adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7921, 0.6037, -0.3786, -0.0216, -0.0425, 0.9995, -0.017, 0.7914, 0.6102, -0.3748, -0.0208, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.296 right_y=0.0022 right_z=0.1846 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -1.3744, 10.359, 1.8291, -0.0366, 0.2125, -0.0659, -0.6769, -1.1829, 9.7983, 1.746, -0.0024, 0.0611, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ef7472d9b625d1fadce8f87cb10b91327ce79ac82831443406cd89f13e9fc31"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a22036c8fb805b31015c37c56a65e9d16be32626700209c81ce7389423abbba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd1c4a00402e97b0ff49f02529847677d878fcb8dedaabda92be5b9059d19cdd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece with its knob roughly centered horizontally and slightly below image center. Lowering the right gripper to get a closer view and calibrate where the piece sits relative to the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LboQBQVBQu2U3PyuBCEpn3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01LboQBQVBQu2U3PyuBCEpn3"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9995, -0.0193, 0.8486, 0.3088, -0.094, -0.0208, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1788 left_yaw=-0.0004 left_pitch=-0.008 left_roll=0.0008 left_gripper=0.9995 right_x=0.2855 right_y=0.0018 right_z=0.0897 right_yaw=-0.0017 right_pitch=-0.0778 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.8393, 6.9812, 1.7167, -0.0464, -0.0415, -0.0122, 0.1162, -1.1009, 7.1316, 1.9658, -0.0366, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d8f98b761e7988bac17acd20874c8c459cc81f948d67ab055a41827d54a620d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:94158a59db125ea735bb4fbff998692f7bd6a5db1f0c69fe9c64d2a83f4a54d0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23f7e8d719f587ef40705e164d8c9bda89edd8e8cce83786c5e6b05858e78a02"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7921, 0.6037, -0.3786, -0.0216, -0.0425, 0.9995, -0.017, 0.7914, 0.6102, -0.3748, -0.0208, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.296 right_y=0.0022 right_z=0.1846 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -1.3744, 10.359, 1.8291, -0.0366, 0.2125, -0.0659, -0.6769, -1.1829, 9.7983, 1.746, -0.0024, 0.0611, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.32, \"right_y\": 0.015, \"right_z\": 0.05}, \"note\": \"The knob now appears slightly above and left of the wrist-camera center, meaning the piece is a few cm forward and slightly left of the gripper. Moving forward and down to center over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XVVkAR9oN1x3p1ePv72p7w",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01XVVkAR9oN1x3p1ePv72p7w"
}

{
  "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, 0.8047, 0.6041, -0.382, -0.0216, -0.0418, 0.9995, 0.0513, 1.1934, 0.2787, 0.1772, 0.0105, -0.0036, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1766 left_yaw=-0.0004 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9995 right_x=0.3019 right_y=0.0172 right_z=0.0341 right_yaw=0.0314 right_pitch=-0.1816 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.2923, 7.1043, 1.7509, -0.0317, -0.0708, -0.0122, -0.0752, -5.9145, 6.0239, 2.3272, 0.149, 0.2125, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:abc8061f673fe10344fccb3cd4ff206f2096b0624d38b7b0f5fd59575b0e7123"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47ccc8520bebe967a1075d98f7746987021506e396204098e50fc5f5572824a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1cbeabe21f26ad863eceda25663fca470ae2d8b5f124934599a8135d0d6780ae"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7994, 0.6048, -0.3805, -0.0216, -0.0418, 0.9995, -0.0193, 0.8486, 0.3088, -0.094, -0.0208, -0.0235, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1788 left_yaw=-0.0004 left_pitch=-0.008 left_roll=0.0008 left_gripper=0.9995 right_x=0.2855 right_y=0.0018 right_z=0.0897 right_yaw=-0.0017 right_pitch=-0.0778 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.8393, 6.9812, 1.7167, -0.0464, -0.0415, -0.0122, 0.1162, -1.1009, 7.1316, 1.9658, -0.0366, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.34, \"right_y\": 0.015, \"right_z\": 0.04, \"right_pitch\": 