adhoc

completed
2026-09-03T02:40:58.473578+00:00 inspect-robots 0.58.0git unknown
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
397.3 s
total steps
95
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

partial

Grader notes

trial 03
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint 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.
user
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.
Raw transcript
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint 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.
user
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start by moving the right arm to a hover position and opening the gripper, so I can see where the end-effector sits relative to the blue puzzle piece in the cameras.
agent noteI see a blue round piece with a wooden knob to the right of a white board with a circular groove. Moving the right arm forward and down to hover so I can localize the gripper relative to the piece.
move_to
right_x0.3500right_y0.0000right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.0204, 0.7925, 0.6037, -0.379, -0.0216, -0.0372, 0.999, -0.0166, 0.7906, 0.609, -0.3752, -0.0208, -0.0128, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2958 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5128, -1.3607, 10.3863, 1.8095, -0.0562, 0.2173, -0.1148, -0.8137, -1.1145, 9.8393, 1.7949, -0.0269, -0.0122, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start by moving the right arm to a hover position and opening the gripper, so I can see where the end-effector sits relative to the blue puzzle piece in the cameras.
move_to({"targets": {"right_x": 0.35, "right_y": 0.0, "right_z": 0.12, "right_gripper": 1}, "note": "I see a blue round piece with a wooden knob to the right of a white board with a circular groove. Moving the right arm forward and down to hover so I can localize the gripper relative to the piece."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
The piece (blue disc with wooden knob) is ahead of the right gripper. I'll probe by moving closer and lower to see the gripper relative to the piece in the cameras.
agent noteThe right wrist camera shows the blue piece with its knob roughly centered ahead of the arm. Moving forward and down toward the piece to judge alignment before grasping.
move_to
right_x0.3800right_y0.0200right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.7986, 0.6044, -0.3813, -0.0216, -0.0414, 0.999, -0.02, 1.1156, 0.4866, -0.0502, -0.0246, -0.0135, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1786 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.999 right_x=0.3295 right_y=0.0013 right_z=0.0987 right_yaw=0.0004 right_pitch=-0.1224 right_roll=0.0039 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.4564, 6.9949, 1.7363, -0.0415, -0.0073, -0.022, -0.4308, -3.8359, 6.6393, 2.1074, -0.0611, -0.1001, -0.105] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
The piece (blue disc with wooden knob) is ahead of the right gripper. I'll probe by moving closer and lower to see the gripper relative to the piece in the cameras.
move_to({"targets": {"right_x": 0.38, "right_y": 0.02, "right_z": 0.06, "right_gripper": 1}, "note": "The right wrist camera shows the blue piece with its knob roughly centered ahead of the arm. Moving forward and down toward the piece to judge alignment before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteWrist cam shows the knob nearly centered between the fingers but still slightly ahead. Moving forward and down so the knob sits between the open jaws at grasping height.
move_to
right_x0.4000right_y0.0200right_z0.0250right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8032, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0551, 1.4487, 0.5049, 0.1555, 0.0113, 0.0147, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0028 left_pitch=-0.0126 left_roll=-0.0036 left_gripper=0.999 right_x=0.3536 right_y=0.0211 right_z=0.036 right_yaw=0.0293 right_pitch=-0.2316 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.388, 7.4325, 1.6972, -0.0855, -0.0415, -0.0171, 0.2256, -6.3111, 8.5538, 2.2198, 0.1978, 0.1245, -0.1099] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.02, "right_z": 0.025, "right_pitch": 0, "right_gripper": 1}, "note": "Wrist cam shows the knob nearly centered between the fingers but still slightly ahead. Moving forward and down so the knob sits between the open jaws at grasping height."})
tool
executing move_to over 8 steps (0.8s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe arm only moved a little; the knob is still slightly ahead and left of the gripper center in the wrist view. Continuing forward and down in a smaller step to bring the knob between the jaws.
move_to
right_x0.4000right_y0.0250right_z0.0200right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0586, 1.4769, 0.4728, 0.2436, 0.017, 0.0139, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.999 right_x=0.3556 right_y=0.0214 right_z=0.0305 right_yaw=0.0284 right_pitch=-0.2037 right_roll=-0.0034 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.4701, 7.0496, 1.6972, -0.0806, -0.0562, -0.0171, -0.4034, -5.3675, 5.7231, 1.7753, -0.0904, -0.0562, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.025, "right_z": 0.02, "right_pitch": 0, "right_gripper": 1}, "note": "The arm only moved a little; the knob is still slightly ahead and left of the gripper center in the wrist view. Continuing forward and down in a smaller step to bring the knob between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteWrist cam shows the knob just ahead of the fingertips, centered laterally. Moving slightly forward and up to knob height so the jaws straddle the knob.
move_to
right_x0.4050right_y0.0230right_z0.0200right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9989, 0.0616, 1.7348, 0.4538, 0.6075, 0.0231, 0.0017, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3828 right_y=0.0231 right_z=0.0011 right_yaw=0.0331 right_pitch=-0.1166 right_roll=-0.0142 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.4291, 7.0359, 1.7167, -0.0611, -0.022, -0.0171, 0.1573, -6.0376, 4.2051, 1.9219, 0.0562, 0.1392, -0.105] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.023, "right_z": 0.02, "right_pitch": 0, "right_gripper": 1}, "note": "Wrist cam shows the knob just ahead of the fingertips, centered laterally. Moving slightly forward and up to knob height so the jaws straddle the knob."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteKnob is still just beyond the fingertips and slightly left in the wrist view. Advancing forward ~2 cm and slightly left, dropping to grasp height around the knob.
move_to
right_x0.4200right_y0.0280right_z0.0100right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7615, 0.4519, 0.7013, 0.0216, -0.0013, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3931 right_y=0.0236 right_z=0.0092 right_yaw=0.035 right_pitch=-0.0514 right_roll=-0.014 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.1556, 7.2, 1.7265, -0.0855, -0.0806, -0.0073, -0.5812, -5.2991, 6.3111, 2.1465, -0.0269, -0.0611, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.028, "right_z": 0.01, "right_pitch": 0, "right_gripper": 1}, "note": "Knob is still just beyond the fingertips and slightly left in the wrist view. Advancing forward ~2 cm and slightly left, dropping to grasp height around the knob."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm barely advanced; the knob remains just past the fingertips and centered. Pushing forward another ~3.5 cm and down slightly so the jaws surround the knob.
