adhoc

completed
2026-09-03T02:15:29.620508+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-5-1
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
448.9 s
total steps
138
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
agent noteThe right wrist camera shows the blue puzzle piece with its wooden knob slightly below-left of image center, so the piece is roughly under the gripper. Lowering the right arm to get a closer view and calibrate the camera-to-gripper offset before grasping.
move_to
right_z0.1000
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, 0.7925, 0.6041, -0.379, -0.0216, -0.0372, 0.9992, -0.0154, 0.7921, 0.6102, -0.3756, -0.0204, -0.0151, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6359, -1.388, 10.4, 1.8046, -0.0464, 0.2369, -0.0952, -0.9231, -1.1966, 9.8803, 1.6972, -0.0366, -0.0317, -0.105] 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
move_to({"targets": {"right_z": 0.1}, "note": "The right wrist camera shows the blue puzzle piece with its wooden knob slightly below-left of image center, so the piece is roughly under the gripper. Lowering the right arm to get a closer view and calibrate the camera-to-gripper offset before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe knob now appears clearly up-left of the gripper fingers in the right wrist camera, meaning the piece is a bit forward and left of the grasp point. Moving forward and slightly left while lowering to refine alignment.
move_to
right_x0.3200right_y0.0200right_z0.0500
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, 0.7994, 0.6048, -0.3801, -0.0216, -0.0414, 0.9992, -0.0181, 0.8505, 0.308, -0.094, -0.0208, -0.0147, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1788 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.9992 right_x=0.2853 right_y=0.0021 right_z=0.0889 right_yaw=-0.0025 right_pitch=-0.079 right_roll=0.0018 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.7846, 6.9949, 1.7411, -0.0513, -0.0269, -0.0171, 0.0752, -1.265, 7.2547, 1.956, -0.022, -0.0513, -0.022] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.02, "right_z": 0.05}, "note": "The knob now appears clearly up-left of the gripper fingers in the right wrist camera, meaning the piece is a bit forward and left of the grasp point. Moving forward and slightly left while lowering to refine alignment."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe knob is still ahead of the fingers in the wrist camera and the tool pitch has sagged to -0.18, tilting the view. Pushing further forward, lowering to grasp height, and commanding pitch back to zero.
move_to
right_x0.3500right_y0.0200right_z0.0300right_pitch0.0000
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, 0.8043, 0.6041, -0.382, -0.0216, -0.0418, 0.9992, 0.075, 1.187, 0.2829, 0.1684, 0.0238, 0.0166, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1767 left_yaw=0.0028 left_pitch=-0.0152 left_roll=-0.0035 left_gripper=0.9992 right_x=0.302 right_y=0.0221 right_z=0.036 right_yaw=0.0355 right_pitch=-0.178 right_roll=-0.0035 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.1692, 7.1863, 1.7705, -0.0513, -0.0611, -0.0171, -0.0752, -5.1214, 5.9692, 2.1221, 0.1685, 0.1441, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.35, "right_y": 0.02, "right_z": 0.03, "right_pitch": 0.0}, "note": "The knob is still ahead of the fingers in the wrist camera and the tool pitch has sagged to -0.18, tilting the view. Pushing further forward, lowering to grasp height, and commanding pitch back to zero."})
tool
executing move_to over 6 steps (0.6s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe gripper is nearly at table height but the knob is still ~6 cm ahead of the fingertips in the wrist view. Raising slightly to clear the piece and moving further forward so the knob sits between the jaws.
move_to
right_x0.4000right_y0.0200right_z0.0500right_pitch0.0000
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, 0.8066, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, 0.0563, 1.5105, 0.2604, 0.5743, 0.0055, -0.0006, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3302 right_y=0.0212 right_z=0.0078 right_yaw=0.0419 right_pitch=-0.1184 right_roll=-0.0031 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.4154, 7.0769, 1.6874, -0.0562, -0.0464, -0.0171, -0.7726, -4.7111, 5.2718, 2.0488, 0.0562, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.02, "right_z": 0.05, "right_pitch": 0.0}, "note": "The gripper is nearly at table height but the knob is still ~6 cm ahead of the fingertips in the wrist view. Raising slightly to clear the piece and moving further forward so the knob sits between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe knob is now visible just between and slightly ahead of the two jaws in the wrist camera. Nudging forward a couple of centimeters and lowering so the fingertips straddle the knob.
move_to
right_x0.4150right_y0.0250right_z0.0200right_pitch0.0000
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, 0.8078, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0444, 1.6058, 0.4549, 0.5652, -0.0055, -0.0128, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1759 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3891 right_y=0.0219 right_z=0.0403 right_yaw=0.0461 right_pitch=-0.0283 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.388, 7.0496, 1.7021, -0.0464, -0.0317, -0.0171, -0.9368, -5.6137, 6.4479, 1.7607, -0.0806, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.025, "right_z": 0.02, "right_pitch": 0.0}, "note": "The knob is now visible just between and slightly ahead of the two jaws in the wrist camera. Nudging forward a couple of centimeters and lowering so the fingertips straddle the knob."})
tool
executing move_to over 2 steps (0.2s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe knob is now between the jaws but offset to the image-left, roughly 2-3 cm; assuming image-left is +y for this camera, shift left ~2 cm and lower to grasp height around the knob.
move_to
right_x0.4100right_y0.0450right_z0.0080right_pitch0.0000
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, 0.8062, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0475, 1.7283, 0.498, 0.6472, -0.0048, -0.0132, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4052 right_y=0.0237 right_z=0.0262 right_yaw=0.0487 right_pitch=-0.0256 right_roll=-0.0066 right_gripper=0.9991 state[joint_eff]: [-0.2256, -0.9504, 7.241, 1.7411, -0.0855, -0.0757, -0.0171, 0.4581, -7.1863, 4.3009, 1.8242, 0.0366, 0.0171, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.045, "right_z": 0.008, "right_pitch": 0.0}, "note": "The knob is now between the jaws but offset to the image-left, roughly 2-3 cm; assuming image-left is +y for this camera, shift left ~2 cm and lower to grasp height around the knob."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe arm only reached y=0.025 and the knob still sits toward the left jaw in the wrist view, so the lateral shift didn't complete. Re-commanding the leftward shift to center the knob between the jaws at grasp height.
move_to
right_x0.4100right_y0.0500right_z0.0050right_pitch0.0000
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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999 state[joint_eff]: [-0.3214, -1.6342, 7.2547, 1.6923, -0.0464, -0.0757, -0.0171, -0.1983, -7.4462, 4.7658, 2.0293, -0.0024, -0.0269, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.05, "right_z": 0.005, "right_pitch": 0.0}, "note": "The arm only reached y=0.025 and the knob still sits toward the left jaw in the wrist view, so the lateral shift didn't complete. Re-commanding the leftward shift to center the knob between the jaws at grasp height."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe arm did not move at all on the last command, likely because a fingertip is resting on the piece or table at z≈0.008. Lifting to 3 cm while shifting left so the jaws can be re-centered over the knob without dragging the piece.