0.0, \"right_yaw\": 0.0}, \"note\": \"The knob is still ahead of the gripper (upper center of wrist camera) and the tool pitched back slightly. Moving further forward, correcting pitch to level, staying just above table height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HScMHGPZQM6t94CjEXhFCY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01HScMHGPZQM6t94CjEXhFCY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3813, -0.0216, -0.0418, 0.9995, 0.054, 1.2442, 0.263, 0.2859, 0.0204, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1767 left_yaw=-0.0004 left_pitch=-0.0153 left_roll=0.0009 left_gripper=0.9995 right_x=0.3105 right_y=0.0168 right_z=0.0339 right_yaw=0.0223 right_pitch=-0.1392 right_roll=-0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.2684, 1.6825, -0.0611, -0.0464, -0.0171, -0.4444, -3.0017, 5.7915, 1.707, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c59e60c418936d61e445dda76109c93611d53771c73866986de0821b9b3e5c6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bcc97abdcaebbde5243bcf867dbef61db20d0c5dd5cd7db308e1e44202515d0c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:920e5d0ab81df0d1199509d9ad348b5e2ff12c8c09e4433e34bf2ac721778b64"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8047, 0.6041, -0.382, -0.0216, -0.0418, 0.9995, 0.0513, 1.1934, 0.2787, 0.1772, 0.0105, -0.0036, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1766 left_yaw=-0.0004 left_pitch=-0.0156 left_roll=0.001 left_gripper=0.9995 right_x=0.3019 right_y=0.0172 right_z=0.0341 right_yaw=0.0314 right_pitch=-0.1816 right_roll=-0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.2923, 7.1043, 1.7509, -0.0317, -0.0708, -0.0122, -0.0752, -5.9145, 6.0239, 2.3272, 0.149, 0.2125, -0.022]\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\": 0.36, \"right_y\": 0.015, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"Wrist camera still shows the knob ahead of the gripper jaws (upper-center of frame); the arm only advanced ~1 cm last step. Pushing further forward to 0.36 m in x while lifting slightly so the jaws clear the disk edge.\"}",
        "name": "move_to"
      },
      "id": "toolu_01M3JjhMgq5szwzzB4m7BoET",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01M3JjhMgq5szwzzB4m7BoET"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0422, 0.9994, 0.054, 1.2449, 0.2604, 0.2852, 0.0177, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=0.0007 left_gripper=0.9994 right_x=0.3094 right_y=0.0172 right_z=0.0325 right_yaw=0.0246 right_pitch=-0.1434 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1966, 7.0769, 1.7314, -0.0562, -0.0806, -0.0171, -0.4855, -3.0291, 6.0239, 1.7021, -0.0513, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2efc29dc56281eb1db2d24dd5f59d47161383afc3da42c754ad3e19e08ad2872"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8399dc4d9b51da37607396d18022966c9cbc5481ec386449ae392572a544f1e4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73b46a2b75fb4b8d8a2483a90a269d219de96d367797d65321fc19a7c3b7a374"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3813, -0.0216, -0.0418, 0.9995, 0.054, 1.2442, 0.263, 0.2859, 0.0204, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1767 left_yaw=-0.0004 left_pitch=-0.0153 left_roll=0.0009 left_gripper=0.9995 right_x=0.3105 right_y=0.0168 right_z=0.0339 right_yaw=0.0223 right_pitch=-0.1392 right_roll=-0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.347, 7.2684, 1.6825, -0.0611, -0.0464, -0.0171, -0.4444, -3.0017, 5.7915, 1.707, -0.0855, -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\": 0.35, \"right_z\": 0.09}, \"note\": \"The right arm didn't move on the last command (likely an IK-held target near the table). Lifting the gripper up to 9 cm while moving forward so it approaches the knob from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_014nuRWMnYcy1ePztSeS3vhv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_014nuRWMnYcy1ePztSeS3vhv"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0422, 0.9995, 0.0517, 1.2449, 0.495, 0.0788, 0.0135, -0.0082, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=0.0007 left_gripper=0.9995 right_x=0.3484 right_y=0.0192 right_z=0.0857 right_yaw=0.0318 right_pitch=-0.1152 