y=0.0589 right_z=0.02 right_yaw=0.1437 right_pitch=0.04 right_roll=0.001 right_gripper=0.0097\nstate[joint_eff]: [-0.294, -1.1829, 7.1453, 1.6874, -0.0611, -0.0611, -0.0122, 0.6632, -8.9368, 7.2137, 1.8632, 0.0659, 0.0562, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c611979c11f842a828e4549b8343a731da978baa8135feaf5a2f7cfbf9f9af37"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d7a58d873c8f1737a3c0f0b0129270485415d5d8775f15b3c187997c0bf88b20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d5661e6f39632e4e24fc166ce81bb1ab2f014668cf91725797905002db1f2cc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}