move_to
right_x0.4100right_y0.0500right_z0.0300right_pitch0.0000
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, 0.812, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1747 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999 state[joint_eff]: [0.0479, -1.388, 7.0222, 1.6923, -0.0611, -0.0855, -0.0171, -0.1026, -7.4872, 4.8068, 2.0244, -0.022, -0.0317, -0.0122] 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": 0.41, "right_y": 0.05, "right_z": 0.03, "right_pitch": 0.0}, "note": "The arm did not move at all on the last command, likely because a fingertip is resting on the piece or table at z\u22480.008. Lifting to 3 cm while shifting left so the jaws can be re-centered over the knob without dragging the piece."})
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 has been stuck at the same pose for two commands, suggesting the IK rejected the target. Trying a smaller, more conservative step (back 1 cm, left 1 cm, up 2 cm) without a pitch command to get it moving again.
move_to
right_x0.4000right_y0.0350right_z0.0300
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, 0.812, 0.6037, -0.3805, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0051, -0.0116, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.025 right_z=0.0084 right_yaw=0.0508 right_pitch=-0.0474 right_roll=-0.0051 right_gripper=0.999 state[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.6874, -0.0904, -0.0562, -0.0171, -0.212, -7.6513, 4.9709, 2.0635, -0.0171, -0.0513, -0.0122] 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": 0.4, "right_y": 0.035, "right_z": 0.03}, "note": "The arm has been stuck at the same pose for two commands, suggesting the IK rejected the target. Trying a smaller, more conservative step (back 1 cm, left 1 cm, up 2 cm) without a pitch command to get it moving again."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe right arm has been frozen at the same joint configuration for three commands, so the controller seems stuck near a joint limit. Commanding a clear retreat upward and back toward a known-reachable pose to unstick it before re-approaching.
move_to
right_x0.3800right_y0.0200right_z0.0800
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, 0.6018, -0.3813, -0.0216, -0.0418, 0.9992, 0.0502, 1.808, 0.5064, 0.6991, -0.0048, -0.0116, 0.999] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1721 left_yaw=0.0029 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4077 right_y=0.0249 right_z=0.0087 right_yaw=0.0505 right_pitch=-0.0451 right_roll=-0.0053 right_gripper=0.999 state[joint_eff]: [-0.2393, -1.7573, 7.1863, 1.6972, -0.0855, -0.0366, -0.0171, -0.212, -7.665, 4.8615, 2.0049, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.02, "right_z": 0.08}, "note": "The right arm has been frozen at the same joint configuration for three commands, so the controller seems stuck near a joint limit. Commanding a clear retreat upward and back toward a known-reachable pose to unstick it before re-approaching."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe arm unstuck and the knob is now between the jaws near the bottom of the wrist view, offset slightly to image-left. Shifting 2 cm in +y and descending to 3 cm to bring the jaws around the knob.
move_to
right_x0.3900right_y0.0450right_z0.0300
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, 0.6014, -0.3805, -0.0216, -0.0418, 0.9992, 0.0448, 1.4437, 0.4934, 0.3847, -0.0128, -0.0154, 0.999] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1714 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3856 right_y=0.0231 right_z=0.0774 right_yaw=0.054 right_pitch=-0.0081 right_roll=-0.0043 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.4154, 7.0906, 1.7363, -0.0562, -0.0806, -0.0171, -1.0598, -5.7641, 8.0205, 1.6874, -0.0366, -0.0952, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.045, "right_z": 0.03}, "note": "The arm unstuck and the knob is now between the jaws near the bottom of the wrist view, offset slightly to image-left. Shifting 2 cm in +y and descending to 3 cm to bring the jaws around the knob."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe knob is now laterally centered between the jaws but still ahead of the fingertips, and the arm fell short in x (0.375 instead of 0.39). Advancing ~3.5 cm forward at grasp height so the knob sits between the jaws.
move_to
right_x0.4100right_y0.0450right_z0.0120right_pitch0.0000
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, 0.8238, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1268, 1.6646, 0.4393, 0.5541, 0.0322, 0.012, 0.999] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0366 left_roll=-0.003 left_gripper=0.9991 right_x=0.3746 right_y=0.0457 right_z=0.0114 right_yaw=0.083 right_pitch=-0.1133 right_roll=-0.0098 right_gripper=0.999 state[joint_eff]: [-0.2393, -1.1282, 7.1043, 1.7118, -0.0562, -0.0317, -0.0171, 0.1573, -6.7214, 5.0256, 2.1319, 0.1392, 0.0659, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.045, "right_z": 0.012, "right_pitch": 0.0}, "note": "The knob is now laterally centered between the jaws but still ahead of the fingertips, and the arm fell short in x (0.375 instead of 0.39). Advancing ~3.5 cm forward at grasp height so the knob sits between the jaws."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe knob is centered laterally but still a few centimeters ahead of the fingertips, and the arm keeps undershooting in x at low height. Commanding a larger forward target (x=0.44) to overcome the tracking shortfall and bring the knob between the jaws.
move_to
right_x0.4400right_y0.0450right_z0.0120right_pitch0.0000
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, 0.8253, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0402, 0.0113, 0.999] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1698 left_yaw=0.0029 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0445 right_z=0.0096 right_yaw=0.0756 right_pitch=-0.0807 right_roll=-0.0138 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.5658, 7.0085, 1.6728, -0.0855, -0.0806, -0.0073, -0.3897, -5.8735, 4.6838, 1.8291, -0.105, -0.0464, -0.0122] 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": 0.44, "right_y": 0.045, "right_z": 0.012, "right_pitch": 0.0}, "note": "The knob is centered laterally but still a few centimeters ahead of the fingertips, and the arm keeps undershooting in x at low height. Commanding a larger forward target (x=0.44) to overcome the tracking shortfall and bring the knob between the jaws."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe arm is frozen again with the knob still just ahead of the fingertips; it appears to hit a joint limit whenever x exceeds ~0.38 at table height. Trying to tip the tool forward (pitch +0.4) from slightly higher so the fingertips reach further forward over the knob.
move_to
right_x0.4000right_y0.0450right_z0.0350right_pitch0.4000
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, 0.8261, 0.601, -0.3805, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0399, 0.0113, 0.999] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1697 left_yaw=0.0029 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0446 right_z=0.0095 right_yaw=0.0759 right_pitch=-0.0807 right_roll=-0.0136 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.0325, 7.0359, 1.6972, -0.0855, -0.0757, -0.0171, -0.6222, -5.8462, 4.6564, 1.8388, -0.1636, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.4, "right_y": 0.045, "right_z": 0.035, "right_pitch": 0.4}, "note": "The arm is frozen again with the knob still just ahead of the fingertips; it appears to hit a joint limit whenever x exceeds ~0.38 at table height. Trying to tip the tool forward (pitch +0.4) from slightly higher so the fingertips reach further forward over the knob."})
tool
executing move_to over 17 steps (1.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteWith the tool pitched forward the knob now sits squarely between the two jaws at the bottom of the wrist view. Descending to knob height and closing the gripper to grasp the knob.