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2923, 7.0769, 1.707, -0.0464, -0.0659, -0.0073, -0.9915, -3.535, 7.0496, 1.3846, -0.0904, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:59bdfdf118032004599431bfe7c115e45e69c11e76bb9a119ab46c36f94266d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b4d33844007f0fda5b6e1cc4ba5b3faa4f2bec8957a7b5f87908a76e3775e2e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d8ee1185a6ad0670a077ab663ab979e1ce66bc4d6024a72a43648d59a35dcc3c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0422, 0.9994, 0.054, 1.2449, 0.2604, 0.2852, 0.0177, 0.0029, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=0.0007 left_gripper=0.9994 right_x=0.3094 right_y=0.0172 right_z=0.0325 right_yaw=0.0246 right_pitch=-0.1434 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1966, 7.0769, 1.7314, -0.0562, -0.0806, -0.0171, -0.4855, -3.0291, 6.0239, 1.7021, -0.0513, -0.0855, -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\": 0.37, \"right_y\": 0.02, \"right_z\": 0.045, \"right_pitch\": 0.0}, \"note\": \"The knob now sits near the center of the wrist camera, slightly above center, so it is still a bit ahead of the grasp point. Moving forward ~2 cm and descending to knob height with the jaws wide open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RMfDtXCSeGhyWGpJQJrGAA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01RMfDtXCSeGhyWGpJQJrGAA"
}

{
  "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, 0.8097, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0483, 1.5013, 0.3668, 0.3996, 0.0135, -0.0097, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1752 left_yaw=-0.0004 left_pitch=-0.0202 left_roll=0.001 left_gripper=0.9994 right_x=0.3422 right_y=0.0177 right_z=0.0134 right_yaw=0.029 right_pitch=-0.1789 right_roll=-0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.6972, -0.0415, -0.0415, -0.0171, 0.1983, -5.7094, 5.641, 2.2247, 0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54265bddbabffc28be2b5e12ddc7666b52c5ab530e7765cf55cecd8b6a1e75c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e880a131f52d75bb26884b4bf1e34311d06d84e8cef167d60b8e929b06793961"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82e573e59b0503a3f49ebae23cfe75b634c95ac77dfdbf1f6079bc4430a8c5df"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3813, -0.0216, -0.0422, 0.9995, 0.0517, 1.2449, 0.495, 0.0788, 0.0135, -0.0082, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=0.0007 left_gripper=0.9995 right_x=0.3484 right_y=0.0192 right_z=0.0857 right_yaw=0.0318 right_pitch=-0.1152 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.2923, 7.0769, 1.707, -0.0464, -0.0659, -0.0073, -0.9915, -3.535, 7.0496, 1.3846, -0.0904, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.02, \"right_z\": 0.06, \"right_pitch\": 0.0}, \"note\": \"The gripper descended to table level but stopped short in x (0.342) and pitched back; the knob is still ahead of the jaws in the wrist camera. Raising slightly and pushing forward to 0.38 m to get over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_018oozCrVEJR88NFy7eAHh1D",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_018oozCrVEJR88NFy7eAHh1D"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0483, 1.5101, 0.3981, 0.4641, 0.0139, -0.012, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=-0.0004 left_pitch=-0.0195 left_roll=0.001 left_gripper=0.9994 right_x=0.3626 right_y=0.0186 right_z=0.0337 right_yaw=0.0302 right_pitch=-0.092 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.2376, 7.1453, 1.7509, -0.0708, -0.0562, -0.0073, 0.0479, -6.5026, 7.706, 2.1416, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ce3a18986d4ce455784ef532259b6cb18e6e33b2eae4bcd2e2191933f18faff1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d3e750f6f9e40d376fafb9b0c0bed15190360870b2345b72c70b4c377e9f0b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64df6a90e60c0b4725d6b0aef6e4992543492e94c84bf66ba5f9942331a57427"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8097, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0483, 1.5013, 0.3668, 0.3996, 0.0135, -0.0097, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1752 left_yaw=-0.0004 left_pitch=-0.0202 left_roll=0.001 left_gripper=0.9994 right_x=0.3422 right_y=0.0177 