adhoc - adhoc_1bf1d77c.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 346.1 s
total steps: 102

operator

scenes

trials

errored

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

Grader notes

trial 01

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

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

assistant

agent noteThe blue puzzle piece with its knob is visible roughly straight ahead in the right camera. Moving the right arm forward and down toward it to get a better view and refine alignment.

move_to

right_x0.4000right_y0.0000right_z0.1000right_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, 0.7914, 0.6037, -0.3782, -0.0219, -0.0391, 0.9995, -0.017, 0.7906, 0.6083, -0.3763, -0.0212, -0.0128, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0023 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.1846, -1.265, 10.359, 1.8339, -0.0611, 0.2027, -0.0659, -0.7453, -1.0735, 9.9487, 1.7851, -0.0366, -0.0513, -0.0904] 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_x": 0.4, "right_y": 0.0, "right_z": 0.1, "right_gripper": 1}, "note": "The blue puzzle piece with its knob is visible roughly straight ahead in the right camera. Moving the right arm forward and down toward it to get a better view and refine alignment."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe wrist camera shows the blue piece with its knob nearly centered below the gripper. Lowering and moving slightly forward to hover just above the knob before grasping.

move_to

right_x0.4200right_y0.0000right_z0.0400right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, -0.0193, 1.4059, 0.5518, 0.1745, -0.028, -0.0132, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.179 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3749 right_y=0.0013 right_z=0.0722 right_yaw=0.0039 right_pitch=-0.1208 right_roll=0.0061 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.5658, 6.9949, 1.7265, -0.0855, -0.022, -0.0171, -0.0752, -5.7778, 9.1829, 2.1661, -0.0171, -0.0317, -0.0904] 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": 0.42, "right_y": 0.0, "right_z": 0.04, "right_pitch": 0, "right_gripper": 1}, "note": "The wrist camera shows the blue piece with its knob nearly centered below the gripper. Lowering and moving slightly forward to hover just above the knob before grasping."})

tool

executing move_to over 5 steps (0.5s)

step 14

assistant

agent noteThe knob is just below and slightly left between the gripper fingers in the wrist camera. Moving down to knob height with a small forward and leftward correction so the fingers straddle the knob.

move_to

right_x0.4150right_y0.0100right_z-0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7998, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0196, 1.6997, 0.5438, 0.4923, -0.0326, -0.0154, 0.9992] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0107 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4021 right_y=0.0014 right_z=0.022 right_yaw=0.0086 right_pitch=-0.1047 right_roll=0.0068 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.388, 7.1453, 1.6972, -0.0415, -0.0415, -0.0073, -0.5675, -6.735, 5.6957, 2.0, -0.0317, 0.0024, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.415, "right_y": 0.01, "right_z": -0.005, "right_gripper": 1}, "note": "The knob is just below and slightly left between the gripper fingers in the wrist camera. Moving down to knob height with a small forward and leftward correction so the fingers straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 16

assistant

agent noteThe knob sits just ahead and slightly left of the gripper centerline; the last descent was clamped. Lowering in a smaller step and nudging forward-left so the fingers surround the knob.

move_to

right_x0.4180right_y0.0120right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0011 left_pitch=-0.0114 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992 state[joint_eff]: [-0.3624, -1.1419, 7.0496, 1.6972, -0.0513, -0.0562, -0.0073, -0.5675, -7.0496, 5.5179, 1.9756, -0.022, -0.022, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.418, "right_y": 0.012, "right_z": 0.005, "right_gripper": 1}, "note": "The knob sits just ahead and slightly left of the gripper centerline; the last descent was clamped. Lowering in a smaller step and nudging forward-left so the fingers surround the knob."})

tool

executing move_to over 2 steps (0.2s)

step 18

assistant

agent noteThe arm did not track the last target and the wrist view shows the knob low-left of the fingers, so the gripper may be slightly past it. Backing up a touch, shifting left, and staying a bit higher before descending.

move_to

right_x0.4050right_y0.0200right_z0.0120right_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, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.1692, 7.0359, 1.7216, -0.0415, -0.0806, -0.0171, -0.3761, -7.0359, 5.5179, 1.9658, -0.0562, -0.0269, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.02, "right_z": 0.012, "right_gripper": 1}, "note": "The arm did not track the last target and the wrist view shows the knob low-left of the fingers, so the gripper may be slightly past it. Backing up a touch, shifting left, and staying a bit higher before descending."})

tool

executing move_to over 2 steps (0.2s)

step 20

assistant

agent noteThe arm hasn't moved from x=0.413, z=0.031; the knob is visible between the fingers slightly low-left in the wrist view. Commanding a small pure descent from the current pose to get the fingers around the knob.

move_to

right_x0.4134right_y0.0020right_z0.0200

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, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992 state[joint_eff]: [-0.212, -1.2923, 7.1316, 1.7265, -0.0513, -0.0806, -0.0073, -0.5675, -7.0496, 5.5316, 1.9658, -0.0513, -0.0269, -0.0904] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4134, "right_y": 0.002, "right_z": 0.02}, "note": "The arm hasn't moved from x=0.413, z=0.031; the knob is visible between the fingers slightly low-left in the wrist view. Commanding a small pure descent from the current pose to get the fingers around the knob."})

tool

executing move_to over 1 steps (0.1s)

step 21

assistant

agent noteThe knob sits between the two fingers in the wrist view but the arm has stalled at z=0.031. Commanding a firmer descent to table level with a slight forward nudge so the fingers drop around the knob.