move_to
right_x0.4050right_y0.0460right_z0.0080right_pitch0.3200right_gripper0.0000
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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1261, 2.0941, 0.3309, 1.5257, 0.0441, -0.009, 0.999] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4012 right_y=0.0466 right_z=0.031 right_yaw=0.0813 right_pitch=0.3202 right_roll=-0.0148 right_gripper=0.999 state[joint_eff]: [-0.212, -1.5658, 7.1726, 1.6825, -0.0415, -0.0513, -0.0171, -0.3077, -8.3077, 3.0427, 2.127, 0.022, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.046, "right_z": 0.008, "right_pitch": 0.32, "right_gripper": 0.0}, "note": "With the tool pitched forward the knob now sits squarely between the two jaws at the bottom of the wrist view. Descending to knob height and closing the gripper to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe gripper closed fully (0.011) in front of the knob without catching it—the knob is still ~3 cm ahead of the fingertips in the wrist view. Reopening the jaws and advancing 3 cm so the knob is actually between them.
move_to
right_x0.4350right_y0.0480right_z0.0120right_pitch0.3000right_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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1257, 2.1818, 0.3695, 1.549, 0.0402, -0.0116, 0.0111] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4066 right_y=0.0478 right_z=0.012 right_yaw=0.0862 right_pitch=0.2943 right_roll=-0.0177 right_gripper=0.0111 state[joint_eff]: [-0.1162, -1.3607, 7.0222, 1.6777, -0.0659, -0.0659, -0.0171, -0.3624, -6.5299, 2.9607, 2.127, -0.0024, -0.022, 0.9744] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.048, "right_z": 0.012, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The gripper closed fully (0.011) in front of the knob without catching it\u2014the knob is still ~3 cm ahead of the fingertips in the wrist view. Reopening the jaws and advancing 3 cm so the knob is actually between them."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe knob is now clearly between the two jaws in the wrist camera, slightly toward the right jaw. Closing the gripper to grasp the knob.
move_to
right_x0.4350right_y0.0500right_z0.0120right_pitch0.3000right_gripper0.0000
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, 0.8307, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.123, 2.1857, 0.4667, 1.4651, 0.0219, -0.0166, 0.9951] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1683 left_yaw=0.0029 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4312 right_y=0.053 right_z=0.0148 right_yaw=0.1024 right_pitch=0.3036 right_roll=-0.0175 right_gripper=0.9951 state[joint_eff]: [-0.3487, -1.7299, 7.0085, 1.663, -0.0269, -0.0513, -0.0122, -1.1145, -7.2137, 3.6308, 1.9023, 0.0024, 0.0415, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.05, "right_z": 0.012, "right_pitch": 0.3, "right_gripper": 0.0}, "note": "The knob is now clearly between the two jaws in the wrist camera, slightly toward the right jaw. Closing the gripper to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe gripper stopped at 0.243 with the wooden knob visibly clamped between the jaws, so the piece is grasped. In the top camera the board with the circular groove is ~22 cm further along the arm's forward direction; lifting the piece and carrying it toward the board.
move_to
right_x0.5800right_y0.0500right_z0.0600right_pitch0.3000right_gripper0.2430
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, 0.8314, 0.601, -0.3809, -0.0212, -0.0418, 0.9991, 0.1173, 2.1883, 0.4713, 1.4479, 0.012, -0.0231, 0.243] state[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.0442 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4314 right_y=0.0523 right_z=0.0107 right_yaw=0.1091 right_pitch=0.2883 right_roll=-0.0216 right_gripper=0.243 state[joint_eff]: [-0.1983, -1.3333, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, -0.9368, -7.4872, 3.6308, 1.9658, -0.0904, -0.0366, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.58, "right_y": 0.05, "right_z": 0.06, "right_pitch": 0.3, "right_gripper": 0.243}, "note": "The gripper stopped at 0.243 with the wooden knob visibly clamped between the jaws, so the piece is grasped. In the top camera the board with the circular groove is ~22 cm further along the arm's forward direction; lifting the piece and carrying it toward the board."})
tool
executing move_to over 12 steps (1.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe top camera shows the piece held in the gripper at upper-right while the board with the circular groove is about 24 cm to the arm's left (+y) and ~10 cm back. Carrying the piece over the board to line up the drop into the groove.
move_to
right_x0.4700right_y0.2800right_z0.0350right_pitch0.3000right_gripper0.2460
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, 0.836, 0.601, -0.3813, -0.0216, -0.0422, 0.9991, 0.0769, 2.2257, 1.0718, 0.9077, -0.0357, -0.0349, 0.2459] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1668 left_yaw=0.0031 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.5718 right_y=0.054 right_z=0.0618 right_yaw=0.1177 right_pitch=0.3114 right_roll=-0.0213 right_gripper=0.2459 state[joint_eff]: [-0.3624, -1.4017, 7.241, 1.6679, -0.0659, -0.0611, -0.0073, -0.8684, -9.9897, 6.8171, 1.9463, -0.0171, -0.0464, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.28, "right_z": 0.035, "right_pitch": 0.3, "right_gripper": 0.246}, "note": "The top camera shows the piece held in the gripper at upper-right while the board with the circular groove is about 24 cm to the arm's left (+y) and ~10 cm back. Carrying the piece over the board to line up the drop into the groove."})
tool
executing move_to over 19 steps (1.9s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe top camera shows the blue piece held directly over the board's circular groove. Lowering the piece the last ~2 cm into the groove and opening the gripper to release it.