right_z=0.0134 right_yaw=0.029 right_pitch=-0.1789 right_roll=-0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.6972, -0.0415, -0.0415, -0.0171, 0.1983, -5.7094, 5.641, 2.2247, 0.0415, -0.0464, -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\": 0.02, \"right_z\": 0.04, \"right_pitch\": 0.0}, \"note\": \"The knob is now just above image center in the wrist camera and the top camera shows the gripper nearly over the piece; each step advances only ~2 cm. Continuing forward to 0.40 m at knob height so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FQoqXUuQierZjy8udJM25z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01FQoqXUuQierZjy8udJM25z"
}

{
  "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, -0.3813, -0.0216, -0.0418, 0.9994, 0.0475, 1.6474, 0.4377, 0.551, 0.0105, -0.0135, 0.999]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.9994 right_x=0.3776 right_y=0.0197 right_z=0.0164 right_yaw=0.0331 right_pitch=-0.1027 right_roll=-0.0097 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.265, 7.1179, 1.6972, -0.022, -0.0415, -0.0122, -0.3624, -5.8462, 7.1179, 2.0733, 0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:324a5c059fb62aca64d2f3b24f5d2c9abe75b1afaf2de860d9ede4c9d02bf207"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b3aecf97e0fed499ffd958d5b11589310b5a23856da37e4a3cc88e1f1378123d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8bca4ca61d809a9efb687f7e696cca5b3176ee3fe3b683fe2c80d3f021a16304"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0483, 1.5101, 0.3981, 0.4641, 0.0139, -0.012, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=-0.0004 left_pitch=-0.0195 left_roll=0.001 left_gripper=0.9994 right_x=0.3626 right_y=0.0186 right_z=0.0337 right_yaw=0.0302 right_pitch=-0.092 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.2376, 7.1453, 1.7509, -0.0708, -0.0562, -0.0073, 0.0479, -6.5026, 7.706, 2.1416, -0.022, -0.0366, -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\": 0.41, \"right_y\": 0.02, \"right_z\": 0.025, \"right_pitch\": 0.0}, \"note\": \"Top camera shows the open jaws right at the edge of the blue disk; the knob is still slightly ahead of the grasp point in the wrist view. Advancing another ~3 cm at knob height (z\\u22482.5 cm) so the knob ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TQVooyhrJiRNB4sruZtu2n",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01TQVooyhrJiRNB4sruZtu2n"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.66, 0.4511, 0.6037, 0.0059, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=-0.0004 left_pitch=-0.0229 left_roll=0.0011 left_gripper=0.9994 right_x=0.3889 right_y=0.021 right_z=0.0269 right_yaw=0.0379 right_pitch=-0.0493 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.2513, 7.0222, 1.7216, -0.0708, -0.0464, -0.0073, -0.3487, -6.2017, 6.4752, 1.9805, 0.0024, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54d90241652d50953c1d833a62817b992552a92a4d6799c36890774ceb45ba44"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2520bd0eedc0fdd409b298bac4979e1f013596133d24cd490509845317b541d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:74ee6ae677f6ab9ed4332d8535f13c72de7d09116fcc442c3bde1ce9a2c48594"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0475, 1.6474, 0.4377, 0.551, 0.0105, -0.0135, 0.999]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1747 left_yaw=-0.0004 left_pitch=-0.0221 left_roll=0.0011 left_gripper=0.9994 right_x=0.3776 right_y=0.0197 right_z=0.0164 right_yaw=0.0331 right_pitch=-0.1027 right_roll=-0.0097 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.265, 7.1179, 1.6972, -0.022, -0.0415, -0.0122, -0.3624, -5.8462, 7.1179, 2.0733, 0.0317, -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\": 0.43, \"right_y\": 0.02, \"right_z\": 0.025, \"right_pitch\": 0.0}, \"note\": \"The jaws are now flanking the disk edge in the top camera but the knob is still a few cm ahead of the grasp point in the wrist view. Advancing to x=0.43 at knob height to bring the knob between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PretVEuiH3RD2wE55vrG6T",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01PretVEuiH3RD2wE55vrG6T"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0414, 0.9994, 0.0475, 1.66, 0.4511, 