move_to

right_x0.4200right_y0.0000right_z-0.0100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5846, -0.0357, -0.0154, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4134 right_y=0.0016 right_z=0.0308 right_yaw=0.0107 right_pitch=-0.0372 right_roll=0.0066 right_gripper=0.9992 state[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.6972, -0.0659, -0.0562, -0.0073, -0.5265, -7.0906, 5.5179, 2.0195, -0.0464, -0.0122, -0.0952] 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": 0.42, "right_y": 0.0, "right_z": -0.01, "right_gripper": 1}, "note": "The knob sits between the two fingers in the wrist view but the arm has stalled at z=0.031. Commanding a firmer descent to table level with a slight forward nudge so the fingers drop around the knob."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent noteThe arm won't descend further, suggesting the fingertips are already at piece level with the knob sitting between them in the wrist view. Closing the gripper to grasp the knob.

move_to

right_gripper0.3000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, -0.02, 1.7245, 0.5438, 0.585, -0.0353, -0.0154, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4135 right_y=0.0015 right_z=0.0309 right_yaw=0.0103 right_pitch=-0.0368 right_roll=0.0063 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.1829, 7.2274, 1.7363, -0.0806, -0.0513, -0.0073, -0.5265, -7.0769, 5.5179, 1.9658, -0.0415, 0.0317, -0.0952] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.3}, "note": "The arm won't descend further, suggesting the fingertips are already at piece level with the knob sitting between them in the wrist view. Closing the gripper to grasp the knob."})

tool

executing move_to over 7 steps (0.7s)

step 31

assistant

agent noteThe gripper closed just beside the knob rather than around it — the knob appears slightly left/below the pinch point in the wrist view. Opening and shifting slightly back and left to recenter over the knob.

move_to

right_gripper1.0000right_x0.4050right_y0.0080right_z0.0290

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5777, -0.0357, -0.0158, 0.3055] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4125 right_y=0.0016 right_z=0.0294 right_yaw=0.0109 right_pitch=-0.044 right_roll=0.0065 right_gripper=0.3055 state[joint_eff]: [-0.3487, -1.265, 7.2274, 1.7411, -0.0562, -0.0708, -0.0122, -0.2256, -6.9675, 4.9846, 1.7998, -0.0464, -0.0464, 0.1441] approver: 7 step(s) modified (delta_clamped ×7). 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_gripper": 1, "right_x": 0.405, "right_y": 0.008, "right_z": 0.029}, "note": "The gripper closed just beside the knob rather than around it \u2014 the knob appears slightly left/below the pinch point in the wrist view. Opening and shifting slightly back and left to recenter over the knob."})

tool

executing move_to over 7 steps (0.7s)

step 38

assistant

agent noteThe wooden knob is now centered horizontally in the wrist camera but sits ahead of the fingertips. Advancing slightly forward and down so the pinch point straddles the knob.

move_to

right_x0.4170right_y0.0070right_z0.0120right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0212, -0.0418, 0.9994, 0.0002, 1.7241, 0.5186, 0.577, -0.0273, -0.009, 0.9953] state[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4035 right_y=0.0085 right_z=0.0207 right_yaw=0.0204 right_pitch=-0.0698 right_roll=0.0079 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.265, 7.3368, 1.7216, -0.0464, -0.0562, -0.0073, 0.294, -8.3624, 4.5333, 1.8046, 0.0806, 0.0171, -0.1978] approver: 6 step(s) modified (delta_clamped ×6). 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": 0.417, "right_y": 0.007, "right_z": 0.012, "right_gripper": 1}, "note": "The wooden knob is now centered horizontally in the wrist camera but sits ahead of the fingertips. Advancing slightly forward and down so the pinch point straddles the knob."})

tool

executing move_to over 2 steps (0.2s)

step 40

assistant

agent noteThe knob is centered between the fingers but still a bit ahead of the pinch point. Moving another ~1.5 cm forward and lower so the fingertips flank the knob before closing.

move_to

right_x0.4220right_y0.0070right_z0.0040right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.7676, 0.5392, 0.5861, -0.0311, -0.0128, 0.999] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.408 right_y=0.0088 right_z=0.0127 right_yaw=0.0249 right_pitch=-0.0834 right_roll=0.0074 right_gripper=0.999 state[joint_eff]: [-0.1983, -1.306, 7.159, 1.7021, -0.0562, -0.0806, -0.0073, -0.7316, -6.5026, 5.7641, 1.956, -0.0366, -0.0611, -0.1148] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.422, "right_y": 0.007, "right_z": 0.004, "right_gripper": 1}, "note": "The knob is centered between the fingers but still a bit ahead of the pinch point. Moving another ~1.5 cm forward and lower so the fingertips flank the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 42

assistant

agent noteThe knob is centered but still slightly beyond the fingertips in the wrist view. Advancing another centimeter forward at knob height before closing.

move_to

right_x0.4320right_y0.0100right_z0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8187, 0.5625, 0.6041, -0.0399, -0.0124, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4138 right_y=0.0104 right_z=0.004 right_yaw=0.0322 right_pitch=-0.0932 right_roll=0.0133 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4427, 7.159, 1.6923, -0.0562, -0.0757, -0.0122, -0.8957, -5.9419, 5.9692, 1.5702, 0.0024, -0.0806, -0.1148] 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": 0.432, "right_y": 0.01, "right_z": 0.0, "right_gripper": 1}, "note": "The knob is centered but still slightly beyond the fingertips in the wrist view. Advancing another centimeter forward at knob height before closing."})

tool

executing move_to over 2 steps (0.2s)

step 44

assistant

agent noteThe knob sits between the fingertips but slightly forward; the arm is creeping forward slowly. One more small forward-down step so the pinch point is directly over the knob.

move_to

right_x0.4280right_y0.0110right_z-0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.347, 7.2274, 1.7216, -0.0855, -0.0562, -0.0122, -0.8821, -6.612, 5.4906, 1.6972, -0.0024, -0.1148, -0.1148] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.428, "right_y": 0.011, "right_z": -0.005, "right_gripper": 1}, "note": "The knob sits between the fingertips but slightly forward; the arm is creeping forward slowly. One more small forward-down step so the pinch point is directly over the knob."})

tool

executing move_to over 1 steps (0.1s)

step 45

assistant

agent noteThe arm has stalled with the knob sitting centered between the fingertips in the wrist view; the fingers appear to flank it now. Closing the gripper on the knob.