move_to
right_x0.4700right_y0.2750right_z0.0100right_pitch0.3000right_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, 0.8391, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.6899, 2.2704, 1.0275, 0.9268, 0.522, 0.1223, 0.2494] state[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.166 left_yaw=0.0029 left_pitch=-0.0519 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4688 right_y=0.2773 right_z=0.0322 right_yaw=0.1571 right_pitch=0.2846 right_roll=-0.0346 right_gripper=0.2494 state[joint_eff]: [-0.0752, -1.5932, 7.0359, 1.6874, -0.0611, -0.0757, -0.0073, 0.3761, -10.0171, 6.2838, 1.956, 0.2271, 0.0904, 0.8327] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.275, "right_z": 0.01, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The top camera shows the blue piece held directly over the board's circular groove. Lowering the piece the last ~2 cm into the groove and opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
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, 0.8398, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.6872, 2.3325, 1.029, 1.0225, 0.5194, 0.1165, 0.995] state[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1658 left_yaw=0.0029 left_pitch=-0.0526 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4705 right_y=0.2774 right_z=0.0209 right_yaw=0.1544 right_pitch=0.3143 right_roll=-0.0211 right_gripper=0.995 state[joint_eff]: [-0.1436, -1.5385, 7.0359, 1.663, -0.0513, -0.0513, -0.0073, -0.5675, -9.5111, 4.3966, 1.5556, 0.0415, -0.0659, -0.1636] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [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 · 16.07 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0372, 0.9992, -0.0154, 0.7921, 0.6102, -0.3756, -0.0204, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.388, 10.4, 1.8046, -0.0464, 0.2369, -0.0952, -0.9231, -1.1966, 9.8803, 1.6972, -0.0366, -0.0317, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8cb130a3b2972fc8378206369f009af507b311f6a3213062e3d8a4c33bb201c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3c0989bf41a96e904f1a4dd479f28e13921f09b1470b79b57ad509e5abdfec1e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d6c2d765b1800242b146e3726b2cf371c124d263e1379c0619da3b4f586cd362"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8cb130a3b297
wire blob 3c0989bf41a9
wire blob d6c2d765b180
call 1 attempt 0 · /chat/completions · status 200 · 13.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.1}, \"note\": \"The right wrist camera shows the blue puzzle piece with its wooden knob slightly below-left of image center, so the piece is roughly under the gripper. Lowering the right arm to get a closer view and calibrate the camera-to-gripper offset before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JP2XtoFrsEuzrTa7k2uXVh",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01JP2XtoFrsEuzrTa7k2uXVh"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7994, 0.6048, -0.3801, -0.0216, -0.0414, 0.9992, -0.0181, 0.8505, 0.308, -0.094, -0.0208, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1788 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.9992 right_x=0.2853 right_y=0.0021 right_z=0.0889 right_yaw=-0.0025 right_pitch=-0.079 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.7846, 6.9949, 1.7411, -0.0513, -0.0269, -0.0171, 0.0752, -1.265, 7.2547, 1.956, -0.022, -0.0513, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f5c25580da0c505c40ca94e3eb772ed8ca99b85269b0aa438f89edb12fb749a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e898cdc1905128ada863c9d9d5b01ed79c053bf124d4d4a603643308adbbbc21"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9064b0d745a5b52b958c3d2bf936f660d8c731be5aefbcef3cda19e171fc1434"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f5c25580da0c
wire blob e898cdc19051
wire blob 9064b0d745a5
call 2 attempt 0 · /chat/completions · status 200 · 9.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0372, 0.9992, -0.0154, 0.7921, 0.6102, -0.3756, -0.0204, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.388, 10.4, 1.8046, -0.0464, 0.2369, -0.0952, -0.9231, -1.1966, 9.8803, 1.6972, -0.0366, -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\": 0.32, \"right_y\": 0.02, \"right_z\": 0.05}, \"note\": \"The knob now appears clearly up-left of the gripper fingers in the right wrist camera, meaning the piece is a bit forward and left of the grasp point. Moving forward and slightly left while lowering to refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_015bqmDmzike3iHYubbZABQ3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015bqmDmzike3iHYubbZABQ3"
}
{
  "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, 0.8043, 0.6041, -0.382, -0.0216, -0.0418, 0.9992, 0.075, 1.187, 0.2829, 0.1684, 0.0238, 0.0166, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1767 left_yaw=0.0028 left_pitch=-0.0152 left_roll=-0.0035 left_gripper=0.9992 right_x=0.302 right_y=0.0221 right_z=0.036 right_yaw=0.0355 right_pitch=-0.178 right_roll=-0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.1692, 7.1863, 1.7705, -0.0513, -0.0611, -0.0171, -0.0752, -5.1214, 5.9692, 2.1221, 0.1685, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d751ba8b751ea4c1c4d4a5f84bd3236e96417a1612782bb66a0f21a7b7b7b58c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab402e09bdb865474a5f824e814901b305b51323697c8ccd756e6fdb7d37edea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2357a8b1aedb86a681b29643e4deb28af43e62b77627c6f8c40e0cbbfef56a5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d751ba8b751e
wire blob ab402e09bdb8
wire blob b2357a8b1aed
call 3 attempt 0 · /chat/completions · status 200 · 9.64 s
model
claude-fable-5-1
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, 0.7994, 0.6048, -0.3801, -0.0216, -0.0414, 0.9992, -0.0181, 0.8505, 0.308, -0.094, -0.0208, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1788 left_yaw=0.0026 left_pitch=-0.0076 left_roll=-0.0034 left_gripper=0.9992 right_x=0.2853 right_y=0.0021 right_z=0.0889 right_yaw=-0.0025 right_pitch=-0.079 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.7846, 6.9949, 1.7411, -0.0513, -0.0269, -0.0171, 0.0752, -1.265, 7.2547, 1.956, -0.022, -0.0513, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.02, \"right_z\": 0.03, \"right_pitch\": 0.0}, \"note\": \"The knob is still ahead of the fingers in the wrist camera and the tool pitch has sagged to -0.18, tilting the view. Pushing further forward, lowering to grasp height, and commanding pitch back to zero.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Bjm3EzhZvBij7p4AvzgQpW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Bjm3EzhZvBij7p4AvzgQpW"
}
{
  "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, 0.8066, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, 0.0563, 1.5105, 0.2604, 0.5743, 0.0055, -0.0006, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3302 right_y=0.0212 right_z=0.0078 right_yaw=0.0419 right_pitch=-0.1184 right_roll=-0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0769, 1.6874, -0.0562, -0.0464, -0.0171, -0.7726, -4.7111, 5.2718, 2.0488, 0.0562, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d52caf58fdfce5e6819f374babbe505539b8298c3947115041daa9c4cde2aa04"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1eaa2c8268552d785aca8da20c372a72ad4ea4b2504d9c51d4ed96d876d22c7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:819f8f85e473fef62f69f097992d0260605b8f0131bf31a118e98aa474fc7ac8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d52caf58fdfc
wire blob 1eaa2c826855
wire blob 819f8f85e473
call 4 attempt 0 · /chat/completions · status 200 · 7.658 s
model
claude-fable-5-1
