adhoc - adhoc_1ddcd3a0.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-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 297.4 s
total steps: 129

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

partial

Grader notes

trial 03

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

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

I'll start by moving the right arm forward and down toward the blue piece to get a better view of its position.

agent noteThe right wrist camera shows the blue round piece with its knob slightly below and left of image center; the board is far away near the left arm. Moving the right gripper forward and lower over the piece to refine alignment.

move_to

right_x0.3800right_y0.0200right_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]: [-0.0204, 0.7918, 0.6037, -0.3786, -0.0216, -0.0402, 0.9995, -0.0174, 0.791, 0.6086, -0.3756, -0.0208, -0.0154, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4991, -1.2923, 10.3453, 1.8486, -0.0073, 0.188, -0.0659, -0.6222, -1.1556, 9.9077, 1.7851, -0.0464, -0.0366, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

I'll start by moving the right arm forward and down toward the blue piece to get a better view of its position.

move_to({"targets": {"right_x": 0.38, "right_y": 0.02, "right_z": 0.1, "right_gripper": 1.0}, "note": "The right wrist camera shows the blue round piece with its knob slightly below and left of image center; the board is far away near the left arm. Moving the right gripper forward and lower over the piece to refine alignment."})

tool

executing move_to over 7 steps (0.7s)

step 7

assistant

agent noteThe wrist camera now shows the knob centered horizontally, slightly below image center, between the open fingers. Descending toward knob height with a small forward adjustment before closing.

move_to

right_x0.3750right_y0.0200right_z0.0350right_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, 0.7979, 0.6041, -0.3813, -0.0212, -0.0414, 0.9995, 0.062, 1.3178, 0.5148, 0.1368, 0.0277, 0.0036, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.001 left_gripper=0.9995 right_x=0.3607 right_y=0.0211 right_z=0.0807 right_yaw=0.0279 right_pitch=-0.1081 right_roll=-0.0131 right_gripper=0.9992 state[joint_eff]: [-0.212, -1.6068, 7.0496, 1.7265, -0.0073, -0.0562, -0.0171, 0.4444, -5.7231, 7.1726, 1.8632, 0.1832, 0.2222, -0.1001] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.02, "right_z": 0.035, "right_gripper": 1.0}, "note": "The wrist camera now shows the knob centered horizontally, slightly below image center, between the open fingers. Descending toward knob height with a small forward adjustment before closing."})

tool

executing move_to over 3 steps (0.3s)

step 10

assistant

agent noteThe knob is centered between the fingers in the wrist view but still slightly ahead and below the fingertips. Moving a bit forward and down so the jaws straddle the knob.

move_to

right_x0.3850right_y0.0200right_z0.0200right_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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4727, 0.4763, 0.2871, 0.0246, 0.0032, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3643 right_y=0.0206 right_z=0.0411 right_yaw=0.0271 right_pitch=-0.1513 right_roll=-0.0129 right_gripper=0.9992 state[joint_eff]: [-0.3487, -1.1145, 7.2, 1.6972, -0.0659, -0.022, -0.0171, -0.3761, -6.2154, 6.6393, 2.1905, -0.0366, -0.022, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.02, "right_z": 0.02, "right_gripper": 1.0}, "note": "The knob is centered between the fingers in the wrist view but still slightly ahead and below the fingertips. Moving a bit forward and down so the jaws straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 12

assistant

agent noteThe arm barely moved on the last command and the knob is still ahead of the fingertips in the wrist view, with the tool pitched back. Commanding a larger forward step with level pitch so the jaws reach around the knob.

move_to

right_x0.4000right_y0.0200right_z0.0300right_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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.1009, 7.2957, 1.7363, -0.0855, -0.0513, -0.0073, -0.4308, -5.9145, 6.2017, 1.8681, -0.0171, -0.0806, -0.1001] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.02, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm barely moved on the last command and the knob is still ahead of the fingertips in the wrist view, with the tool pitched back. Commanding a larger forward step with level pitch so the jaws reach around the knob."})

tool

executing move_to over 6 steps (0.6s)

step 18

assistant

agent noteThe arm did not move on the last command, suggesting the low, forward target was held as unreachable. Lifting slightly while moving forward so the IK can advance the gripper over the knob.