0.6033, 0.0059, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=-0.0006 left_pitch=-0.0229 left_roll=0.0014 left_gripper=0.9994 right_x=0.3888 right_y=0.021 right_z=0.0268 right_yaw=0.0379 right_pitch=-0.0497 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.347, 7.2137, 1.7167, -0.0659, -0.0122, -0.0073, -0.3761, -6.2017, 6.4205, 1.9707, 0.0024, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5742e6f772f52626573f5e1c18f4762784fef2c6bb1fe9e5e1b89457fe52c8ab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:478351644d94df6a11c3bd43d2f9e8b38ed7fc1c37be456100f028da69eed5d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a9e5cf1d106a1dbf40fd334af14aefe81f57e1074d1fd5b84a9c1f4009ef876"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.66, 0.4511, 0.6037, 0.0059, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=-0.0004 left_pitch=-0.0229 left_roll=0.0011 left_gripper=0.9994 right_x=0.3889 right_y=0.021 right_z=0.0269 right_yaw=0.0379 right_pitch=-0.0493 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.2513, 7.0222, 1.7216, -0.0708, -0.0464, -0.0073, -0.3487, -6.2017, 6.4752, 1.9805, 0.0024, 0.0024, -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\": 0.405, \"right_y\": 0.02, \"right_z\": 0.035, \"right_pitch\": 0.15}, \"note\": \"The arm did not move at all on the last command (target likely held by IK). Trying a smaller forward step with a slight forward pitch so the fingertips reach the knob, which is still just ahead of the jaws in the wrist view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EWTP1wpSfF71XAhmJPxhfu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01EWTP1wpSfF71XAhmJPxhfu"
}

{
  "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, 0.8146, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0456, 1.8126, 0.3904, 0.9234, -0.0006, -0.0154, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.174 left_yaw=-0.0004 left_pitch=-0.0248 left_roll=0.0011 left_gripper=0.9994 right_x=0.3951 right_y=0.0217 right_z=0.0171 right_yaw=0.0417 right_pitch=0.0571 right_roll=-0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0359, 1.6923, -0.0073, -0.0464, -0.0073, -0.7316, -5.8872, 3.6581, 2.1368, -0.0024, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70c3b98ce0dd7203e9d29a7a84caa37592b2bbee1b6bbe60717fd8c2749990d3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2b1cfb2cbf2cd32d12aa8eda50f805621999da444c2d5059ccd7542e1dde404"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df9ddb57002f7be8a8367f334f736c8e7d76b04fc1cc60937cf45618891714a5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0414, 0.9994, 0.0475, 1.66, 0.4511, 0.6033, 0.0059, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=-0.0006 left_pitch=-0.0229 left_roll=0.0014 left_gripper=0.9994 right_x=0.3888 right_y=0.021 right_z=0.0268 right_yaw=0.0379 right_pitch=-0.0497 right_roll=-0.0076 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.347, 7.2137, 1.7167, -0.0659, -0.0122, -0.0073, -0.3761, -6.2017, 6.4205, 1.9707, 0.0024, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.022, \"right_z\": 0.03, \"right_pitch\": 0.2}, \"note\": \"Wrist camera still shows the knob ahead of the fingertips; the arm inches forward only ~0.6 cm per command. Pushing forward to x=0.42 with more forward pitch so the fingertips reach past the disk edge to the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0119gcYnmxvhtvSzWAUGNWzT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_0119gcYnmxvhtvSzWAUGNWzT"
}

{
  "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, 0.8177, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0456, 1.932, 0.403, 1.0863, -0.0048, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0278 left_roll=0.0012 left_gripper=0.9994 right_x=0.406 right_y=0.023 right_z=0.0112 right_yaw=0.0452 right_pitch=0.1132 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.347, 7.1316, 1.7363, -0.0366, -0.0415, -0.0122, -0.3487, -6.3248, 5.1761, 2.1416, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dff0f168359e179fa387aa519e5fc650016ceff68d854cac54e620b357be4dc4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b50851fef95dcf5ef8ab428b4eb1857cd1e8cc5cef19748f9b13d3b308270e35"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:633bec8b5787a75d6e29fe6c6ba60b887083b96585a65e5022d08ca3000a555e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0456, 