move_to
right_x0.4300right_y0.0280right_z0.0050right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.3197, 7.0496, 1.6972, -0.0513, -0.0659, -0.0073, -0.4308, -5.7504, 5.7641, 2.0098, -0.0415, 0.0073, -0.105] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.028, "right_z": 0.005, "right_pitch": 0, "right_gripper": 1}, "note": "The arm barely advanced; the knob remains just past the fingertips and centered. Pushing forward another ~3.5 cm and down slightly so the jaws surround the knob."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm didn't move at all last step—possibly the pitch constraint made the IK hold. Retrying a smaller forward/down step without commanding pitch so the wrist can tilt as needed to reach the knob.
move_to
right_x0.4150right_y0.0240right_z0.0030right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.347, 7.1316, 1.7656, -0.0513, -0.0269, -0.0073, -0.6222, -5.9692, 5.7641, 2.0195, -0.0366, 0.0366, -0.105] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.024, "right_z": 0.003, "right_gripper": 1}, "note": "The arm didn't move at all last step\u2014possibly the pitch constraint made the IK hold. Retrying a smaller forward/down step without commanding pitch so the wrist can tilt as needed to reach the knob."})
tool
executing move_to over 2 steps (0.2s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm appears stuck; IK isn't tracking the low forward target. Lifting up to z=0.08 while moving over the knob position, so I can then descend straight down onto it.
move_to
right_x0.4200right_y0.0240right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0216, -0.009, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0237 right_z=0.0115 right_yaw=0.0391 right_pitch=-0.0377 right_roll=-0.0199 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.3197, 7.1863, 1.7167, -0.0513, -0.0708, -0.0073, -0.6085, -5.9556, 5.9282, 1.9756, -0.0464, -0.0317, -0.105] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.024, "right_z": 0.08, "right_gripper": 1}, "note": "The arm appears stuck; IK isn't tracking the low forward target. Lifting up to z=0.08 while moving over the knob position, so I can then descend straight down onto it."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe wrist camera now looks down with the knob centered between the two fingertips. Descending straight down to knob-grasp height with the gripper open.
move_to
right_x0.4270right_y0.0260right_z0.0150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.6138, 0.6083, 0.4862, 0.0174, -0.0128, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4268 right_y=0.0264 right_z=0.0787 right_yaw=0.0447 right_pitch=0.0374 right_roll=-0.0196 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.6923, -0.0757, -0.0366, -0.0073, -0.7043, -6.9949, 5.4632, 1.326, -0.0269, 0.0024, -0.105] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.427, "right_y": 0.026, "right_z": 0.015, "right_gripper": 1}, "note": "The wrist camera now looks down with the knob centered between the two fingertips. Descending straight down to knob-grasp height with the gripper open."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteWrist cam shows the knob just ahead of the fingertips, centered laterally. Nudging forward ~1.5 cm and slightly down so the jaws straddle the knob before closing.
move_to
right_x0.4320right_y0.0260right_z0.0020right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8173, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0589, 1.8557, 0.5346, 0.7288, 0.0124, -0.0109, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.0029 left_pitch=-0.0267 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4169 right_y=0.026 right_z=0.0052 right_yaw=0.0463 right_pitch=-0.0355 right_roll=-0.0164 right_gripper=0.9991 state[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.6777, -0.0708, -0.0513, -0.0073, 0.0479, -6.735, 4.2598, 1.7167, 0.0415, -0.1441, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.432, "right_y": 0.026, "right_z": 0.002, "right_gripper": 1}, "note": "Wrist cam shows the knob just ahead of the fingertips, centered laterally. Nudging forward ~1.5 cm and slightly down so the jaws straddle the knob before closing."})
tool
executing move_to over 2 steps (0.2s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe knob sits just beyond the fingertips in the wrist view. Advancing about 2 cm more so the knob is fully between the jaws.
move_to
right_x0.4450right_y0.0280right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8181, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.8908, 0.561, 0.7597, 0.0055, -0.0128, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0029 left_pitch=-0.0274 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4267 right_y=0.0276 right_z=0.006 right_yaw=0.0528 right_pitch=-0.0134 right_roll=-0.014 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.4838, 6.9949, 1.6777, -0.0611, -0.0708, -0.0122, -0.5949, -6.8991, 5.9966, 1.7753, 0.0073, -0.0659, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.028, "right_z": 0.0, "right_gripper": 1}, "note": "The knob sits just beyond the fingertips in the wrist view. Advancing about 2 cm more so the knob is fully between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe knob is nearly between the fingertips now, just a touch farther ahead. One more small forward nudge before closing the gripper.
move_to
right_x0.4520right_y0.0310right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.9274, 0.6094, 0.7536, -0.0048, -0.0124, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4391 right_y=0.0302 right_z=0.0054 right_yaw=0.0613 right_pitch=-0.0077 right_roll=-0.0081 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.5658, 7.0359, 1.6679, -0.0757, -0.0562, -0.0073, -0.4718, -6.5026, 5.135, 1.6386, 0.0562, -0.0611, -0.105] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.452, "right_y": 0.031, "right_z": 0.0, "right_gripper": 1}, "note": "The knob is nearly between the fingertips now, just a touch farther ahead. One more small forward nudge before closing the gripper."})
tool
executing move_to over 1 steps (0.1s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteKnob is still slightly ahead and a bit left of the gripper centerline in the wrist view. Advancing 1.5 cm forward and slightly left, lowering to knob height.
move_to
right_x0.4620right_y0.0340right_z-0.0030right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0586, 1.9484, 0.6266, 0.77, -0.0048, -0.0124, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4451 right_y=0.0305 right_z=0.0056 right_yaw=0.0613 right_pitch=0.0049 right_roll=-0.0082 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5385, 6.9949, 1.6825, -0.0757, -0.0659, -0.0073, -0.4991, -7.0769, 4.9026, 1.6337, 0.0024, -0.0611, -0.105] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.462, "right_y": 0.034, "right_z": -0.003, "right_gripper": 1}, "note": "Knob is still slightly ahead and a bit left of the gripper centerline in the wrist view. Advancing 1.5 cm forward and slightly left, lowering to knob height."})
tool
executing move_to over 2 steps (0.2s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe knob is almost between the fingertips but still a hair forward. One final ~1.3 cm advance at knob height, then I'll close the jaws.