move_to

right_x0.4100right_y0.0200right_z0.0700right_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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0012 left_pitch=-0.0126 left_roll=-0.001 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992 state[joint_eff]: [-0.335, -1.265, 7.1316, 1.7363, -0.0708, -0.0806, -0.0073, -0.3897, -5.9145, 6.3111, 1.8632, -0.0513, -0.0269, -0.1001] 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": 0.41, "right_y": 0.02, "right_z": 0.07, "right_gripper": 1.0}, "note": "The arm did not move on the last command, suggesting the low, forward target was held as unreachable. Lifting slightly while moving forward so the IK can advance the gripper over the knob."})

tool

executing move_to over 4 steps (0.4s)

step 22

assistant

agent noteThe knob now sits centered between the open jaws in the wrist camera, just below image center. Descending straight down so the fingers surround the knob before closing.

move_to

right_x0.4050right_y0.0200right_z0.0300right_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, 0.8066, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0517, 1.557, 0.6582, 0.1818, 0.0158, -0.0093, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4013 right_y=0.0216 right_z=0.0596 right_yaw=0.0345 right_pitch=-0.1591 right_roll=-0.0169 right_gripper=0.9992 state[joint_eff]: [-0.253, -1.1829, 7.2274, 1.7021, -0.0366, -0.0757, -0.0073, -0.841, -6.188, 6.5299, 1.3797, -0.0855, -0.0269, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.02, "right_z": 0.03, "right_gripper": 1.0}, "note": "The knob now sits centered between the open jaws in the wrist camera, just below image center. Descending straight down so the fingers surround the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 24

assistant

agent noteThe knob sits between the two fingertips at the bottom of the wrist view and the arm seems to have stopped descending (likely contact with the table). 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, 0.8066, 0.6041, -0.3805, -0.0212, -0.0418, 0.9994, 0.0475, 1.6142, 0.6579, 0.2523, 0.0135, -0.0124, 0.9992] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0164 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4094 right_y=0.0207 right_z=0.0506 right_yaw=0.034 right_pitch=-0.1461 right_roll=-0.0176 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.3197, 7.5419, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -5.7778, 4.2598, 1.4628, -0.0562, -0.0415, -0.1001] 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": 0.2}, "note": "The knob sits between the two fingertips at the bottom of the wrist view and the arm seems to have stopped descending (likely contact with the table). Closing the gripper on the knob."})

tool

executing move_to over 8 steps (0.8s)

step 32

assistant

agent noteThe wrist camera shows both fingertips pinching the knob at the center of the blue disc. Squeezing slightly more and lifting to check that the piece comes up with the gripper.

move_to

right_z0.1200right_gripper0.1500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.6371, 0.6384, 0.2424, 0.0059, -0.0132, 0.2054] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3996 right_y=0.0215 right_z=0.0328 right_yaw=0.0409 right_pitch=-0.1984 right_roll=-0.0135 right_gripper=0.2054 state[joint_eff]: [-0.1846, -1.4974, 7.1863, 1.7021, -0.0757, -0.0806, -0.0122, -0.1983, -8.4034, 6.9949, 1.6825, 0.0562, -0.0464, 0.1832] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12, "right_gripper": 0.15}, "note": "The wrist camera shows both fingertips pinching the knob at the center of the blue disc. Squeezing slightly more and lifting to check that the piece comes up with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 38

assistant

agent noteThe blue piece is lifted, held by its knob in the right gripper. The top camera shows the board about 20 cm to the right arm's left (+y), so I'm translating the arm sideways toward the board while keeping height.

move_to

right_x0.4000right_y0.2000right_z0.1200right_gripper0.1500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.4631, 0.8101, -0.1066, 0.0021, -0.0158, 0.1518] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.401 right_y=0.0223 right_z=0.1035 right_yaw=0.0456 right_pitch=-0.2019 right_roll=-0.0128 right_gripper=0.1518 state[joint_eff]: [-0.2256, -1.3333, 7.0769, 1.7314, -0.0611, -0.0562, -0.0073, -0.3487, -7.8974, 8.6906, 1.58, 0.0269, -0.0269, 0.149] 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": 0.4, "right_y": 0.2, "right_z": 0.12, "right_gripper": 0.15}, "note": "The blue piece is lifted, held by its knob in the right gripper. The top camera shows the board about 20 cm to the right arm's left (+y), so I'm translating the arm sideways toward the board while keeping height."})

tool

executing move_to over 15 steps (1.5s)

step 53

assistant

agent noteThe wrist camera shows the gripper jaws are now empty — the piece slipped out during the sideways move and lies on the table to the right (−y) of the fingers, while the board is at the left of the image. Opening the gripper and moving back toward the piece to re-grasp it.