move_to

right_gripper0.2500

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, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.347, 7.0632, 1.7216, -0.0562, -0.0708, -0.0122, -0.9094, -6.4752, 5.4496, 1.6728, -0.0269, -0.1148, -0.1099] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.25}, "note": "The arm has stalled with the knob sitting centered between the fingertips in the wrist view; the fingers appear to flank it now. Closing the gripper on the knob."})

tool

executing move_to over 8 steps (0.8s)

step 53

assistant

agent noteThe gripper closed just short of the knob — the fingertips converged in front of it in the wrist view. Opening and advancing about 2 cm further forward at knob height.

move_to

right_gripper1.0000right_x0.4400right_z0.0000right_y0.0110

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, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0006, 1.8378, 0.5831, 0.622, -0.0452, -0.02, 0.2547] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4218 right_y=0.0113 right_z=0.0068 right_yaw=0.0407 right_pitch=-0.0735 right_roll=0.0096 right_gripper=0.2547 state[joint_eff]: [-0.2393, -1.306, 7.3094, 1.707, -0.0611, -0.0562, -0.0073, -0.5675, -7.0222, 5.0667, 1.619, 0.0415, 0.022, 0.1734] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.44, "right_z": 0.0, "right_y": 0.011}, "note": "The gripper closed just short of the knob \u2014 the fingertips converged in front of it in the wrist view. Opening and advancing about 2 cm further forward at knob height."})

tool

executing move_to over 8 steps (0.8s)

step 61

assistant

agent noteAfter advancing ~2 cm, the knob now appears at the pinch point between the fingers in the wrist camera. Closing the gripper on the knob.

move_to

right_gripper0.2000

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, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8935, 0.6422, 0.6437, -0.0498, -0.0364, 0.9952] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0123 right_z=0.0081 right_yaw=0.0536 right_pitch=-0.0481 right_roll=-0.0023 right_gripper=0.9952 state[joint_eff]: [-0.2256, -1.2786, 7.0632, 1.7363, -0.0611, -0.0757, -0.0073, -0.1846, -6.2701, 5.6957, 1.5653, -0.022, 0.1001, -0.2466] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.2}, "note": "After advancing ~2 cm, the knob now appears at the pinch point between the fingers in the wrist camera. Closing the gripper on the knob."})

tool

executing move_to over 8 steps (0.8s)

step 69

assistant

agent noteThe gripper closed to ~0.2 with the fingers around the knob in the wrist view. Lifting the arm to check if the piece is grasped.

move_to

right_z0.1200

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, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8957, 0.643, 0.6437, -0.0502, -0.0418, 0.2051] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0124 right_z=0.0074 right_yaw=0.0568 right_pitch=-0.0496 right_roll=-0.0064 right_gripper=0.2051 state[joint_eff]: [-0.1436, -1.306, 7.1863, 1.7314, -0.0708, -0.0806, -0.0073, -0.1299, -8.3761, 4.4513, 1.7509, -0.0415, 0.0415, 0.1294] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "The gripper closed to ~0.2 with the fingers around the knob in the wrist view. Lifting the arm to check if the piece is grasped."})

tool

executing move_to over 8 steps (0.8s)

step 77

assistant

agent noteThe knob is pinched at the fingertips with the blue disc hanging below in the wrist view, and the top camera shows the white board with the circular groove toward the left of the right arm. Translating left toward the board while keeping the grasp to line up over the groove.

move_to

right_x0.4500right_y0.1500right_z0.1200right_gripper0.2000

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, 0.807, 0.6037, -0.3805, -0.0216, -0.0414, 0.9994, 0.0006, 1.5848, 0.7906, 0.1688, -0.0544, -0.0425, 0.2046] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4381 right_y=0.0134 right_z=0.0991 right_yaw=0.0616 right_pitch=-0.0658 right_roll=-0.0036 right_gripper=0.2046 state[joint_eff]: [-0.1846, -1.306, 7.2274, 1.7411, -0.0513, -0.0269, -0.0122, -0.3761, -9.0188, 8.8684, 1.8193, -0.0317, -0.0708, -0.0611] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.15, "right_z": 0.12, "right_gripper": 0.2}, "note": "The knob is pinched at the fingertips with the blue disc hanging below in the wrist view, and the top camera shows the white board with the circular groove toward the left of the right arm. Translating left toward the board while keeping the grasp to line up over the groove."})

tool

executing move_to over 12 steps (1.2s)

step 89

assistant

agent noteThe knob is pinched and the disc hangs from the gripper; the white board with the blue circular groove is further to the left in the wrist view. Moving left and down to hover just above the groove.

move_to

right_x0.4500right_y0.2200right_z0.0600right_gripper0.2000

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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.4053, 1.6901, 0.9798, 0.0357, 0.2371, 0.1699, 0.2007] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4425 right_y=0.1486 right_z=0.109 right_yaw=0.1058 right_pitch=-0.0939 right_roll=-0.0137 right_gripper=0.2007 state[joint_eff]: [-0.335, -1.1145, 7.1863, 1.6874, -0.0317, -0.0415, -0.0073, 0.3624, -7.5556, 8.9231, 1.6825, 0.2955, 0.1245, 0.0611] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.22, "right_z": 0.06, "right_gripper": 0.2}, "note": "The knob is pinched and the disc hangs from the gripper; the white board with the blue circular groove is further to the left in the wrist view. Moving left and down to hover just above the groove."})

tool

executing move_to over 6 steps (0.6s)

step 95

assistant

agent noteThe top camera shows the blue disc carried beside the gripper and the white board with the circular groove is still further left in the wrist view. Continuing left to bring the piece over the groove.