move_to
right_x0.4720right_y0.0360right_z-0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0616, 1.9896, 0.6743, 0.7822, -0.0093, -0.012, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.999 right_x=0.4588 right_y=0.0335 right_z=0.0061 right_yaw=0.0681 right_pitch=0.0236 right_roll=-0.0056 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.4154, 7.0906, 1.6777, -0.0611, -0.0562, -0.0073, 0.5128, -6.735, 5.0393, 1.5165, 0.0366, 0.0171, -0.105] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.472, "right_y": 0.036, "right_z": -0.005, "right_gripper": 1}, "note": "The knob is almost between the fingertips but still a hair forward. One final ~1.3 cm advance at knob height, then I'll close the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe knob still sits about a centimeter beyond the fingertip line. Advancing one more small step so the knob is centered between the jaws, then I'll close.
move_to
right_x0.4830right_y0.0370right_z-0.0060right_gripper1.0000
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0285, 0.7074, 0.8104, -0.0135, -0.012, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4694 right_y=0.0358 right_z=0.0059 right_yaw=0.0736 right_pitch=0.0461 right_roll=-0.0036 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.4017, 6.9949, 1.6728, -0.0757, -0.0659, -0.0171, -0.0752, -7.0632, 5.0667, 1.4286, 0.0659, -0.0171, -0.105] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.483, "right_y": 0.037, "right_z": -0.006, "right_gripper": 1}, "note": "The knob still sits about a centimeter beyond the fingertip line. Advancing one more small step so the knob is centered between the jaws, then I'll close."})
tool
executing move_to over 2 steps (0.2s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe knob is essentially between the fingertips now. Advancing the last centimeter and closing the gripper on the knob in one motion.
move_to
right_x0.4920right_y0.0380right_z-0.0080right_gripper0.1500
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0682, 0.7452, 0.8391, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4813 right_y=0.0378 right_z=0.0066 right_yaw=0.0794 right_pitch=0.0728 right_roll=-0.0007 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.4291, 7.0632, 1.7021, -0.0317, -0.0806, -0.0073, -0.2803, -6.9402, 5.1077, 1.4139, 0.0562, -0.0366, -0.105] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.492, "right_y": 0.038, "right_z": -0.008, "right_gripper": 0.15}, "note": "The knob is essentially between the fingertips now. Advancing the last centimeter and closing the gripper on the knob in one motion."})
tool
executing move_to over 9 steps (0.9s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteGripper closed to 0.25 with elevated gripper effort, suggesting the knob is grasped. Lifting straight up to verify the blue piece comes with the gripper.
move_to
right_z0.1000right_gripper0.1500
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0643, 2.1201, 0.7826, 0.9024, -0.028, -0.0204, 0.2534] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4951 right_y=0.0404 right_z=0.0089 right_yaw=0.0913 right_pitch=0.1218 right_roll=-0.0059 right_gripper=0.2534 state[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.6825, -0.0806, -0.0659, -0.0073, -0.5265, -7.1863, 5.1761, 1.5849, 0.0073, 0.0122, 0.8278] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_gripper": 0.15}, "note": "Gripper closed to 0.25 with elevated gripper effort, suggesting the knob is grasped. Lifting straight up to verify the blue piece comes with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe blue piece lifted with the gripper—grasp is secure. The board with the circular groove is to the left in the top camera, so I'm moving the arm in +y toward the board while staying high.
move_to
right_x0.4700right_y0.2000right_z0.1000right_gripper0.1500
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8211, 0.6037, -0.3805, -0.0216, -0.0414, 0.9989, 0.065, 1.8549, 0.8246, 0.5797, -0.0315, -0.0242, 0.2435] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1722 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9989 right_x=0.4921 right_y=0.0412 right_z=0.079 right_yaw=0.0969 right_pitch=0.1062 right_roll=-0.0074 right_gripper=0.2435 state[joint_eff]: [-0.0889, -1.306, 6.9949, 1.7363, -0.0708, -0.0122, -0.0122, -0.4308, -10.7419, 7.8427, 1.7802, -0.0415, -0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.2, "right_z": 0.1, "right_gripper": 0.15}, "note": "The blue piece lifted with the gripper\u2014grasp is secure. The board with the circular groove is to the left in the top camera, so I'm moving the arm in +y toward the board while staying high."})
tool
executing move_to over 14 steps (1.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe piece is held securely; the top camera shows the board with the circular groove further left of the gripper. Continuing to move left (+y) to hover over the board.