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, 0.8043, 0.6041, -0.382, -0.0216, -0.0418, 0.9992, 0.075, 1.187, 0.2829, 0.1684, 0.0238, 0.0166, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1767 left_yaw=0.0028 left_pitch=-0.0152 left_roll=-0.0035 left_gripper=0.9992 right_x=0.302 right_y=0.0221 right_z=0.036 right_yaw=0.0355 right_pitch=-0.178 right_roll=-0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.1692, 7.1863, 1.7705, -0.0513, -0.0611, -0.0171, -0.0752, -5.1214, 5.9692, 2.1221, 0.1685, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"The gripper is nearly at table height but the knob is still ~6 cm ahead of the fingertips in the wrist view. Raising slightly to clear the piece and moving further forward so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01T2yKb2a6p2j2N7Mkm7mHRE",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01T2yKb2a6p2j2N7Mkm7mHRE"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8078, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0444, 1.6058, 0.4549, 0.5652, -0.0055, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1759 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3891 right_y=0.0219 right_z=0.0403 right_yaw=0.0461 right_pitch=-0.0283 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 7.0496, 1.7021, -0.0464, -0.0317, -0.0171, -0.9368, -5.6137, 6.4479, 1.7607, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7dba99a691bb52f86738b19eed30d3e27fe974850e94b63102110b9064aaf53"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0df4fc20889da08601e50a6f4a8b8b568da33f249be99430b8b24287ae1a1f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ecc773a3c9959a8818d56d3f4543a43902a4251dd8e117f223e86201e9469914"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b7dba99a691b
wire blob c0df4fc20889
wire blob ecc773a3c995
call 5 attempt 0 · /chat/completions · status 200 · 13.72 s
model
claude-fable-5-1
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, 0.8066, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, 0.0563, 1.5105, 0.2604, 0.5743, 0.0055, -0.0006, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3302 right_y=0.0212 right_z=0.0078 right_yaw=0.0419 right_pitch=-0.1184 right_roll=-0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0769, 1.6874, -0.0562, -0.0464, -0.0171, -0.7726, -4.7111, 5.2718, 2.0488, 0.0562, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.025, \"right_z\": 0.02, \"right_pitch\": 0.0}, \"note\": \"The knob is now visible just between and slightly ahead of the two jaws in the wrist camera. Nudging forward a couple of centimeters and lowering so the fingertips straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BpAUePaVv9mCXA6ifSNxZT",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BpAUePaVv9mCXA6ifSNxZT"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8062, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0475, 1.7283, 0.498, 0.6472, -0.0048, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4052 right_y=0.0237 right_z=0.0262 right_yaw=0.0487 right_pitch=-0.0256 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -0.9504, 7.241, 1.7411, -0.0855, -0.0757, -0.0171, 0.4581, -7.1863, 4.3009, 1.8242, 0.0366, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0fa15a08ab816fdd85115348ca8e39043dbbd977b102ee2ed4d10f65a507b180"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ceb6284259b3d3d49a582218ac10b28567f9c72fa956e867fc028eebffd51fc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2139d1e30f2f290123b65353f4e7b8d6b5eda5e22b17417eda75ff0c5e360f95"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0fa15a08ab81
wire blob ceb6284259b3
wire blob 2139d1e30f2f
call 6 attempt 0 · /chat/completions · status 200 · 8.986 s
model
claude-fable-5-1
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, 0.8078, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0444, 1.6058, 0.4549, 0.5652, -0.0055, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1759 left_yaw=0.0028 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3891 right_y=0.0219 right_z=0.0403 right_yaw=0.0461 right_pitch=-0.0283 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 7.0496, 1.7021, -0.0464, -0.0317, -0.0171, -0.9368, -5.6137, 6.4479, 1.7607, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.045, \"right_z\": 0.008, \"right_pitch\": 0.0}, \"note\": \"The knob is now between the jaws but offset to the image-left, roughly 2-3 cm; assuming image-left is +y for this camera, shift left ~2 cm and lower to grasp height around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Jo6EaEU2FoMt2EWbtk8Mgm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Jo6EaEU2FoMt2EWbtk8Mgm"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.6342, 7.2547, 1.6923, -0.0464, -0.0757, -0.0171, -0.1983, -7.4462, 4.7658, 2.0293, -0.0024, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7fbde643de6005b2a43f32df8c70e357553073f10d2a3d7030637229e6c4c26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dad275f4facdaafbb08142247fb48cea1562f7ed81efc8c2547b798790b323e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93aa92cc90c031ce752d92be275555b98ffe5c042bee56b87a743a790ffa93d1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b7fbde643de6
wire blob dad275f4facd
wire blob 93aa92cc90c0
call 7 attempt 0 · /chat/completions · status 200 · 8.653 s
model
claude-fable-5-1
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, 0.8062, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0475, 1.7283, 0.498, 0.6472, -0.0048, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1763 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4052 right_y=0.0237 right_z=0.0262 right_yaw=0.0487 right_pitch=-0.0256 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -0.9504, 7.241, 1.7411, -0.0855, -0.0757, -0.0171, 0.4581, -7.1863, 4.3009, 1.8242, 0.0366, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.05, \"right_z\": 0.005, \"right_pitch\": 0.0}, \"note\": \"The arm only reached y=0.025 and the knob still sits toward the left jaw in the wrist view, so the lateral shift didn't complete. Re-commanding the leftward shift to center the knob between the jaws at grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_017uX4b3txSZsAjYGnPyGCij",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_017uX4b3txSZsAjYGnPyGCij"
}
{
  "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, 0.812, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1747 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.388, 7.0222, 1.6923, -0.0611, -0.0855, -0.0171, -0.1026, -7.4872, 4.8068, 2.0244, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef46b0157d6d3471742c435b46b71f2c6738de0dbd810e7a9e031bc885efeb33"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d60aa26eb52b3b6c07314e5c2c6d0e81220909f809f9a23b44b497f7341ab5cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a59c2485fc4a022bbf313a4eae387dbafb1b7a77ac7f5e1bcc9ffc7871dddcfc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ef46b0157d6d
wire blob d60aa26eb52b
wire blob a59c2485fc4a
call 8 attempt 0 · /chat/completions · status 200 · 7.683 s
model
claude-fable-5-1
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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.6342, 7.2547, 1.6923, -0.0464, -0.0757, -0.0171, -0.1983, -7.4462, 4.7658, 2.0293, -0.0024, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.05, \"right_z\": 0.03, \"right_pitch\": 0.0}, \"note\": \"The arm did not move at all on the last command, likely because a fingertip is resting on the piece or table at z\\u22480.008. Lifting to 3 cm while shifting left so the jaws can be re-centered over the knob without dragging the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_0118oEHeJjXqwqH2B7oCNF67",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0118oEHeJjXqwqH2B7oCNF67"
}
{