move_to

right_x0.4400right_y0.2800right_z0.0500right_gripper0.2000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, 0.5644, 1.916, 1.0409, 0.1043, 0.3267, 0.2512, 0.2007] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0011 left_pitch=-0.0214 left_roll=-0.002 left_gripper=0.9994 right_x=0.4363 right_y=0.2134 right_z=0.0456 right_yaw=0.1426 right_pitch=-0.1623 right_roll=-0.0404 right_gripper=0.2007 state[joint_eff]: [-0.1846, -1.4701, 7.2684, 1.7265, -0.0513, -0.0513, -0.0073, 0.3624, -9.347, 8.0615, 1.6874, 0.4176, 0.1148, 0.0659] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.28, "right_z": 0.05, "right_gripper": 0.2}, "note": "The top camera shows the blue disc carried beside the gripper and the white board with the circular groove is still further left in the wrist view. Continuing left to bring the piece over the groove."})

tool

executing move_to over 6 steps (0.6s)

step 101

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.0216, -0.0418, 0.9995, 0.6926, 2.0289, 1.2301, -0.0093, 0.3851, 0.3161, 0.2007] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.021 left_roll=-0.002 left_gripper=0.9995 right_x=0.4343 right_y=0.2787 right_z=0.0462 right_yaw=0.1856 right_pitch=-0.1761 right_roll=-0.0459 right_gripper=0.2007 state[joint_eff]: [-0.335, -1.306, 7.2137, 1.6777, -0.0513, -0.0611, -0.0073, 0.0342, -9.9487, 7.8291, 1.3358, 0.3541, 0.2418, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [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 · 11.64 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7914, 0.6037, -0.3782, -0.0219, -0.0391, 0.9995, -0.017, 0.7906, 0.6083, -0.3763, -0.0212, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0023 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.265, 10.359, 1.8339, -0.0611, 0.2027, -0.0659, -0.7453, -1.0735, 9.9487, 1.7851, -0.0366, -0.0513, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54504d645b1ff4ef6e81c09a8a4f7ced2a4ef52def0d6b4f9a3b03c4774d5e64"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:570afc0f8c30e1306eb242611d9b6d7c9fc0d500c6fabf573d31bc0203041fa8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a1378e8c52ee243b09885ab21c21a77b01797bb12659f9a96ef8719fb7155474"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 10.99 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1}, \"note\": \"The blue puzzle piece with its knob is visible roughly straight ahead in the right camera. Moving the right arm forward and down toward it to get a better view and refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_013C7kFdndqwfWWmn449h73L",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_013C7kFdndqwfWWmn449h73L"
}

{
  "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, 0.7975, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, -0.0193, 1.4059, 0.5518, 0.1745, -0.028, -0.0132, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.179 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3749 right_y=0.0013 right_z=0.0722 right_yaw=0.0039 right_pitch=-0.1208 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5658, 6.9949, 1.7265, -0.0855, -0.022, -0.0171, -0.0752, -5.7778, 9.1829, 2.1661, -0.0171, -0.0317, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:91d8610b3c79c030297082dea3f3369ac8639cb1f7c05b293c4fef463eced29f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2955fa40a1f55ea54e775a7f631ff27b49668ba2362df86166cb060534e3fded"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7be28999ffbcfa0794b7a893e572d9b85520e0ad0740e22bd0cb8a248845198"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 17.11 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7914, 0.6037, -0.3782, -0.0219, -0.0391, 0.9995, -0.017, 0.7906, 0.6083, -0.3763, -0.0212, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0023 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.265, 10.359, 1.8339, -0.0611, 0.2027, -0.0659, -0.7453, -1.0735, 9.9487, 1.7851, -0.0366, -0.0513, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": 0.04, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue piece with its knob nearly centered below the gripper. Lowering and moving slightly forward to hover just above the knob before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01479MjQYSgozRw3Y5XboUnV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01479MjQYSgozRw3Y5XboUnV"
}