move_to

right_x0.3900right_y0.1200right_z0.1100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5941, 1.6661, 1.0767, -0.2668, 0.3553, 0.3462, 0.1506] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3942 right_y=0.1965 right_z=0.1106 right_yaw=0.0893 right_pitch=-0.2292 right_roll=-0.0254 right_gripper=0.1506 state[joint_eff]: [-0.335, -1.2923, 7.1863, 1.6972, -0.0611, -0.0415, -0.0073, 0.3897, -7.5966, 8.7453, 1.2772, 0.3834, 0.2369, 0.0464] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.12, "right_z": 0.11, "right_gripper": 1.0}, "note": "The wrist camera shows the gripper jaws are now empty \u2014 the piece slipped out during the sideways move and lies on the table to the right (\u2212y) of the fingers, while the board is at the left of the image. Opening the gripper and moving back toward the piece to re-grasp it."})

tool

executing move_to over 9 steps (0.9s)

step 62

assistant

agent noteThe wrist camera shows the dropped blue piece with its knob just to the right of the right fingertip (toward −y). Shifting the gripper about 3 cm toward −y and lowering so the knob is centered between the jaws.

move_to

right_x0.3850right_y0.0900right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.3916, 1.5471, 0.9123, -0.2329, 0.2283, 0.2024, 0.9949] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0012 left_pitch=-0.0214 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3866 right_y=0.1202 right_z=0.0944 right_yaw=0.07 right_pitch=-0.2801 right_roll=-0.0411 right_gripper=0.9949 state[joint_eff]: [-0.3214, -1.4154, 7.159, 1.7167, -0.0708, -0.0464, -0.0073, -0.2803, -9.5795, 6.4342, 1.7314, 0.0415, 0.0562, -0.0757] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.09, "right_z": 0.06, "right_gripper": 1.0}, "note": "The wrist camera shows the dropped blue piece with its knob just to the right of the right fingertip (toward \u2212y). Shifting the gripper about 3 cm toward \u2212y and lowering so the knob is centered between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 65

assistant

agent noteThe knob is still about 2.5 cm to the image-right of the jaw center (image-right corresponds to −y for this wrist camera). Shifting further −y and lowering to grasp height.

move_to

right_x0.3850right_y0.0650right_z0.0400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.3107, 1.5536, 0.7891, -0.1246, 0.1787, 0.1509, 0.9989] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3775 right_y=0.092 right_z=0.0604 right_yaw=0.0587 right_pitch=-0.3122 right_roll=-0.0445 right_gripper=0.9989 state[joint_eff]: [-0.1983, -0.9504, 7.0085, 1.6874, -0.0366, -0.0415, -0.0073, -0.294, -5.9692, 7.4735, 1.8632, -0.0513, -0.1245, -0.1197] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.065, "right_z": 0.04, "right_gripper": 1.0}, "note": "The knob is still about 2.5 cm to the image-right of the jaw center (image-right corresponds to \u2212y for this wrist camera). Shifting further \u2212y and lowering to grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 68

assistant

agent noteThe knob is still about 2 cm right of center between the jaws and slightly ahead; the tool is pitched back which offsets the fingers. Shifting −y, a little forward, straightening pitch and lowering to knob height.

move_to

right_x0.3900right_y0.0450right_z0.0280right_pitch-0.1000right_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, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.2276, 1.5871, 0.7509, -0.0574, 0.1299, 0.0933, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0233 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3811 right_y=0.0685 right_z=0.0434 right_yaw=0.0502 right_pitch=-0.3258 right_roll=-0.0453 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.6825, -0.0513, -0.0708, -0.0122, -0.253, -5.7778, 5.6274, 1.6532, -0.0708, -0.0513, -0.1197] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.045, "right_z": 0.028, "right_pitch": -0.1, "right_gripper": 1.0}, "note": "The knob is still about 2 cm right of center between the jaws and slightly ahead; the tool is pitched back which offsets the fingers. Shifting \u2212y, a little forward, straightening pitch and lowering to knob height."})

tool

executing move_to over 8 steps (0.8s)

step 76

assistant

agent noteThe knob is now centered laterally between the jaws but sits ahead of the fingertips in the wrist view. Advancing about 2.5 cm forward so the fingers straddle the knob.