move_to
right_x0.4600right_y0.2900right_z0.0900right_gripper0.1500
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8211, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.5095, 1.8668, 0.9493, 0.416, 0.3317, 0.1543, 0.2435] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1722 left_yaw=0.0029 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4642 right_y=0.1976 right_z=0.0927 right_yaw=0.1392 right_pitch=0.0849 right_roll=-0.0194 right_gripper=0.2435 state[joint_eff]: [-0.3624, -1.3744, 7.0359, 1.6728, -0.0806, -0.0757, -0.0073, 0.3761, -8.2667, 8.0615, 1.8535, 0.2466, 0.2125, 1.033] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.29, "right_z": 0.09, "right_gripper": 0.15}, "note": "The piece is held securely; the top camera shows the board with the circular groove further left of the gripper. Continuing to move left (+y) to hover over the board."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
Raw transcript
user
Current observation. Instruction: 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. state[joint_pos]: [-0.02, 0.8265, 0.6029, -0.382, -0.0216, -0.0418, 0.9989, 0.7029, 2.0132, 1.1553, 0.2974, 0.4679, 0.2363, 0.2435] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1701 left_yaw=0.0029 left_pitch=-0.0377 left_roll=-0.003 left_gripper=0.9989 right_x=0.4549 right_y=0.2856 right_z=0.0836 right_yaw=0.1781 right_pitch=0.0621 right_roll=-0.0345 right_gripper=0.2435 state[joint_eff]: [-0.2393, -1.6752, 7.0769, 1.7314, -0.0366, -0.0708, -0.0073, 0.4171, -9.6205, 8.4171, 1.7363, 0.3297, 0.1587, 1.0281] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
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 · 15.58 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]: [-0.0204, 0.7925, 0.6037, -0.379, -0.0216, -0.0372, 0.999, -0.0166, 0.7906, 0.609, -0.3752, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2958 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -1.3607, 10.3863, 1.8095, -0.0562, 0.2173, -0.1148, -0.8137, -1.1145, 9.8393, 1.7949, -0.0269, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03813bb2b0cb541252a7758916419d7efefa5b04b153131ddb0060512627a858"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8bf3bf8012ba6ae9c39feb48cc213621940a578e976273078545e4bc5ab1c5d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1296736bb54e0807fe6beb2707f3e3ce255c10c497ac66ce5b0fadbb5ba89003"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 03813bb2b0cb
wire blob c8bf3bf8012b
wire blob 1296736bb54e
call 1 attempt 0 · /chat/completions · status 200 · 51.58 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start by moving the right arm to a hover position and opening the gripper, so I can see where the end-effector sits relative to the blue puzzle piece in the cameras.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see a blue round piece with a wooden knob to the right of a white board with a circular groove. Moving the right arm forward and down to hover so I can localize the gripper relative to the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01At6zUpd525UKEvTLKrCKyB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01At6zUpd525UKEvTLKrCKyB"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6044, -0.3813, -0.0216, -0.0414, 0.999, -0.02, 1.1156, 0.4866, -0.0502, -0.0246, -0.0135, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1786 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.999 right_x=0.3295 right_y=0.0013 right_z=0.0987 right_yaw=0.0004 right_pitch=-0.1224 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4564, 6.9949, 1.7363, -0.0415, -0.0073, -0.022, -0.4308, -3.8359, 6.6393, 2.1074, -0.0611, -0.1001, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65961e6dcd94480858623c5454f2fd908bedbf1bce5487a685adebc4bc7bbc8e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:91899567c7ee23a74acb008cee6624b646b2641c1b022d2e38822debe1061781"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be265c95a7cd63371dd4bc4261ebcfda9375e3ce211c46b05a499c73c7045ee2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 65961e6dcd94
wire blob 91899567c7ee
wire blob be265c95a7cd
call 2 attempt 0 · /chat/completions · status 200 · 9.84 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]: [-0.0204, 0.7925, 0.6037, -0.379, -0.0216, -0.0372, 0.999, -0.0166, 0.7906, 0.609, -0.3752, -0.0208, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2958 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -1.3607, 10.3863, 1.8095, -0.0562, 0.2173, -0.1148, -0.8137, -1.1145, 9.8393, 1.7949, -0.0269, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "The piece (blue disc with wooden knob) is ahead of the right gripper. I'll probe by moving closer and lower to see the gripper relative to the piece in the cameras.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.02, \"right_z\": 0.06, \"right_gripper\": 1}, \"note\": \"The right wrist camera shows the blue piece with its knob roughly centered ahead of the arm. Moving forward and down toward the piece to judge alignment before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SsomFAd2BPSWyPyVsVbwQe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01SsomFAd2BPSWyPyVsVbwQe"
}
{
  "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, 0.8032, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0551, 1.4487, 0.5049, 0.1555, 0.0113, 0.0147, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0028 left_pitch=-0.0126 left_roll=-0.0036 left_gripper=0.999 right_x=0.3536 right_y=0.0211 right_z=0.036 right_yaw=0.0293 right_pitch=-0.2316 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.388, 7.4325, 1.6972, -0.0855, -0.0415, -0.0171, 0.2256, -6.3111, 8.5538, 2.2198, 0.1978, 0.1245, -0.1099]\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,$blob:4201933c79755501d580ed905271d350ed9524a73f05101add51aab204071c7b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cd7cfed69c1cf158a08fe715e123e08cf235635c1adadb5e3c59c72562b286cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c294f0570ff80398c333dae4968343908b9e28046368ca9cb98f37cce353d1b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4201933c7975
wire blob cd7cfed69c1c
wire blob 9c294f0570ff
call 3 attempt 0 · /chat/completions · status 200 · 7.261 s
model
claude-fable-5
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7986, 0.6044, -0.3813, -0.0216, -0.0414, 0.999, -0.02, 1.1156, 0.4866, -0.0502, -0.0246, -0.0135, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1786 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.999 right_x=0.3295 right_y=0.0013 right_z=0.0987 right_yaw=0.0004 right_pitch=-0.1224 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4564, 6.9949, 1.7363, -0.0415, -0.0073, -0.022, -0.4308, -3.8359, 6.6393, 2.1074, -0.0611, -0.1001, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.025, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"Wrist cam shows the knob nearly centered between the fingers but still slightly ahead. Moving forward and down so the knob sits between the open jaws at grasping height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EhD6SuRp4vcL1bHpocuDTK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01EhD6SuRp4vcL1bHpocuDTK"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0586, 1.4769, 0.4728, 0.2436, 0.017, 0.0139, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.999 right_x=0.3556 right_y=0.0214 right_z=0.0305 right_yaw=0.0284 right_pitch=-0.2037 right_roll=-0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 7.0496, 1.6972, -0.0806, -0.0562, -0.0171, -0.4034, -5.3675, 5.7231, 1.7753, -0.0904, -0.0562, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a126b575a8e747d057e579b776f1de28a74e6d3fb24a510a9154c7a184c3c65"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:963e820217b332ea4e998523b34aee307ce9325f17b923114d9ceb0619712bb2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae29385baa980c31e611848fd14a71fb45ea354e14c2a2797fe5e0029cc12cba"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8a126b575a8e