{
  "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, 0.7998, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0196, 1.6997, 0.5438, 0.4923, -0.0326, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0107 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4021 right_y=0.0014 right_z=0.022 right_yaw=0.0086 right_pitch=-0.1047 right_roll=0.0068 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.388, 7.1453, 1.6972, -0.0415, -0.0415, -0.0073, -0.5675, -6.735, 5.6957, 2.0, -0.0317, 0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:348e2877db0863f9629de055d915204951ebccce2c9c76e34c935f0133693370"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:316ca833cd3214cbf19d92409c677a0c6e47e55f43588e94392093ebd3a8760c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd4283d7e252192e3bcc50239ffb1f62711be12f3d299b419f7a2923448e6075"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 9.657 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, -0.0193, 1.4059, 0.5518, 0.1745, -0.028, -0.0132, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.179 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3749 right_y=0.0013 right_z=0.0722 right_yaw=0.0039 right_pitch=-0.1208 right_roll=0.0061 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5658, 6.9949, 1.7265, -0.0855, -0.022, -0.0171, -0.0752, -5.7778, 9.1829, 2.1661, -0.0171, -0.0317, -0.0904]",
      "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\": 0.01, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob is just below and slightly left between the gripper fingers in the wrist camera. Moving down to knob height with a small forward and leftward correction so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DrtTzSVBtux9qNEnrmcdoK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DrtTzSVBtux9qNEnrmcdoK"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0011 left_pitch=-0.0114 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.1419, 7.0496, 1.6972, -0.0513, -0.0562, -0.0073, -0.5675, -7.0496, 5.5179, 1.9756, -0.022, -0.022, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:838011999bb73d47b79128e58a54ea1ce23e4d09c18f20a13a1b79e84f09d5ee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c92cf10c388bca592f20e602af983e02a3b026e2b9e34c561b9951cb82f8e98"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d4186e574ea783ffcac23a7df702337bb02333b064eec03867077d09aa1af2a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 13.89 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7998, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0196, 1.6997, 0.5438, 0.4923, -0.0326, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1782 left_yaw=0.0011 left_pitch=-0.0107 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4021 right_y=0.0014 right_z=0.022 right_yaw=0.0086 right_pitch=-0.1047 right_roll=0.0068 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.388, 7.1453, 1.6972, -0.0415, -0.0415, -0.0073, -0.5675, -6.735, 5.6957, 2.0, -0.0317, 0.0024, -0.0904]\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\": 0.418, \"right_y\": 0.012, \"right_z\": 0.005, \"right_gripper\": 1}, \"note\": \"The knob sits just ahead and slightly left of the gripper centerline; the last descent was clamped. Lowering in a smaller step and nudging forward-left so the fingers surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PNfauxjxHehS1JY6gUKhTa",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01PNfauxjxHehS1JY6gUKhTa"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.1692, 7.0359, 1.7216, -0.0415, -0.0806, -0.0171, -0.3761, -7.0359, 5.5179, 1.9658, -0.0562, -0.0269, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd8d26e44fea8e336e9ba276bedbf9a6446209bc9c86de97a7b70ed18d8959f8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0b232b87e74537084f45c51ffd331b4158d1b16444d4dcde78d52667a444dbd4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61bd97205d469612f6f9a6bbf81b33de8ab49fd5b8da830d02d9769a53ef9163"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 24.13 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.0011 left_pitch=-0.0114 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.1419, 7.0496, 1.6972, -0.0513, -0.0562, -0.0073, -0.5675, -7.0496, 5.5179, 1.9756, -0.022, -0.022, -0.0952]\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\": 0.012, \"right_gripper\": 1}, \"note\": \"The arm did not track the last target and the wrist view shows the knob low-left of the fingers, so the gripper may be slightly past it. Backing up a touch, shifting left, and staying a bit higher before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FGmDZXph8aYr5q2m7MvnTm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01FGmDZXph8aYr5q2m7MvnTm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2923, 7.1316, 1.7265, -0.0513, -0.0806, -0.0073, -0.5675, -7.0496, 5.5316, 1.9658, -0.0513, -0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:469c14762e69f9a513d6de7ae56952e3567e1a4717b3d3cdcc7fe31589858f1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5a2510c5663401a8ddb9dd3ce169e90c5e796bb5225d8217ea1224026edca57"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ba27cb44927f264cb319f1708c9f4c5d17252ce614562bf054061050e737dbd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 12.07 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.1692, 7.0359, 1.7216, -0.0415, -0.0806, -0.0171, -0.3761, -7.0359, 5.5179, 1.9658, -0.0562, -0.0269, -0.0952]\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\": 0.4134, \"right_y\": 0.002, \"right_z\": 0.02}, \"note\": \"The arm hasn't moved from x=0.413, z=0.031; the knob is visible between the fingers slightly low-left in the wrist view. Commanding a small pure descent from the current pose to get the fingers around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SER8eET9LNo6Ck4dMs8yhw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01SER8eET9LNo6Ck4dMs8yhw"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5846, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4134 right_y=0.0016 right_z=0.0308 right_yaw=0.0107 right_pitch=-0.0372 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.6972, -0.0659, -0.0562, -0.0073, -0.5265, -7.0906, 5.5179, 2.0195, -0.0464, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7abc021f6d63a79db74f1cca33329ca3ef3601f3578fc2aae0fc447ee88d561a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:57e64cc2b28651f6f8ef10aa04074e16330a6a0338927bfa314680f04861141e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d52fcd2d05199dcf10848006f35f343db5ee694ee78244c67d18d442ce5bec4a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 13 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0196, 1.7237, 0.5438, 0.5842, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0011 left_pitch=-0.0111 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4134 right_y=0.0018 right_z=0.0311 right_yaw=0.0111 right_pitch=-0.0368 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2923, 7.1316, 1.7265, -0.0513, -0.0806, -0.0073, -0.5675, -7.0496, 5.5316, 1.9658, -0.0513, -0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": -0.01, \"right_gripper\": 1}, \"note\": \"The knob sits between the two fingers in the wrist view but the arm has stalled at z=0.031. Commanding a firmer descent to table level with a slight forward nudge so the fingers drop around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V1GrE7jqZ5rUH48Cih5hfq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01V1GrE7jqZ5rUH48Cih5hfq"
}