  "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, 0.812, 0.6037, -0.3805, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0051, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.025 right_z=0.0084 right_yaw=0.0508 right_pitch=-0.0474 right_roll=-0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.6874, -0.0904, -0.0562, -0.0171, -0.212, -7.6513, 4.9709, 2.0635, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1701f83ced0453be065aac35acf7ed7764f816924bff7e08ad3052a52f4ae65c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61c22bb9812f963e1385dc8c35ad356f65a01dcb575bdc6575d3b1977f9d5212"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbe059bfbbe1d83dbe3269bec2056f7c383f38da7941011868088d99df8fbb21"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1701f83ced04
wire blob 61c22bb9812f
wire blob cbe059bfbbe1
call 9 attempt 0 · /chat/completions · status 200 · 7.971 s
model
claude-fable-5-1
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, 0.812, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1747 left_yaw=0.0028 left_pitch=-0.0221 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.0249 right_z=0.0084 right_yaw=0.0505 right_pitch=-0.0474 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.388, 7.0222, 1.6923, -0.0611, -0.0855, -0.0171, -0.1026, -7.4872, 4.8068, 2.0244, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.035, \"right_z\": 0.03}, \"note\": \"The arm has been stuck at the same pose for two commands, suggesting the IK rejected the target. Trying a smaller, more conservative step (back 1 cm, left 1 cm, up 2 cm) without a pitch command to get it moving again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LYaepMhQZU2HZn5zfM1Lf3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01LYaepMhQZU2HZn5zfM1Lf3"
}
{
  "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, 0.6018, -0.3813, -0.0216, -0.0418, 0.9992, 0.0502, 1.808, 0.5064, 0.6991, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1721 left_yaw=0.0029 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4077 right_y=0.0249 right_z=0.0087 right_yaw=0.0505 right_pitch=-0.0451 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7573, 7.1863, 1.6972, -0.0855, -0.0366, -0.0171, -0.212, -7.665, 4.8615, 2.0049, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf02dd19341b9b49f700645560dacafdafba037b1d62190d8662b0141f994900"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:041a23313a564d3a2ba282b2c660be451810a53402d74878b0ae52d6c0d67673"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:617e86f9b386ff9b00a1b2ff871714a19575e36cf949883eab86ee83a5ce7dd9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bf02dd19341b
wire blob 041a23313a56
wire blob 617e86f9b386
call 10 attempt 0 · /chat/completions · status 200 · 15.59 s
model
claude-fable-5-1
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, 0.812, 0.6037, -0.3805, -0.0216, -0.0418, 0.9992, 0.0502, 1.8076, 0.5068, 0.696, -0.0051, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0028 left_pitch=-0.0217 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4075 right_y=0.025 right_z=0.0084 right_yaw=0.0508 right_pitch=-0.0474 right_roll=-0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.6874, -0.0904, -0.0562, -0.0171, -0.212, -7.6513, 4.9709, 2.0635, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.02, \"right_z\": 0.08}, \"note\": \"The right arm has been frozen at the same joint configuration for three commands, so the controller seems stuck near a joint limit. Commanding a clear retreat upward and back toward a known-reachable pose to unstick it before re-approaching.\"}",
        "name": "move_to"
      },
      "id": "toolu_018Qpj9L6FHP1EXWGdZMtqEo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_018Qpj9L6FHP1EXWGdZMtqEo"
}
{
  "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, 0.6014, -0.3805, -0.0216, -0.0418, 0.9992, 0.0448, 1.4437, 0.4934, 0.3847, -0.0128, -0.0154, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1714 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3856 right_y=0.0231 right_z=0.0774 right_yaw=0.054 right_pitch=-0.0081 right_roll=-0.0043 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4154, 7.0906, 1.7363, -0.0562, -0.0806, -0.0171, -1.0598, -5.7641, 8.0205, 1.6874, -0.0366, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24c72ae38fe68ad56ab07d29cc97d9c76b2ad20042d63819b56611c7856e9b2c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c69c1e1303b4389b541d902390b219838428a1d528e5c8c5a33eb9999b710990"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fd01b814b93100cc70ac63e34fd29f1aefb49dd684e8b67675608d3f6d5cc04c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 24c72ae38fe6
wire blob c69c1e1303b4
wire blob fd01b814b931
call 11 attempt 0 · /chat/completions · status 200 · 9.922 s
model
claude-fable-5-1
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, 0.8181, 0.6018, -0.3813, -0.0216, -0.0418, 0.9992, 0.0502, 1.808, 0.5064, 0.6991, -0.0048, -0.0116, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1721 left_yaw=0.0029 left_pitch=-0.0305 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4077 right_y=0.0249 right_z=0.0087 right_yaw=0.0505 right_pitch=-0.0451 right_roll=-0.0053 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.7573, 7.1863, 1.6972, -0.0855, -0.0366, -0.0171, -0.212, -7.665, 4.8615, 2.0049, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.045, \"right_z\": 0.03}, \"note\": \"The arm unstuck and the knob is now between the jaws near the bottom of the wrist view, offset slightly to image-left. Shifting 2 cm in +y and descending to 3 cm to bring the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AagHf2hFL22dcG7ixVx7zx",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01AagHf2hFL22dcG7ixVx7zx"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8238, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1268, 1.6646, 0.4393, 0.5541, 0.0322, 0.012, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0366 left_roll=-0.003 left_gripper=0.9991 right_x=0.3746 right_y=0.0457 right_z=0.0114 right_yaw=0.083 right_pitch=-0.1133 right_roll=-0.0098 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.1282, 7.1043, 1.7118, -0.0562, -0.0317, -0.0171, 0.1573, -6.7214, 5.0256, 2.1319, 0.1392, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:74918e843e8781b6770ce17c24134c3d370eef3c45640a9ce32305829d0875e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b073e4dfc6d3997708719e6e56ae1476fc028b416c9b99fc64bc4bed174ee609"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba82eac2f2593610cd79f6859e18defcfdcabb44cdbe4719c7260caf86ea20f3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 74918e843e87
wire blob b073e4dfc6d3
wire blob ba82eac2f259
call 12 attempt 0 · /chat/completions · status 200 · 17.59 s
model
claude-fable-5-1
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, 0.8204, 0.6014, -0.3805, -0.0216, -0.0418, 0.9992, 0.0448, 1.4437, 0.4934, 0.3847, -0.0128, -0.0154, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1714 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3856 right_y=0.0231 right_z=0.0774 right_yaw=0.054 right_pitch=-0.0081 right_roll=-0.0043 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4154, 7.0906, 1.7363, -0.0562, -0.0806, -0.0171, -1.0598, -5.7641, 8.0205, 1.6874, -0.0366, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.045, \"right_z\": 0.012, \"right_pitch\": 0.0}, \"note\": \"The knob is now laterally centered between the jaws but still ahead of the fingertips, and the arm fell short in x (0.375 instead of 0.39). Advancing ~3.5 cm forward at grasp height so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SmobrTsXTyJNpqjJM7BiHJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01SmobrTsXTyJNpqjJM7BiHJ"