wire blob 963e820217b3
wire blob ae29385baa98
call 4 attempt 0 · /chat/completions · status 200 · 9.609 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, 0.8032, 0.6041, -0.3813, -0.0216, -0.0418, 0.999, 0.0551, 1.4487, 0.5049, 0.1555, 0.0113, 0.0147, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0028 left_pitch=-0.0126 left_roll=-0.0036 left_gripper=0.999 right_x=0.3536 right_y=0.0211 right_z=0.036 right_yaw=0.0293 right_pitch=-0.2316 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.388, 7.4325, 1.6972, -0.0855, -0.0415, -0.0171, 0.2256, -6.3111, 8.5538, 2.2198, 0.1978, 0.1245, -0.1099]\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\": 0.025, \"right_z\": 0.02, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The arm only moved a little; the knob is still slightly ahead and left of the gripper center in the wrist view. Continuing forward and down in a smaller step to bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01L33iCHD4xGyK6j7gBCLi5q",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01L33iCHD4xGyK6j7gBCLi5q"
}
{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9989, 0.0616, 1.7348, 0.4538, 0.6075, 0.0231, 0.0017, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3828 right_y=0.0231 right_z=0.0011 right_yaw=0.0331 right_pitch=-0.1166 right_roll=-0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4291, 7.0359, 1.7167, -0.0611, -0.022, -0.0171, 0.1573, -6.0376, 4.2051, 1.9219, 0.0562, 0.1392, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2682b0f58b05b0079ff085b5646a1eaafb283cc94d3c735958f140125a5eae65"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe20869ff1e84e49c62d0346263e33b1f1c73ed174367cc4dbd250133951d293"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30dad9f7c0d2503c45d041cb64261a437780efdaba37916c4c617b5e50f9ba1b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2682b0f58b05
wire blob fe20869ff1e8
wire blob 30dad9f7c0d2
call 5 attempt 0 · /chat/completions · status 200 · 7.952 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, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0586, 1.4769, 0.4728, 0.2436, 0.017, 0.0139, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.999 right_x=0.3556 right_y=0.0214 right_z=0.0305 right_yaw=0.0284 right_pitch=-0.2037 right_roll=-0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 7.0496, 1.6972, -0.0806, -0.0562, -0.0171, -0.4034, -5.3675, 5.7231, 1.7753, -0.0904, -0.0562, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.023, \"right_z\": 0.02, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"Wrist cam shows the knob just ahead of the fingertips, centered laterally. Moving slightly forward and up to knob height so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AacL5vdJFt8NQPcQz3Lhfe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01AacL5vdJFt8NQPcQz3Lhfe"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7615, 0.4519, 0.7013, 0.0216, -0.0013, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3931 right_y=0.0236 right_z=0.0092 right_yaw=0.035 right_pitch=-0.0514 right_roll=-0.014 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.1556, 7.2, 1.7265, -0.0855, -0.0806, -0.0073, -0.5812, -5.2991, 6.3111, 2.1465, -0.0269, -0.0611, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac29d6dfe464a082ea9769b9a406f762ba80b4691a6bd92e47176191eab166a0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31263a619d62b29e76a7e418ac6a781d513e9d1da4e89e9764df6273fd1be480"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e09f9702a3484101673d76a0d7ecdd33232381e0b04f37d34b3b9005446d5f0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ac29d6dfe464
wire blob 31263a619d62
wire blob 4e09f9702a34
call 6 attempt 0 · /chat/completions · status 200 · 6.397 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, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9989, 0.0616, 1.7348, 0.4538, 0.6075, 0.0231, 0.0017, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3828 right_y=0.0231 right_z=0.0011 right_yaw=0.0331 right_pitch=-0.1166 right_roll=-0.0142 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4291, 7.0359, 1.7167, -0.0611, -0.022, -0.0171, 0.1573, -6.0376, 4.2051, 1.9219, 0.0562, 0.1392, -0.105]\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\": 0.42, \"right_y\": 0.028, \"right_z\": 0.01, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"Knob is still just beyond the fingertips and slightly left in the wrist view. Advancing forward ~2 cm and slightly left, dropping to grasp height around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_015F23puU77mFvyTkwevhUEw",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015F23puU77mFvyTkwevhUEw"
}
{
  "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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.3197, 7.0496, 1.6972, -0.0513, -0.0659, -0.0073, -0.4308, -5.7504, 5.7641, 2.0098, -0.0415, 0.0073, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a1bf0a90ce3aa4209e5b82d3919fcbbda8d435c95b0efb29bde6aecfad64e8d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c2edb01e0bbacfae719c86c0ee490ce696735d54ab870a09e2b9312ffe5079b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:71ac55b0eba958cbd34fff8c6d839d7528c53b8d13b69e51ad774a7d532cd0f4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9a1bf0a90ce3
wire blob 0c2edb01e0bb
wire blob 71ac55b0eba9
call 7 attempt 0 · /chat/completions · status 200 · 12.25 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7615, 0.4519, 0.7013, 0.0216, -0.0013, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3931 right_y=0.0236 right_z=0.0092 right_yaw=0.035 right_pitch=-0.0514 right_roll=-0.014 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.1556, 7.2, 1.7265, -0.0855, -0.0806, -0.0073, -0.5812, -5.2991, 6.3111, 2.1465, -0.0269, -0.0611, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.028, \"right_z\": 0.005, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The arm barely advanced; the knob remains just past the fingertips and centered. Pushing forward another ~3.5 cm and down slightly so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YBGYczNZeHwuJbdLvtvvZg",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01YBGYczNZeHwuJbdLvtvvZg"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.347, 7.1316, 1.7656, -0.0513, -0.0269, -0.0073, -0.6222, -5.9692, 5.7641, 2.0195, -0.0366, 0.0366, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c6d054083dca4147f02737ac4aa9e8dc52d15314ecbabc752ea15df4959c9684"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23bbfe78737fdbcf820e9996e44c57af5691c5e6907a82c045bc2e4f5488dad0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b4413b8ddca60cba7eca3f534a9f7811a179ea628b8b902a2b19e5fd76ce117"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c6d054083dca