{
  "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, -0.3805, -0.0216, -0.0414, 0.9994, -0.02, 1.7245, 0.5438, 0.585, -0.0353, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4135 right_y=0.0015 right_z=0.0309 right_yaw=0.0103 right_pitch=-0.0368 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.1829, 7.2274, 1.7363, -0.0806, -0.0513, -0.0073, -0.5265, -7.0769, 5.5179, 1.9658, -0.0415, 0.0317, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e900b8fae952cc5700c2e51d420ee402c2ac3f93a63f17086de573842971834"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60be8e58f1796d56490e796b8cc6a1f7e830446f6a4c91f3e8bfde55b94a637b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5fa127c3128378b3f73c1cb9bfe7e1fc085361606877445019ad45154d1171fb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 13.99 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5846, -0.0357, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4134 right_y=0.0016 right_z=0.0308 right_yaw=0.0107 right_pitch=-0.0372 right_roll=0.0066 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.6972, -0.0659, -0.0562, -0.0073, -0.5265, -7.0906, 5.5179, 2.0195, -0.0464, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.3}, \"note\": \"The arm won't descend further, suggesting the fingertips are already at piece level with the knob sitting between them in the wrist view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Tb9BAXz2kRwcQ1LiY26CF1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01Tb9BAXz2kRwcQ1LiY26CF1"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5777, -0.0357, -0.0158, 0.3055]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4125 right_y=0.0016 right_z=0.0294 right_yaw=0.0109 right_pitch=-0.044 right_roll=0.0065 right_gripper=0.3055\nstate[joint_eff]: [-0.3487, -1.265, 7.2274, 1.7411, -0.0562, -0.0708, -0.0122, -0.2256, -6.9675, 4.9846, 1.7998, -0.0464, -0.0464, 0.1441]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca664400dad1446a86ac97da9d45f8b98dad600e33ad2fce78c629ce7d396971"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:660050863f1d832c9dc2e13beb8c3ec02fe72baea1674649cabefd251fc59c69"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20156e020799a2524708b4ba94b37286278ac0b268da3cb19827d18579c5393d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 9.747 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, -0.02, 1.7245, 0.5438, 0.585, -0.0353, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4135 right_y=0.0015 right_z=0.0309 right_yaw=0.0103 right_pitch=-0.0368 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.1829, 7.2274, 1.7363, -0.0806, -0.0513, -0.0073, -0.5265, -7.0769, 5.5179, 1.9658, -0.0415, 0.0317, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1, \"right_x\": 0.405, \"right_y\": 0.008, \"right_z\": 0.029}, \"note\": \"The gripper closed just beside the knob rather than around it \\u2014 the knob appears slightly left/below the pinch point in the wrist view. Opening and shifting slightly back and left to recenter over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_018w7gLhPWe7eFdnQTx6qEsx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_018w7gLhPWe7eFdnQTx6qEsx"
}

{
  "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, -0.3805, -0.0212, -0.0418, 0.9994, 0.0002, 1.7241, 0.5186, 0.577, -0.0273, -0.009, 0.9953]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4035 right_y=0.0085 right_z=0.0207 right_yaw=0.0204 right_pitch=-0.0698 right_roll=0.0079 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.265, 7.3368, 1.7216, -0.0464, -0.0562, -0.0073, 0.294, -8.3624, 4.5333, 1.8046, 0.0806, 0.0171, -0.1978]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b1d92d51d12c86da73b4396f15b74dfa3b334b5f5ebef9cbbee50ec308abb7d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e506569284463205546e8cebd17debaba8ad6a4c579b70e939666744e706a8a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb3087bd08c003f2d3b166492eb836cdc4580feee1d1418ae52ea370c1966a28"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 7.928 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.02, 1.7245, 0.5438, 0.5777, -0.0357, -0.0158, 0.3055]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4125 right_y=0.0016 right_z=0.0294 right_yaw=0.0109 right_pitch=-0.044 right_roll=0.0065 right_gripper=0.3055\nstate[joint_eff]: [-0.3487, -1.265, 7.2274, 1.7411, -0.0562, -0.0708, -0.0122, -0.2256, -6.9675, 4.9846, 1.7998, -0.0464, -0.0464, 0.1441]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.417, \"right_y\": 0.007, \"right_z\": 0.012, \"right_gripper\": 1}, \"note\": \"The wooden knob is now centered horizontally in the wrist camera but sits ahead of the fingertips. Advancing slightly forward and down so the pinch point straddles the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0158YGUCQYBrY6XscpHkNbES",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0158YGUCQYBrY6XscpHkNbES"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.7676, 0.5392, 0.5861, -0.0311, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.408 right_y=0.0088 right_z=0.0127 right_yaw=0.0249 right_pitch=-0.0834 right_roll=0.0074 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.306, 7.159, 1.7021, -0.0562, -0.0806, -0.0073, -0.7316, -6.5026, 5.7641, 1.956, -0.0366, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51f79d01e55c31d344c1730458e7e2fd682ba235c04accfa329bf1145259063c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8310f53def649db2f9b25bcfa932a18ad03a17f4046828647ab9321c6b32e60c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb57c40bbf64ccceacbcb36c0b01ef9ff3af3f02a9933b97b63426fccd310d5d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 5.768 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0212, -0.0418, 0.9994, 0.0002, 1.7241, 0.5186, 0.577, -0.0273, -0.009, 0.9953]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.0023 left_gripper=0.9994 right_x=0.4035 right_y=0.0085 right_z=0.0207 right_yaw=0.0204 right_pitch=-0.0698 right_roll=0.0079 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.265, 7.3368, 1.7216, -0.0464, -0.0562, -0.0073, 0.294, -8.3624, 4.5333, 1.8046, 0.0806, 0.0171, -0.1978]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.422, \"right_y\": 0.007, \"right_z\": 0.004, \"right_gripper\": 1}, \"note\": \"The knob is centered between the fingers but still a bit ahead of the pinch point. Moving another ~1.5 cm forward and lower so the fingertips flank the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Bc9oCbWzrrNLKtCseN5pBK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Bc9oCbWzrrNLKtCseN5pBK"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8187, 0.5625, 0.6041, -0.0399, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4138 right_y=0.0104 right_z=0.004 right_yaw=0.0322 right_pitch=-0.0932 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4427, 7.159, 1.6923, -0.0562, -0.0757, -0.0122, -0.8957, -5.9419, 5.9692, 1.5702, 0.0024, -0.0806, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f38f40150d72aa5e824ac8ea78a5a2810cb0a9165137c90cbb08de2d0c37527d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ea3ab2fe13584120e4937319691c1b4c68656a572f21e952f63df23bdb47f8f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7992863552d9bfbeeee3511f274847ab17640f3bd1d0678aa54e385962fc1db8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 9.239 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.7676, 0.5392, 0.5861, -0.0311, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0021 left_gripper=0.9994 right_x=0.408 right_y=0.0088 right_z=0.0127 right_yaw=0.0249 right_pitch=-0.0834 right_roll=0.0074 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.306, 7.159, 1.7021, -0.0562, -0.0806, -0.0073, -0.7316, -6.5026, 5.7641, 1.956, -0.0366, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.432, \"right_y\": 0.01, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The knob is centered but still slightly beyond the fingertips in the wrist view. Advancing another centimeter forward at knob height before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_0137PNjF4mo9r4RJWxFZrAts",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0137PNjF4mo9r4RJWxFZrAts"
}