move_to

right_x0.4050right_y0.0450right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.157, 1.6314, 0.5243, 0.3691, 0.0998, 0.0296, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3787 right_y=0.0458 right_z=0.018 right_yaw=0.0466 right_pitch=-0.176 right_roll=-0.0452 right_gripper=0.999 state[joint_eff]: [-0.1983, -1.3744, 7.2274, 1.7021, -0.0366, -0.0806, -0.0122, -0.6496, -5.1487, 5.2991, 1.8437, -0.0366, -0.1001, -0.1197] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.045, "right_z": 0.03, "right_gripper": 1.0}, "note": "The knob is now centered laterally between the jaws but sits ahead of the fingertips in the wrist view. Advancing about 2.5 cm forward so the fingers straddle the knob."})

tool

executing move_to over 3 steps (0.3s)

step 79

assistant

agent noteThe knob is centered between the jaws laterally but still just ahead of the fingertips in the wrist view. Advancing another 2 cm forward and slightly down so the fingers surround the knob before closing.

move_to

right_x0.4200right_y0.0480right_z0.0250right_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, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1505, 1.6688, 0.6067, 0.3351, 0.091, 0.017, 0.999] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0012 left_pitch=-0.0236 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3988 right_y=0.0479 right_z=0.0267 right_yaw=0.0546 right_pitch=-0.1659 right_roll=-0.0477 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.3607, 7.2, 1.7314, -0.0464, -0.0659, -0.0122, -1.1829, -6.3111, 6.8034, 1.4969, -0.0513, -0.022, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.048, "right_z": 0.025, "right_gripper": 1.0}, "note": "The knob is centered between the jaws laterally but still just ahead of the fingertips in the wrist view. Advancing another 2 cm forward and slightly down so the fingers surround the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 81

assistant

agent noteThe knob sits between the two fingertips at the bottom center of the wrist view, similar to where the first successful grasp happened. Closing the gripper firmly on the knob.

move_to

right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7119, 0.6537, 0.3, 0.083, 0.0128, 0.999] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0012 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9994 right_x=0.4057 right_y=0.0478 right_z=0.0202 right_yaw=0.0571 right_pitch=-0.1976 right_roll=-0.0483 right_gripper=0.999 state[joint_eff]: [-0.335, -1.347, 7.0222, 1.6874, -0.0513, -0.0415, -0.0122, -0.4855, -6.5162, 6.8718, 1.8486, 0.0269, -0.0464, -0.1197] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.1}, "note": "The knob sits between the two fingertips at the bottom center of the wrist view, similar to where the first successful grasp happened. Closing the gripper firmly on the knob."})

tool

executing move_to over 9 steps (0.9s)

step 90

assistant

agent noteThe wrist camera shows the jaws firmly gripping the knob (gripper effort rose to ~1.0). Lifting the piece and carrying it toward the board, which the top camera shows roughly 25–30 cm to the arm's left at about the same forward distance.

move_to

right_x0.4000right_y0.3000right_z0.1300right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8154, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7363, 0.654, 0.2951, 0.0769, 0.0101, 0.2241] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1737 left_yaw=0.0012 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9994 right_x=0.4025 right_y=0.0484 right_z=0.01 right_yaw=0.0633 right_pitch=-0.2269 right_roll=-0.0484 right_gripper=0.2241 state[joint_eff]: [-0.2667, -1.5658, 7.2684, 1.6874, -0.0513, -0.0806, -0.0122, -0.3214, -9.2786, 5.0803, 1.5604, 0.0611, -0.0513, 0.9988] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.3, "right_z": 0.13, "right_gripper": 0.1}, "note": "The wrist camera shows the jaws firmly gripping the knob (gripper effort rose to ~1.0). Lifting the piece and carrying it toward the board, which the top camera shows roughly 25\u201330 cm to the arm's left at about the same forward distance."})

tool

executing move_to over 21 steps (2.1s)

step 111

assistant

agent noteThe wrist camera shows the held blue piece hovering over the board with the circular groove visible slightly to the image-left (+y) and slightly ahead of the piece. Shifting ~2 cm in +y and 1 cm forward while lowering the piece down to the board surface.

move_to

right_x0.4050right_y0.3200right_z0.0300right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.8021, 1.9244, 1.4631, -0.4843, 0.4789, 0.495, 0.2233] state[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0305 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3968 right_y=0.2983 right_z=0.1206 right_yaw=0.1076 right_pitch=-0.246 right_roll=-0.0524 right_gripper=0.2233 state[joint_eff]: [-0.2393, -1.7573, 7.0222, 1.6874, -0.0659, -0.0611, -0.0073, 0.3487, -9.6889, 8.9094, 1.2674, 0.6227, 0.2222, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.32, "right_z": 0.03, "right_gripper": 0.1}, "note": "The wrist camera shows the held blue piece hovering over the board with the circular groove visible slightly to the image-left (+y) and slightly ahead of the piece. Shifting ~2 cm in +y and 1 cm forward while lowering the piece down to the board surface."})

tool

executing move_to over 6 steps (0.6s)

step 117

assistant

agent noteThe wrist camera shows the piece partially overlapping the groove, with the groove center about 2–3 cm further to image-left (+y) and slightly forward. Shifting the piece that way, lowering it into the groove, and releasing the knob.