1.8126, 0.3904, 0.9234, -0.0006, -0.0154, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.174 left_yaw=-0.0004 left_pitch=-0.0248 left_roll=0.0011 left_gripper=0.9994 right_x=0.3951 right_y=0.0217 right_z=0.0171 right_yaw=0.0417 right_pitch=0.0571 right_roll=-0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0359, 1.6923, -0.0073, -0.0464, -0.0073, -0.7316, -5.8872, 3.6581, 2.1368, -0.0024, -0.1099, -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\": 0.43, \"right_y\": 0.023, \"right_z\": 0.03, \"right_pitch\": 0.3}, \"note\": \"The knob is still centered ahead of the fingertips in the wrist camera and the gripper is sitting at table level. Pushing further forward with more forward pitch to get the fingertips around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_018qex7xKaJwHJAJB64RXSnm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_018qex7xKaJwHJAJB64RXSnm"
}

{
  "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, 0.8177, 0.6037, -0.3809, -0.0212, -0.0414, 0.9995, 0.0456, 1.9408, 0.4114, 1.1374, -0.0048, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1731 left_yaw=-0.0009 left_pitch=-0.0279 left_roll=0.0013 left_gripper=0.9995 right_x=0.4131 right_y=0.0233 right_z=0.0218 right_yaw=0.0452 right_pitch=0.1639 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.2376, 7.2274, 1.7314, -0.0611, -0.0464, -0.0073, -0.4171, -6.7214, 4.5333, 2.1661, -0.0464, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ef13edf48164e1226b39c556fd5b8f5c63ec169b8ac2e8b42a45b0e7ae9bee9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93480397bcdb7f1c31beb686ec6472bb0dce410d1502074b8538acc52ab46fe9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc493b512cbd39f0d363a3ce5ef26a3e7689a9f10dd48c8f5075ac90dc7e2c2d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0456, 1.932, 0.403, 1.0863, -0.0048, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0278 left_roll=0.0012 left_gripper=0.9994 right_x=0.406 right_y=0.023 right_z=0.0112 right_yaw=0.0452 right_pitch=0.1132 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.347, 7.1316, 1.7363, -0.0366, -0.0415, -0.0122, -0.3487, -6.3248, 5.1761, 2.1416, -0.0269, -0.0366, -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\": 0.44, \"right_y\": 0.023, \"right_z\": 0.02, \"right_pitch\": 0.3}, \"note\": \"The knob is between the two jaw tips horizontally in the wrist view but appears just ahead of them. One more small forward step at knob height before closing the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JTaFL4YfuH2n7yx2sSVQSz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JTaFL4YfuH2n7yx2sSVQSz"
}

{
  "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, 0.601, -0.382, -0.0216, -0.0422, 0.9994, 0.0456, 2.0636, 0.4603, 1.2503, -0.0082, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.001 left_gripper=0.9994 right_x=0.4279 right_y=0.0246 right_z=0.0127 right_yaw=0.0482 right_pitch=0.2028 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.0325, 7.2821, 1.7021, -0.0513, -0.0366, -0.0171, -0.8, -7.3778, 2.4137, 1.9463, -0.0073, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f329be9ec4f3a5e7ad34b9f147a6a2333ac80f445f599d49244cea247baf5708"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8aab230e98c4d06f03daca64ab81a43dc6ba56d967b00b96f432834d334d9dbd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd603571ac0dc48e239ede0d6e671f884fc66b0a8dbceef82ca7f50c74437581"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6037, -0.3809, -0.0212, -0.0414, 0.9995, 0.0456, 1.9408, 0.4114, 1.1374, -0.0048, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1731 left_yaw=-0.0009 left_pitch=-0.0279 left_roll=0.0013 left_gripper=0.9995 right_x=0.4131 right_y=0.0233 right_z=0.0218 right_yaw=0.0452 right_pitch=0.1639 right_roll=-0.0017 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.2376, 7.2274, 1.7314, -0.0611, -0.0464, -0.0073, -0.4171, -6.7214, 4.5333, 2.1661, -0.0464, -0.0855, -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_gripper\": 0.0}, \"note\": \"The wooden knob now sits between the two jaw tips at the bottom of the wrist camera