{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.347, 7.2274, 1.7216, -0.0855, -0.0562, -0.0122, -0.8821, -6.612, 5.4906, 1.6972, -0.0024, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0140dc796a8f6e2614cfab380daf28c2c5802f03e66184bd0242ffd6d853afc9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a9023b03e748155b9cdad917d23483311590449f53c07124ec0e1c86ff0fd3f9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d6d1a06c0a415672ca03bca5f38841ba0c2981f9172681f4c53cefd36db2f15"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 8.799 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8187, 0.5625, 0.6041, -0.0399, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4138 right_y=0.0104 right_z=0.004 right_yaw=0.0322 right_pitch=-0.0932 right_roll=0.0133 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4427, 7.159, 1.6923, -0.0562, -0.0757, -0.0122, -0.8957, -5.9419, 5.9692, 1.5702, 0.0024, -0.0806, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.428, \"right_y\": 0.011, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob sits between the fingertips but slightly forward; the arm is creeping forward slowly. One more small forward-down step so the pinch point is directly over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_017Dhk3dZEzzKdkwx2hfw2ZF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_017Dhk3dZEzzKdkwx2hfw2ZF"
}

{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.347, 7.0632, 1.7216, -0.0562, -0.0708, -0.0122, -0.9094, -6.4752, 5.4496, 1.6728, -0.0269, -0.1148, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f63b95263611ab57d6147fae075b2bd29dbe245b1dc0d5e9537bbc62164d745"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f431af97e9c6996955a2b34654e16164ee3411ef53933d5040a9e8d2aaa1a0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2cdf14834ecdb3b64c436e576f21870931da7a5cff2086c2a82c74139e47094"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 10.9 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.347, 7.2274, 1.7216, -0.0855, -0.0562, -0.0122, -0.8821, -6.612, 5.4906, 1.6972, -0.0024, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.25}, \"note\": \"The arm has stalled with the knob sitting centered between the fingertips in the wrist view; the fingers appear to flank it now. Closing the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BPxPMtVzdNyhLwYvs3gPiG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01BPxPMtVzdNyhLwYvs3gPiG"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9994, -0.0006, 1.8378, 0.5831, 0.622, -0.0452, -0.02, 0.2547]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4218 right_y=0.0113 right_z=0.0068 right_yaw=0.0407 right_pitch=-0.0735 right_roll=0.0096 right_gripper=0.2547\nstate[joint_eff]: [-0.2393, -1.306, 7.3094, 1.707, -0.0611, -0.0562, -0.0073, -0.5675, -7.0222, 5.0667, 1.619, 0.0415, 0.022, 0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:269abe1ebc2e13a157f4fa3211374af9ae77134f528157cbd160996f6cf190c0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:069a73c25d1a91d61331361332feef1d8085d0937812840835acef20918aa652"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6491bc1e2c424c94fd6c41f938052caca8f9bf1375f0d4d4f08dbec731a73558"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 17.28 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0006, 1.8339, 0.5762, 0.6136, -0.0429, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4185 right_y=0.0109 right_z=0.0044 right_yaw=0.035 right_pitch=-0.0851 right_roll=0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.347, 7.0632, 1.7216, -0.0562, -0.0708, -0.0122, -0.9094, -6.4752, 5.4496, 1.6728, -0.0269, -0.1148, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1, \"right_x\": 0.44, \"right_z\": 0.0, \"right_y\": 0.011}, \"note\": \"The gripper closed just short of the knob \\u2014 the fingertips converged in front of it in the wrist view. Opening and advancing about 2 cm further forward at knob height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UDhsq7Wcz9U6iCwe3Npnrd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01UDhsq7Wcz9U6iCwe3Npnrd"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8935, 0.6422, 0.6437, -0.0498, -0.0364, 0.9952]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0123 right_z=0.0081 right_yaw=0.0536 right_pitch=-0.0481 right_roll=-0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -1.2786, 7.0632, 1.7363, -0.0611, -0.0757, -0.0073, -0.1846, -6.2701, 5.6957, 1.5653, -0.022, 0.1001, -0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7daa942d718a52f2e6ad8cda1e3442beac924a1f20542a52029b086d598569db"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c52aa496955f65c8d9cb5e47612b926adae09560c842c9be141a59d221f40df0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7e2e779a71a4517121b90684a93142caef930b19ee1c3d118a8e8b6aa970eac"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 7.837 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, -0.0006, 1.8378, 0.5831, 0.622, -0.0452, -0.02, 0.2547]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4218 right_y=0.0113 right_z=0.0068 right_yaw=0.0407 right_pitch=-0.0735 right_roll=0.0096 right_gripper=0.2547\nstate[joint_eff]: [-0.2393, -1.306, 7.3094, 1.707, -0.0611, -0.0562, -0.0073, -0.5675, -7.0222, 5.0667, 1.619, 0.0415, 0.022, 0.1734]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.2}, \"note\": \"After advancing ~2 cm, the knob now appears at the pinch point between the fingers in the wrist camera. Closing the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P25wzaQ1WaNqYhhXtUonfp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01P25wzaQ1WaNqYhhXtUonfp"
}