wire blob 23bbfe78737f
wire blob 0b4413b8ddca
call 8 attempt 0 · /chat/completions · status 200 · 11.69 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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.3197, 7.0496, 1.6972, -0.0513, -0.0659, -0.0073, -0.4308, -5.7504, 5.7641, 2.0098, -0.0415, 0.0073, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.024, \"right_z\": 0.003, \"right_gripper\": 1}, \"note\": \"The arm didn't move at all last step\\u2014possibly the pitch constraint made the IK hold. Retrying a smaller forward/down step without commanding pitch so the wrist can tilt as needed to reach the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VAeusUnZ3bqVDMq7W3i8W7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01VAeusUnZ3bqVDMq7W3i8W7"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0216, -0.009, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0237 right_z=0.0115 right_yaw=0.0391 right_pitch=-0.0377 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3197, 7.1863, 1.7167, -0.0513, -0.0708, -0.0073, -0.6085, -5.9556, 5.9282, 1.9756, -0.0464, -0.0317, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d478ebae2b3498b3251e3a7bea361ad48466296501c13d4eb28ad45c7fe8ff55"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a172b620439c6bbde84104b473bedf4125f2511fa8ad2edab59138a99aaffa1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee32c68d0ade4b68e07f8b178e1748a526c435bb0a04ce365b0e0643afb2c0ab"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d478ebae2b34
wire blob 8a172b620439
wire blob ee32c68d0ade
call 9 attempt 0 · /chat/completions · status 200 · 8.623 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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0212, -0.0086, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0238 right_z=0.0115 right_yaw=0.0392 right_pitch=-0.0377 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.347, 7.1316, 1.7656, -0.0513, -0.0269, -0.0073, -0.6222, -5.9692, 5.7641, 2.0195, -0.0366, 0.0366, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.024, \"right_z\": 0.08, \"right_gripper\": 1}, \"note\": \"The arm appears stuck; IK isn't tracking the low forward target. Lifting up to z=0.08 while moving over the knob position, so I can then descend straight down onto it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01N2H1X42WgeuHxrvR96DdCB",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01N2H1X42WgeuHxrvR96DdCB"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.6138, 0.6083, 0.4862, 0.0174, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4268 right_y=0.0264 right_z=0.0787 right_yaw=0.0447 right_pitch=0.0374 right_roll=-0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.6923, -0.0757, -0.0366, -0.0073, -0.7043, -6.9949, 5.4632, 1.326, -0.0269, 0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b598ad832e660ac1c90f832e3a575364be3221f894a222e611562fa2e0b1249"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3803eb1f1bb7242801b73c8582d1694da3fe939739a500fad5989bf7d058c656"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4827187a94472ea74f1defee23aa2e4cb4f9cb77ddba705b4a935f462d3e88b0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9b598ad832e6
wire blob 3803eb1f1bb7
wire blob 4827187a9447
call 10 attempt 0 · /chat/completions · status 200 · 9.283 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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.7649, 0.4522, 0.7181, 0.0216, -0.009, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0183 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3953 right_y=0.0237 right_z=0.0115 right_yaw=0.0391 right_pitch=-0.0377 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.3197, 7.1863, 1.7167, -0.0513, -0.0708, -0.0073, -0.6085, -5.9556, 5.9282, 1.9756, -0.0464, -0.0317, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.427, \"right_y\": 0.026, \"right_z\": 0.015, \"right_gripper\": 1}, \"note\": \"The wrist camera now looks down with the knob centered between the two fingertips. Descending straight down to knob-grasp height with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W2tfdEMqcggH75qtfYAAxq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01W2tfdEMqcggH75qtfYAAxq"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0589, 1.8557, 0.5346, 0.7288, 0.0124, -0.0109, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.0029 left_pitch=-0.0267 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4169 right_y=0.026 right_z=0.0052 right_yaw=0.0463 right_pitch=-0.0355 right_roll=-0.0164 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.6777, -0.0708, -0.0513, -0.0073, 0.0479, -6.735, 4.2598, 1.7167, 0.0415, -0.1441, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a177431d639f041988abf76ef9503919e544c92c053883fa4c18315dbb82783"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:17cba8f8a0c41c0d963dace0505ac1e9e744501da6411e67d2b925c5172c6105"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a84f5bcc0c693e4d2133570cf4d2dd5b20a67deb889204428b982c45cf2cb46"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 9a177431d639
wire blob 17cba8f8a0c4
wire blob 3a84f5bcc0c6
call 11 attempt 0 · /chat/completions · status 200 · 8.524 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, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0605, 1.6138, 0.6083, 0.4862, 0.0174, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4268 right_y=0.0264 right_z=0.0787 right_yaw=0.0447 right_pitch=0.0374 right_roll=-0.0196 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.6923, -0.0757, -0.0366, -0.0073, -0.7043, -6.9949, 5.4632, 1.326, -0.0269, 0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.432, \"right_y\": 0.026, \"right_z\": 0.002, \"right_gripper\": 1}, \"note\": \"Wrist cam shows the knob just ahead of the fingertips, centered laterally. Nudging forward ~1.5 cm and slightly down so the jaws straddle the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LuNEtcVimaqaFvgXhkk9EA",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01LuNEtcVimaqaFvgXhkk9EA"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.8908, 0.561, 0.7597, 0.0055, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0029 left_pitch=-0.0274 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4267 right_y=0.0276 right_z=0.006 right_yaw=0.0528 right_pitch=-0.0134 right_roll=-0.014 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4838, 6.9949, 1.6777, -0.0611, -0.0708, -0.0122, -0.5949, -6.8991, 5.9966, 1.7753, 0.0073, -0.0659, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:084df34128abaa1e2cf136882af9c8d279b630e38a824401cd59c709c21826c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52c3ae8017fe559056698e47b74ddba64a2c1ff265a21924e9a58a4712bae723"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d01a04e330792bce8ad73e0e374a8f48afba91ffb3bf9faa8af33616a48094d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 084df34128ab
wire blob 52c3ae8017fe
wire blob 4d01a04e3307