}
{
  "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, 0.8253, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0402, 0.0113, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1698 left_yaw=0.0029 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0445 right_z=0.0096 right_yaw=0.0756 right_pitch=-0.0807 right_roll=-0.0138 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.5658, 7.0085, 1.6728, -0.0855, -0.0806, -0.0073, -0.3897, -5.8735, 4.6838, 1.8291, -0.105, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:deeea42ff2e62f6bdf9f0cf73df641cfc35e04ae1e5a3d8c045735a2700bc006"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dc02a2b5b927e861c7a72e4558f0736e430bb681cce9e7250e994ec4fdfcecfd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d8a899206168459407a73daa1b976fa6c497ef425ad2d253bd1e29f0526e4a52"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob deeea42ff2e6
wire blob dc02a2b5b927
wire blob d8a899206168
call 13 attempt 0 · /chat/completions · status 200 · 20.05 s
model
claude-fable-5-1
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, 0.8238, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1268, 1.6646, 0.4393, 0.5541, 0.0322, 0.012, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0366 left_roll=-0.003 left_gripper=0.9991 right_x=0.3746 right_y=0.0457 right_z=0.0114 right_yaw=0.083 right_pitch=-0.1133 right_roll=-0.0098 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -1.1282, 7.1043, 1.7118, -0.0562, -0.0317, -0.0171, 0.1573, -6.7214, 5.0256, 2.1319, 0.1392, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.045, \"right_z\": 0.012, \"right_pitch\": 0.0}, \"note\": \"The knob is centered laterally but still a few centimeters ahead of the fingertips, and the arm keeps undershooting in x at low height. Commanding a larger forward target (x=0.44) to overcome the tracking shortfall and bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_018J7w2aReyRf7CEBZVK6SMP",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_018J7w2aReyRf7CEBZVK6SMP"
}
{
  "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, 0.8261, 0.601, -0.3805, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0399, 0.0113, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1697 left_yaw=0.0029 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0446 right_z=0.0095 right_yaw=0.0759 right_pitch=-0.0807 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.0325, 7.0359, 1.6972, -0.0855, -0.0757, -0.0171, -0.6222, -5.8462, 4.6564, 1.8388, -0.1636, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d532fbdeb1375bd2e6f74c10f81241a749040af8683f77562a1dbc61ff383fba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3da621b135d5d473b4710670d8fa416530fb7a467652f2b69b3ad8ec63fe1ca5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55cd81d9545ea70a70d1f8817f71e5b1c86d2408686db343f4239778a567945d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d532fbdeb137
wire blob 3da621b135d5
wire blob 55cd81d9545e
call 14 attempt 0 · /chat/completions · status 200 · 17.2 s
model
claude-fable-5-1
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, 0.8253, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0402, 0.0113, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1698 left_yaw=0.0029 left_pitch=-0.0381 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0445 right_z=0.0096 right_yaw=0.0756 right_pitch=-0.0807 right_roll=-0.0138 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.5658, 7.0085, 1.6728, -0.0855, -0.0806, -0.0073, -0.3897, -5.8735, 4.6838, 1.8291, -0.105, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.045, \"right_z\": 0.035, \"right_pitch\": 0.4}, \"note\": \"The arm is frozen again with the knob still just ahead of the fingertips; it appears to hit a joint limit whenever x exceeds ~0.38 at table height. Trying to tip the tool forward (pitch +0.4) from slightly higher so the fingertips reach further forward over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JucqY3nWNdYMqZFihjMQxY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 17 steps (1.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01JucqY3nWNdYMqZFihjMQxY"
}
{
  "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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1261, 2.0941, 0.3309, 1.5257, 0.0441, -0.009, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4012 right_y=0.0466 right_z=0.031 right_yaw=0.0813 right_pitch=0.3202 right_roll=-0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5658, 7.1726, 1.6825, -0.0415, -0.0513, -0.0171, -0.3077, -8.3077, 3.0427, 2.127, 0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b893f6bcf86f8973637bc30d9d7de3a6bfd29351ac6a9ade77f2e8a7a43966bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4188ee6539874e143d2ed32cafa323e80ba65c4f0e68023c84fceeee5385813f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a27037ed0cf913edaf8d658f21ffb2ba00706ce5ca846a44cbb0be5336b381ac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b893f6bcf86f
wire blob 4188ee653987
wire blob a27037ed0cf9
call 15 attempt 0 · /chat/completions · status 200 · 56.77 s
model
claude-fable-5-1
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, 0.8261, 0.601, -0.3805, -0.0216, -0.0418, 0.9992, 0.1257, 1.7096, 0.4332, 0.6376, 0.0399, 0.0113, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1697 left_yaw=0.0029 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9992 right_x=0.3805 right_y=0.0446 right_z=0.0095 right_yaw=0.0759 right_pitch=-0.0807 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.0325, 7.0359, 1.6972, -0.0855, -0.0757, -0.0171, -0.6222, -5.8462, 4.6564, 1.8388, -0.1636, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.046, \"right_z\": 0.008, \"right_pitch\": 0.32, \"right_gripper\": 0.0}, \"note\": \"With the tool pitched forward the knob now sits squarely between the two jaws at the bottom of the wrist view. Descending to knob height and closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0125pVezpEoVVooEBrnXZCTZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0125pVezpEoVVooEBrnXZCTZ"
}
{
  "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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1257, 2.1818, 0.3695, 1.549, 0.0402, -0.0116, 0.0111]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4066 right_y=0.0478 right_z=0.012 right_yaw=0.0862 right_pitch=0.2943 right_roll=-0.0177 right_gripper=0.0111\nstate[joint_eff]: [-0.1162, -1.3607, 7.0222, 1.6777, -0.0659, -0.0659, -0.0171, -0.3624, -6.5299, 2.9607, 2.127, -0.0024, -0.022, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed42b79183f44b165bd51f8dfbee68c3e1dac4f09ae368571c5f1e64d6642cd9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da524d31452a62f82ce3aad761a9ad0d24f31769bfbbd46b0d309443d476379d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b800385c956979c95caa79e7c7a12b0fc339107347c835920058239a333f5e21"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ed42b79183f4
wire blob da524d31452a
wire blob b800385c9569
call 16 attempt 0 · /chat/completions · status 200 · 29 s
model
claude-fable-5-1
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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9992, 0.1261, 2.0941, 0.3309, 1.5257, 0.0441, -0.009, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4012 right_y=0.0466 right_z=0.031 right_yaw=0.0813 right_pitch=0.3202 right_roll=-0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.5658, 7.1726, 1.6825, -0.0415, -0.0513, -0.0171, -0.3077, -8.3077, 3.0427, 2.127, 0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.048, \"right_z\": 0.012, \"right_pitch\": 0.3, \"right_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.011) in front of the knob without catching it\\u2014the knob is still ~3 cm ahead of the fingertips in the wrist view. Reopening the jaws and advancing 3 cm so the knob is actually between them.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SVHnfiv3EpCpyzqK8MrX6X",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01SVHnfiv3EpCpyzqK8MrX6X"