{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8957, 0.643, 0.6437, -0.0502, -0.0418, 0.2051]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0124 right_z=0.0074 right_yaw=0.0568 right_pitch=-0.0496 right_roll=-0.0064 right_gripper=0.2051\nstate[joint_eff]: [-0.1436, -1.306, 7.1863, 1.7314, -0.0708, -0.0806, -0.0073, -0.1299, -8.3761, 4.4513, 1.7509, -0.0415, 0.0415, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd4af657d7230d41e44518b93014eb459e0be4fd1e9460fe62f8fd96b1fc627c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:02cdf094a4709c00ba077359d64dfe7b0e81c3c9e4ce85e2fe93c616a46a1a15"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:91c5716e6979a8533790a3c16fa1e7b08c157a8c8fda90545a4dcea4cb509289"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 39.88 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8935, 0.6422, 0.6437, -0.0498, -0.0364, 0.9952]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0011 left_pitch=-0.0175 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0123 right_z=0.0081 right_yaw=0.0536 right_pitch=-0.0481 right_roll=-0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -1.2786, 7.0632, 1.7363, -0.0611, -0.0757, -0.0073, -0.1846, -6.2701, 5.6957, 1.5653, -0.022, 0.1001, -0.2466]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.12}, \"note\": \"The gripper closed to ~0.2 with the fingers around the knob in the wrist view. Lifting the arm to check if the piece is grasped.\"}",
        "name": "move_to"
      },
      "id": "toolu_01E9VJz8ju5LgJk3Z2dq67ne",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01E9VJz8ju5LgJk3Z2dq67ne"
}

{
  "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, 0.6037, -0.3805, -0.0216, -0.0414, 0.9994, 0.0006, 1.5848, 0.7906, 0.1688, -0.0544, -0.0425, 0.2046]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4381 right_y=0.0134 right_z=0.0991 right_yaw=0.0616 right_pitch=-0.0658 right_roll=-0.0036 right_gripper=0.2046\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.7411, -0.0513, -0.0269, -0.0122, -0.3761, -9.0188, 8.8684, 1.8193, -0.0317, -0.0708, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d2552d60ec930a6ea785825b91cd63dca0b006c7777484110e215df22bd3368"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d0f1dd45f937d3521b370bd36d23f49fab9e2baedfc203be0f2c90f1a2024ef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f02f38762cce4d96a1563244322aef33defc62dd2abaf6f2752cf3ed20c3760a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 44.66 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, -0.0002, 1.8957, 0.643, 0.6437, -0.0502, -0.0418, 0.2051]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0179 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4402 right_y=0.0124 right_z=0.0074 right_yaw=0.0568 right_pitch=-0.0496 right_roll=-0.0064 right_gripper=0.2051\nstate[joint_eff]: [-0.1436, -1.306, 7.1863, 1.7314, -0.0708, -0.0806, -0.0073, -0.1299, -8.3761, 4.4513, 1.7509, -0.0415, 0.0415, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.15, \"right_z\": 0.12, \"right_gripper\": 0.2}, \"note\": \"The knob is pinched at the fingertips with the blue disc hanging below in the wrist view, and the top camera shows the white board with the circular groove toward the left of the right arm. Translating left toward the board while keeping the grasp to line up over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PVVsjcvnzD7frJ56xod9Qg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01PVVsjcvnzD7frJ56xod9Qg"
}

{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.4053, 1.6901, 0.9798, 0.0357, 0.2371, 0.1699, 0.2007]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0021 left_gripper=0.9994 right_x=0.4425 right_y=0.1486 right_z=0.109 right_yaw=0.1058 right_pitch=-0.0939 right_roll=-0.0137 right_gripper=0.2007\nstate[joint_eff]: [-0.335, -1.1145, 7.1863, 1.6874, -0.0317, -0.0415, -0.0073, 0.3624, -7.5556, 8.9231, 1.6825, 0.2955, 0.1245, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a552a3f80f957e029fc5501bd686b5b6b7f01edfd06247bf4992cfe8c54f5e96"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:186299517ac0ee7386e4c90f6c0e31fbe5df6f8d891fcd0b4c99f0c929fe4911"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e191981b308293042f2eaf089c2f9bf0afd764d4ca0b3ba84a1d5f22430c4d89"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 17.83 s

model: claude-fable-5
effort: medium
temperature: n/a
tool count: 3

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0414, 0.9994, 0.0006, 1.5848, 0.7906, 0.1688, -0.0544, -0.0425, 0.2046]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4381 right_y=0.0134 right_z=0.0991 right_yaw=0.0616 right_pitch=-0.0658 right_roll=-0.0036 right_gripper=0.2046\nstate[joint_eff]: [-0.1846, -1.306, 7.2274, 1.7411, -0.0513, -0.0269, -0.0122, -0.3761, -9.0188, 8.8684, 1.8193, -0.0317, -0.0708, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.22, \"right_z\": 0.06, \"right_gripper\": 0.2}, \"note\": \"The knob is pinched and the disc hangs from the gripper; the white board with the blue circular groove is further to the left in the wrist view. Moving left and down to hover just above the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UhrchTie2axsDn2m7MiU57",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01UhrchTie2axsDn2m7MiU57"
}

{
  "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, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, 0.5644, 1.916, 1.0409, 0.1043, 0.3267, 0.2512, 0.2007]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1751 left_yaw=0.0011 left_pitch=-0.0214 left_roll=-0.002 left_gripper=0.9994 right_x=0.4363 right_y=0.2134 right_z=0.0456 right_yaw=0.1426 right_pitch=-0.1623 right_roll=-0.0404 right_gripper=0.2007\nstate[joint_eff]: [-0.1846, -1.4701, 7.2684, 1.7265, -0.0513, -0.0513, -0.0073, 0.3624, -9.347, 8.0615, 1.6874, 0.4176, 0.1148, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9fc5c2f9e5e69eae892eeafbc06a88d9a0e0db13b92871321b34975c1e085df6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26004fac92a2382e88f5bf1ed675fe4237311afad52fb8d274b97127981e4359"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34e8e2fe31f935bf97cef98e97f7d275b807055e56f7fa8ab6301c4f6a72b122"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}