call 12 attempt 0 · /chat/completions · status 200 · 5.694 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, 0.8173, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0589, 1.8557, 0.5346, 0.7288, 0.0124, -0.0109, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.0029 left_pitch=-0.0267 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4169 right_y=0.026 right_z=0.0052 right_yaw=0.0463 right_pitch=-0.0355 right_roll=-0.0164 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.6777, -0.0708, -0.0513, -0.0073, 0.0479, -6.735, 4.2598, 1.7167, 0.0415, -0.1441, -0.105]\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\": 0.445, \"right_y\": 0.028, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The knob sits just beyond the fingertips in the wrist view. Advancing about 2 cm more so the knob is fully between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Eru7ZqhXBFauvhiwjsQug9",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Eru7ZqhXBFauvhiwjsQug9"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.9274, 0.6094, 0.7536, -0.0048, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4391 right_y=0.0302 right_z=0.0054 right_yaw=0.0613 right_pitch=-0.0077 right_roll=-0.0081 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5658, 7.0359, 1.6679, -0.0757, -0.0562, -0.0073, -0.4718, -6.5026, 5.135, 1.6386, 0.0562, -0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da44f0b4866744c3ed8e343821afd8d165f6f5b8456fe08cb5eb5d7e5ccebf7e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c3154f78fd2053790ff48a7daa2526066a77a7d3b4633a08e8dc73323eb0da94"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bdc950abe9c7560143e3494f30484fa0adda9a97bf725ced3a92798563de3a07"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob da44f0b48667
wire blob c3154f78fd20
wire blob bdc950abe9c7
call 13 attempt 0 · /chat/completions · status 200 · 6.828 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, 0.8181, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.8908, 0.561, 0.7597, 0.0055, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.0029 left_pitch=-0.0274 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4267 right_y=0.0276 right_z=0.006 right_yaw=0.0528 right_pitch=-0.0134 right_roll=-0.014 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4838, 6.9949, 1.6777, -0.0611, -0.0708, -0.0122, -0.5949, -6.8991, 5.9966, 1.7753, 0.0073, -0.0659, -0.105]\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\": 0.452, \"right_y\": 0.031, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The knob is nearly between the fingertips now, just a touch farther ahead. One more small forward nudge before closing the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NvV1A9V5bzGfnvbmShJkVy",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01NvV1A9V5bzGfnvbmShJkVy"
}
{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0586, 1.9484, 0.6266, 0.77, -0.0048, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4451 right_y=0.0305 right_z=0.0056 right_yaw=0.0613 right_pitch=0.0049 right_roll=-0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 6.9949, 1.6825, -0.0757, -0.0659, -0.0073, -0.4991, -7.0769, 4.9026, 1.6337, 0.0024, -0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f4ad95f2d2262fe441ac1e651c455e7af565667a0217b2871bdee6d95ecaa853"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65917d035abe392ad7dcef07076a5db65b119d7b07a551f6d1daee6e05221d59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31dfd01902753e401b3e190b5397c9cd0c13fdef7894f93e7fcd464841b24223"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f4ad95f2d226
wire blob 65917d035abe
wire blob 31dfd0190275
call 14 attempt 0 · /chat/completions · status 200 · 6.396 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0586, 1.9274, 0.6094, 0.7536, -0.0048, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4391 right_y=0.0302 right_z=0.0054 right_yaw=0.0613 right_pitch=-0.0077 right_roll=-0.0081 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5658, 7.0359, 1.6679, -0.0757, -0.0562, -0.0073, -0.4718, -6.5026, 5.135, 1.6386, 0.0562, -0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.462, \"right_y\": 0.034, \"right_z\": -0.003, \"right_gripper\": 1}, \"note\": \"Knob is still slightly ahead and a bit left of the gripper centerline in the wrist view. Advancing 1.5 cm forward and slightly left, lowering to knob height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TyxDy5Jw6tiDa7fF19dhAR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01TyxDy5Jw6tiDa7fF19dhAR"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0616, 1.9896, 0.6743, 0.7822, -0.0093, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.999 right_x=0.4588 right_y=0.0335 right_z=0.0061 right_yaw=0.0681 right_pitch=0.0236 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4154, 7.0906, 1.6777, -0.0611, -0.0562, -0.0073, 0.5128, -6.735, 5.0393, 1.5165, 0.0366, 0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1cb2da8254da0582d999d9e31bc54d2005d281f7ffffa648ba7ba33f33a644b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:083d956fe4f173db598f89e6b5fafc617f7c5439073940ec1a6b97a71db3e48e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:115ed0ce1d27d4113fad0e7d1c2010ddcc12e9e101799d54272b747d97e35a48"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a1cb2da8254d
wire blob 083d956fe4f1
wire blob 115ed0ce1d27
call 15 attempt 0 · /chat/completions · status 200 · 10.43 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, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0586, 1.9484, 0.6266, 0.77, -0.0048, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4451 right_y=0.0305 right_z=0.0056 right_yaw=0.0613 right_pitch=0.0049 right_roll=-0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5385, 6.9949, 1.6825, -0.0757, -0.0659, -0.0073, -0.4991, -7.0769, 4.9026, 1.6337, 0.0024, -0.0611, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.472, \"right_y\": 0.036, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob is almost between the fingertips but still a hair forward. One final ~1.3 cm advance at knob height, then I'll close the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_018VJTmtrUNWTmu6R4HWspBa",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_018VJTmtrUNWTmu6R4HWspBa"
}
{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0285, 0.7074, 0.8104, -0.0135, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4694 right_y=0.0358 right_z=0.0059 right_yaw=0.0736 right_pitch=0.0461 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4017, 6.9949, 1.6728, -0.0757, -0.0659, -0.0171, -0.0752, -7.0632, 5.0667, 1.4286, 0.0659, -0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c83268073177473ef3c0d7a8add3c69d6c552b90179ebeacafabf2bcb8a92059"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7e9f4881734a4f60cfa025eaf5fdcaa6f27b94b7bff5cc5b08650818c3306835"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:30b4171cc6868d4d8fe245d013b74f251ad349a08414bc14427088f3598173d0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c83268073177
wire blob 7e9f4881734a
wire blob 30b4171cc686