}
{
  "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, 0.8307, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.123, 2.1857, 0.4667, 1.4651, 0.0219, -0.0166, 0.9951]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1683 left_yaw=0.0029 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4312 right_y=0.053 right_z=0.0148 right_yaw=0.1024 right_pitch=0.3036 right_roll=-0.0175 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.7299, 7.0085, 1.663, -0.0269, -0.0513, -0.0122, -1.1145, -7.2137, 3.6308, 1.9023, 0.0024, 0.0415, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:393ebdefbf4f6585c6ec3651f3e2ae563ea1b11c9f8cb27df7778beec15f9ff2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0580b42611f086a57f6701e1364d208d09f1eb7fcc82a81628a7410ac961b4cc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a5cf403c2f20297119638143a3ea4efeab32c1fe771852afce7a35652e77f94"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 393ebdefbf4f
wire blob 0580b42611f0
wire blob 3a5cf403c2f2
call 17 attempt 0 · /chat/completions · status 200 · 30.57 s
model
claude-fable-5-1
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, 0.8276, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.1257, 2.1818, 0.3695, 1.549, 0.0402, -0.0116, 0.0111]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1692 left_yaw=0.0029 left_pitch=-0.0404 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4066 right_y=0.0478 right_z=0.012 right_yaw=0.0862 right_pitch=0.2943 right_roll=-0.0177 right_gripper=0.0111\nstate[joint_eff]: [-0.1162, -1.3607, 7.0222, 1.6777, -0.0659, -0.0659, -0.0171, -0.3624, -6.5299, 2.9607, 2.127, -0.0024, -0.022, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.05, \"right_z\": 0.012, \"right_pitch\": 0.3, \"right_gripper\": 0.0}, \"note\": \"The knob is now clearly between the two jaws in the wrist camera, slightly toward the right jaw. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AdVVkXNJXMNKSU2FzUwA17",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01AdVVkXNJXMNKSU2FzUwA17"
}
{
  "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, 0.8314, 0.601, -0.3809, -0.0212, -0.0418, 0.9991, 0.1173, 2.1883, 0.4713, 1.4479, 0.012, -0.0231, 0.243]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.0442 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4314 right_y=0.0523 right_z=0.0107 right_yaw=0.1091 right_pitch=0.2883 right_roll=-0.0216 right_gripper=0.243\nstate[joint_eff]: [-0.1983, -1.3333, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, -0.9368, -7.4872, 3.6308, 1.9658, -0.0904, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:abe92df9c61f1b9f44794e11324f8c8d56591b262222cd97c717869db87fbb54"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2822f4979c6e7412071b1c9ac8caca6c1ab71eb6c188eac9d6faadd8c9317045"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:50d5e615690c6ede9a5b91492e06463521903650d8b81207aa4b5bf9e4bce723"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob abe92df9c61f
wire blob 2822f4979c6e
wire blob 50d5e615690c
call 18 attempt 0 · /chat/completions · status 200 · 21.54 s
model
claude-fable-5-1
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, 0.8307, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.123, 2.1857, 0.4667, 1.4651, 0.0219, -0.0166, 0.9951]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1683 left_yaw=0.0029 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4312 right_y=0.053 right_z=0.0148 right_yaw=0.1024 right_pitch=0.3036 right_roll=-0.0175 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -1.7299, 7.0085, 1.663, -0.0269, -0.0513, -0.0122, -1.1145, -7.2137, 3.6308, 1.9023, 0.0024, 0.0415, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.58, \"right_y\": 0.05, \"right_z\": 0.06, \"right_pitch\": 0.3, \"right_gripper\": 0.243}, \"note\": \"The gripper stopped at 0.243 with the wooden knob visibly clamped between the jaws, so the piece is grasped. In the top camera the board with the circular groove is ~22 cm further along the arm's forward direction; lifting the piece and carrying it toward the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W9U2LHARVq4rR8CmLUcLbK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01W9U2LHARVq4rR8CmLUcLbK"
}
{
  "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, 0.836, 0.601, -0.3813, -0.0216, -0.0422, 0.9991, 0.0769, 2.2257, 1.0718, 0.9077, -0.0357, -0.0349, 0.2459]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1668 left_yaw=0.0031 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.5718 right_y=0.054 right_z=0.0618 right_yaw=0.1177 right_pitch=0.3114 right_roll=-0.0213 right_gripper=0.2459\nstate[joint_eff]: [-0.3624, -1.4017, 7.241, 1.6679, -0.0659, -0.0611, -0.0073, -0.8684, -9.9897, 6.8171, 1.9463, -0.0171, -0.0464, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db931496222889d8a2eb01557e8894cfa8f5345265f17f483538b6fc05249d3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba12a54dae332ae22a4fcb9a990db3c7ff170493d636103a28905804164ea151"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:052904e4e080ab75a98050dde240c7d1c994e0c187c9cb11aba8603d0a4ce7ff"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob db9314962228
wire blob ba12a54dae33
wire blob 052904e4e080
call 19 attempt 0 · /chat/completions · status 200 · 92.03 s
model
claude-fable-5-1
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, 0.8314, 0.601, -0.3809, -0.0212, -0.0418, 0.9991, 0.1173, 2.1883, 0.4713, 1.4479, 0.012, -0.0231, 0.243]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.0442 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4314 right_y=0.0523 right_z=0.0107 right_yaw=0.1091 right_pitch=0.2883 right_roll=-0.0216 right_gripper=0.243\nstate[joint_eff]: [-0.1983, -1.3333, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, -0.9368, -7.4872, 3.6308, 1.9658, -0.0904, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.47, \"right_y\": 0.28, \"right_z\": 0.035, \"right_pitch\": 0.3, \"right_gripper\": 0.246}, \"note\": \"The top camera shows the piece held in the gripper at upper-right while the board with the circular groove is about 24 cm to the arm's left (+y) and ~10 cm back. Carrying the piece over the board to line up the drop into the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KW1PKtxLRjEYb2C7Wyzxcq",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 19 steps (1.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01KW1PKtxLRjEYb2C7Wyzxcq"
}
{
  "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, 0.8391, 0.601, -0.3809, -0.0216, -0.0418, 0.9991, 0.6899, 2.2704, 1.0275, 0.9268, 0.522, 0.1223, 0.2494]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.166 left_yaw=0.0029 left_pitch=-0.0519 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4688 right_y=0.2773 right_z=0.0322 right_yaw=0.1571 right_pitch=0.2846 right_roll=-0.0346 right_gripper=0.2494\nstate[joint_eff]: [-0.0752, -1.5932, 7.0359, 1.6874, -0.0611, -0.0757, -0.0073, 0.3761, -10.0171, 6.2838, 1.956, 0.2271, 0.0904, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:649e37ebde09620bc975e6c19461f184e5c20c187058fe5e3e0ab23182fa0cde"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b4d15c224768b2fd6990d8de4eea5d777209d06bff79fa4ec0753db80e8a1a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa7a17d8c2ff27be0ce2e995e2121e03a15b8b8e54eea8335cd57aef03273386"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 649e37ebde09
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