view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01M3iMztLBykZu6fbvAmXTmM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01M3iMztLBykZu6fbvAmXTmM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8219, 0.601, -0.3813, -0.0216, -0.0418, 0.9995, 0.0456, 2.0861, 0.4618, 1.2633, -0.012, -0.0189, 0.2424]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0351 left_roll=0.0013 left_gripper=0.9995 right_x=0.4272 right_y=0.0252 right_z=0.0069 right_yaw=0.0534 right_pitch=0.1948 right_roll=-0.0024 right_gripper=0.2424\nstate[joint_eff]: [-0.1846, -1.7299, 7.2, 1.6679, -0.0122, -0.0171, -0.0073, -0.212, -9.7573, 2.5641, 1.7558, 0.0269, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a89e1951bc299bd0b9ebd9d29bf31cca9c910bd6996653e03b6a88308cf04d1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dcad6033f613335b6017039e6ff2f385d104f8e7689e713e1890f0c4a8e61ea2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34cb76a6372d5f0b3b7fc85ac581da52dcab643d79b7e03d30831490314ef03f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8181, 0.601, -0.382, -0.0216, -0.0422, 0.9994, 0.0456, 2.0636, 0.4603, 1.2503, -0.0082, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1716 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.001 left_gripper=0.9994 right_x=0.4279 right_y=0.0246 right_z=0.0127 right_yaw=0.0482 right_pitch=0.2028 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.0325, 7.2821, 1.7021, -0.0513, -0.0366, -0.0171, -0.8, -7.3778, 2.4137, 1.9463, -0.0073, -0.0122, -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\": 0.52, \"right_y\": 0.03, \"right_z\": 0.1, \"right_pitch\": 0.0}, \"note\": \"The gripper closed on the knob (gripper 0.24 with rising effort) and the wrist view shows the knob held between the jaws. Lifting the piece and moving toward the board, which the top camera shows farther along the arm's forward direction.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Xk7fZaGMX1KRBUVAi4M4Lb",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01Xk7fZaGMX1KRBUVAi4M4Lb"
}

{
  "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, -0.3813, -0.0216, -0.0418, 0.9994, 0.0463, 1.8893, 1.0134, 0.3561, -0.0132, -0.0238, 0.2453]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.0385 left_roll=0.0014 left_gripper=0.9994 right_x=0.5191 right_y=0.03 right_z=0.0906 right_yaw=0.0576 right_pitch=0.0362 right_roll=-0.0049 right_gripper=0.2453\nstate[joint_eff]: [-0.3624, -1.6479, 7.0496, 1.6923, -0.0757, -0.022, -0.0171, -0.294, -10.7145, 7.4735, 1.8632, -0.0122, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:def80f02121145150eaf2fe9dcd9b7cd12749ae5340de6882401aacd73251ae8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a1c74ec36fe08d1e9cf2b4fd70c0cde9942611cd3cf49b011e710c42f61cef8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9876a33e5c3707ae95534755bf91f6fcdf740a73629f7d583190230e4d286c95"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8219, 0.601, -0.3813, -0.0216, -0.0418, 0.9995, 0.0456, 2.0861, 0.4618, 1.2633, -0.012, -0.0189, 0.2424]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0351 left_roll=0.0013 left_gripper=0.9995 right_x=0.4272 right_y=0.0252 right_z=0.0069 right_yaw=0.0534 right_pitch=0.1948 right_roll=-0.0024 right_gripper=0.2424\nstate[joint_eff]: [-0.1846, -1.7299, 7.2, 1.6679, -0.0122, -0.0171, -0.0073, -0.212, -9.7573, 2.5641, 1.7558, 0.0269, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.17, \"right_z\": 0.09, \"right_pitch\": 0.0}, \"note\": \"The piece is lifted in the gripper; the top camera shows the board about 10 cm to the arm's left and slightly behind the gripper. Moving the held piece over the board's circular groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LYVneQiApgdeHvTVadwFuu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01LYVneQiApgdeHvTVadwFuu"
}

{