call 16 attempt 0 · /chat/completions · status 200 · 7.671 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, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0616, 1.9896, 0.6743, 0.7822, -0.0093, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.999 right_x=0.4588 right_y=0.0335 right_z=0.0061 right_yaw=0.0681 right_pitch=0.0236 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4154, 7.0906, 1.6777, -0.0611, -0.0562, -0.0073, 0.5128, -6.735, 5.0393, 1.5165, 0.0366, 0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.483, \"right_y\": 0.037, \"right_z\": -0.006, \"right_gripper\": 1}, \"note\": \"The knob still sits about a centimeter beyond the fingertip line. Advancing one more small step so the knob is centered between the jaws, then I'll close.\"}",
        "name": "move_to"
      },
      "id": "toolu_015tS9yu1wYjDRRPacpvbiZc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_015tS9yu1wYjDRRPacpvbiZc"
}
{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0682, 0.7452, 0.8391, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4813 right_y=0.0378 right_z=0.0066 right_yaw=0.0794 right_pitch=0.0728 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4291, 7.0632, 1.7021, -0.0317, -0.0806, -0.0073, -0.2803, -6.9402, 5.1077, 1.4139, 0.0562, -0.0366, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:261871370757377797b314de734b2963e13e21c1a2bbc48d132750dc694f8477"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3958fd7f98e7b347e62313cf1a1e1ab6447637ab4070c9749f46a36b0b2e3d84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f290a887da7ea14fd73b750ed56410f12a7e5b83f3d5ce0473a3e61e8576828"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 261871370757
wire blob 3958fd7f98e7
wire blob 4f290a887da7
call 17 attempt 0 · /chat/completions · status 200 · 6.324 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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0285, 0.7074, 0.8104, -0.0135, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4694 right_y=0.0358 right_z=0.0059 right_yaw=0.0736 right_pitch=0.0461 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4017, 6.9949, 1.6728, -0.0757, -0.0659, -0.0171, -0.0752, -7.0632, 5.0667, 1.4286, 0.0659, -0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.492, \"right_y\": 0.038, \"right_z\": -0.008, \"right_gripper\": 0.15}, \"note\": \"The knob is essentially between the fingertips now. Advancing the last centimeter and closing the gripper on the knob in one motion.\"}",
        "name": "move_to"
      },
      "id": "toolu_011kq4qUrcZT2JXhUu6hGJcY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_011kq4qUrcZT2JXhUu6hGJcY"
}
{
  "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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0643, 2.1201, 0.7826, 0.9024, -0.028, -0.0204, 0.2534]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4951 right_y=0.0404 right_z=0.0089 right_yaw=0.0913 right_pitch=0.1218 right_roll=-0.0059 right_gripper=0.2534\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.6825, -0.0806, -0.0659, -0.0073, -0.5265, -7.1863, 5.1761, 1.5849, 0.0073, 0.0122, 0.8278]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ad7e0f382d4c46c03faae74fc1d5eefa616a8ad788e76370e889fdbc931b4ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d0a245b04e8a922bc30405712d5fcd0a3496f943cf31dcb5ce15d0d33ed2e07f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64686f605cd4027b6ee355a415b46d5fd42d150dce0c78c8ecf588e352f1037b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5ad7e0f382d4
wire blob d0a245b04e8a
wire blob 64686f605cd4
call 18 attempt 0 · /chat/completions · status 200 · 13.21 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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9989, 0.0635, 2.0682, 0.7452, 0.8391, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4813 right_y=0.0378 right_z=0.0066 right_yaw=0.0794 right_pitch=0.0728 right_roll=-0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4291, 7.0632, 1.7021, -0.0317, -0.0806, -0.0073, -0.2803, -6.9402, 5.1077, 1.4139, 0.0562, -0.0366, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.1, \"right_gripper\": 0.15}, \"note\": \"Gripper closed to 0.25 with elevated gripper effort, suggesting the knob is grasped. Lifting straight up to verify the blue piece comes with the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_015f7RRfdm4hzzQPb4BCDgwb",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_015f7RRfdm4hzzQPb4BCDgwb"
}
{
  "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, 0.8211, 0.6037, -0.3805, -0.0216, -0.0414, 0.9989, 0.065, 1.8549, 0.8246, 0.5797, -0.0315, -0.0242, 0.2435]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1722 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9989 right_x=0.4921 right_y=0.0412 right_z=0.079 right_yaw=0.0969 right_pitch=0.1062 right_roll=-0.0074 right_gripper=0.2435\nstate[joint_eff]: [-0.0889, -1.306, 6.9949, 1.7363, -0.0708, -0.0122, -0.0122, -0.4308, -10.7419, 7.8427, 1.7802, -0.0415, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79738072d6eafb23b67e7a35d10a72a7fe8003ed3ed9d5e7546c85daa9a5ffe9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5eb0777eb49d2712e4a99bd80ce42c9252d6581724c7d3700a5b716b255bf1ae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3210a5278af095c407a3ee1b318811eb23b9faf11816676785ef76b964968d68"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 79738072d6ea
wire blob 5eb0777eb49d
wire blob 3210a5278af0
call 19 attempt 0 · /chat/completions · status 200 · 10.47 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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0643, 2.1201, 0.7826, 0.9024, -0.028, -0.0204, 0.2534]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4951 right_y=0.0404 right_z=0.0089 right_yaw=0.0913 right_pitch=0.1218 right_roll=-0.0059 right_gripper=0.2534\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.6825, -0.0806, -0.0659, -0.0073, -0.5265, -7.1863, 5.1761, 1.5849, 0.0073, 0.0122, 0.8278]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.47, \"right_y\": 0.2, \"right_z\": 0.1, \"right_gripper\": 0.15}, \"note\": \"The blue piece lifted with the gripper\\u2014grasp is secure. The board with the circular groove is to the left in the top camera, so I'm moving the arm in +y toward the board while staying high.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TquESQ8nrzePBnW77PZBWh",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01TquESQ8nrzePBnW77PZBWh"
}
{
  "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, 0.8211, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.5095, 1.8668, 0.9493, 0.416, 0.3317, 0.1543, 0.2435]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1722 left_yaw=0.0029 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.9989 right_x=0.4642 right_y=0.1976 right_z=0.0927 right_yaw=0.1392 right_pitch=0.0849 right_roll=-0.0194 right_gripper=0.2435\nstate[joint_eff]: [-0.3624, -1.3744, 7.0359, 1.6728, -0.0806, -0.0757, -0.0073, 0.3761, -8.2667, 8.0615, 1.8535, 0.2466, 0.2125, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:09e48e9e1379c128e0b7144f2fa91ede0055cad3d5d2dc6c3cc31b5ca4f8575c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83b6672559bedd966b5e19a7594a57e666ad1524ee2e781cf471bc8caa608dc6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c04ec2d88b30eee99ad03c1dffac10db77d1f17224b0caef0b82aab973041d1a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 09e48e9e1379
wire blob 83b6672559be
wire blob c04ec2d88b30