  "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, 0.8268, 0.6003, -0.3813, -0.0216, -0.0418, 0.9994, 0.4763, 1.8015, 0.8894, 0.2802, 0.3126, 0.1829, 0.2453]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1689 left_yaw=-0.0004 left_pitch=-0.0408 left_roll=0.0014 left_gripper=0.9994 right_x=0.441 right_y=0.1704 right_z=0.0715 right_yaw=0.1031 right_pitch=-0.041 right_roll=-0.0236 right_gripper=0.2453\nstate[joint_eff]: [-0.1709, -1.5248, 7.241, 1.6923, -0.0855, -0.0366, -0.0073, 0.3487, -11.9316, 6.0103, 1.6728, 0.3053, 0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7df737974581e82906cc75e2edb3626695c7ff0639f0648c16ec8081474d23fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78d1e5e7be75822a63c991107af05776bab1e79c16f7491b17d326ea4d9ccac3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7105d22f841fd6dac3b6fab89f81b5718fbc407aff49c741c24957d706753494"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8253, 0.601, -0.3813, -0.0216, -0.0418, 0.9994, 0.0463, 1.8893, 1.0134, 0.3561, -0.0132, -0.0238, 0.2453]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.0385 left_roll=0.0014 left_gripper=0.9994 right_x=0.5191 right_y=0.03 right_z=0.0906 right_yaw=0.0576 right_pitch=0.0362 right_roll=-0.0049 right_gripper=0.2453\nstate[joint_eff]: [-0.3624, -1.6479, 7.0496, 1.6923, -0.0757, -0.022, -0.0171, -0.294, -10.7145, 7.4735, 1.8632, -0.0122, 0.0024, 1.0281]\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\": 0.43, \"right_y\": 0.32, \"right_z\": 0.08, \"right_pitch\": 0.0}, \"note\": \"Top camera shows the held piece still about 15 cm to the right (in image) of the board; the previous 14 cm y-shift moved the gripper roughly 40 px. Moving further along +y to bring the piece over the board's groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RnK12sAR1hdHQWKYeBh3kv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RnK12sAR1hdHQWKYeBh3kv"
}

{
  "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, 0.6003, -0.3809, -0.0212, -0.0422, 0.9994, 0.8089, 2.0407, 1.2488, 0.0914, 0.5541, 0.3637, 0.2453]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1688 left_yaw=-0.0005 left_pitch=-0.0412 left_roll=0.0009 left_gripper=0.9994 right_x=0.4256 right_y=0.3166 right_z=0.0733 right_yaw=0.1444 right_pitch=-0.0245 right_roll=-0.0365 right_gripper=0.2453\nstate[joint_eff]: [-0.0342, -1.388, 7.0496, 1.6728, -0.0415, -0.0806, -0.0073, 0.3897, -10.2769, 7.9932, 1.5995, 0.4811, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:849a5bf2882817c475627750ec82046d9a0088502800c4872281c7a891bd6373"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ed373482b2c78df3e836d3ffad842164b8c6a4cb628500bcbd357a9d87e3204b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9f1433b071fd6a6ab3367a267c9bb8186089c0a0f47342984f4fe57cab5e1c75"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8268, 0.6003, -0.3813, -0.0216, -0.0418, 0.9994, 0.4763, 1.8015, 0.8894, 0.2802, 0.3126, 0.1829, 0.2453]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1689 left_yaw=-0.0004 left_pitch=-0.0408 left_roll=0.0014 left_gripper=0.9994 right_x=0.441 right_y=0.1704 right_z=0.0715 right_yaw=0.1031 right_pitch=-0.041 right_roll=-0.0236 right_gripper=0.2453\nstate[joint_eff]: [-0.1709, -1.5248, 7.241, 1.6923, -0.0855, -0.0366, -0.0073, 0.3487, -11.9316, 6.0103, 1.6728, 0.3053, 0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.35, \"right_z\": 0.035, \"right_pitch\": 0.0}, \"note\": \"Wrist camera shows the board's circular groove just below-left of the held piece, and the top camera shows the gripper nearly over the board. Shifting ~3 cm back and left while lowering so the piece hovers just above the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PUsPZgc182rePJ9WJnaXHy",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PUsPZgc182rePJ9WJnaXHy"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8288, 0.6003, -0.3809, -0.0216, -0.0418, 0.9994, 0.8902, 2.1162, 1.2358, 0.1486, 0.6113, 0.4072, 0.2453]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0423 left_roll=0.0015 left_gripper=0.9994 right_x=0.4027 right_y=0.3419 right_z=0.0437 right_yaw=0.1583 right_pitch=-0.0236 right_roll=-0.049 right_gripper=0.2453\nstate[joint_eff]: [-0.0889, -1.5248, 7.0496, 1.707, -0.0513, -0.0611, -0.0073, 0.6085, -10.6462, 5.3128, 1.6386, 0.5934, 0.1099, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0fe635f3701512203f1a9290f2e92338df879dbeb3d5368e7d1584b661d88738"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be4627c3c75591a9932b51b9f60a8345659c9a6eb5190f5af79c6eabaf92a4bd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:288a1b09e66d064b2092ec87bf792450389d9c98c25e9a24f93b647d0cb963ea"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}