move_to

right_x0.4150right_y0.3400right_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, 0.82, 0.6037, -0.3809, -0.0216, -0.0414, 0.9994, 0.8192, 2.1059, 1.3785, -0.2836, 0.4751, 0.5121, 0.2233] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9994 right_x=0.3965 right_y=0.3112 right_z=0.0286 right_yaw=0.1063 right_pitch=-0.2975 right_roll=-0.0819 right_gripper=0.2233 state[joint_eff]: [-0.1709, -1.3744, 7.0359, 1.6874, -0.0855, -0.0366, -0.0073, 0.5675, -10.7009, 6.0376, 1.3504, 0.3346, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.415, "right_y": 0.34, "right_z": 0.012, "right_gripper": 1.0}, "note": "The wrist camera shows the piece partially overlapping the groove, with the groove center about 2\u20133 cm further to image-left (+y) and slightly forward. Shifting the piece that way, lowering it into the groove, and releasing the knob."})

tool

executing move_to over 8 steps (0.8s)

step 125

assistant

agent noteThe released piece is resting partly over the groove, offset a few cm toward −y from the groove center. With the gripper open and the knob between the fingers, sliding the gripper ~3 cm in +y so the inner finger nudges the piece into the groove.

move_to

right_x0.4200right_y0.3700right_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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.8272, 2.2208, 1.5208, -0.3038, 0.4732, 0.5125, 0.8946] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0012 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9994 right_x=0.4139 right_y=0.3365 right_z=0.0186 right_yaw=0.1169 right_pitch=-0.2931 right_roll=-0.0754 right_gripper=0.8946 state[joint_eff]: [-0.294, -1.4017, 7.2684, 1.6825, -0.0806, -0.0415, -0.0073, 0.4991, -10.1812, 8.294, 1.1453, 0.2906, 0.1245, -0.0904] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.37, "right_z": 0.012, "right_gripper": 1.0}, "note": "The released piece is resting partly over the groove, offset a few cm toward \u2212y from the groove center. With the gripper open and the knob between the fingers, sliding the gripper ~3 cm in +y so the inner finger nudges the piece into the groove."})

tool

executing move_to over 3 steps (0.3s)

step 128

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8211, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.8497, 2.3093, 1.6684, -0.3542, 0.4881, 0.5209, 0.9979] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1722 left_yaw=0.0012 left_pitch=-0.0316 left_roll=-0.0006 left_gripper=0.9994 right_x=0.4247 right_y=0.3631 right_z=0.0193 right_yaw=0.1257 right_pitch=-0.278 right_roll=-0.0734 right_gripper=0.9979 state[joint_eff]: [-0.3214, -1.4564, 7.3094, 1.7167, -0.0415, -0.0611, -0.0073, 0.6222, -11.4393, 7.4188, 0.9548, 0.1832, 0.2759, -0.1099] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [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 · 26.25 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6037, -0.3786, -0.0216, -0.0402, 0.9995, -0.0174, 0.791, 0.6086, -0.3756, -0.0208, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.2923, 10.3453, 1.8486, -0.0073, 0.188, -0.0659, -0.6222, -1.1556, 9.9077, 1.7851, -0.0464, -0.0366, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d8fc08528b07c697c68ff1b4c5b41796188d9a1d2b07bda18d12b6a6b15eee4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef9870e9187414428d25824619f9efd94268e4361f81d732e6b8498f16c0ea5e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8f74f545e5a72c153266da785ccd8f75482cc7c664658ec5f8a1a2b0158799f5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 11.92 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

{
  "content": "I'll start by moving the right arm forward and down toward the blue piece to get a better view of its position.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.02, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue round piece with its knob slightly below and left of image center; the board is far away near the left arm. Moving the right gripper forward and lower over the piece to refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_013xhqnGeNkE4Av96coSA3XX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_013xhqnGeNkE4Av96coSA3XX"
}

{
  "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, 0.7979, 0.6041, -0.3813, -0.0212, -0.0414, 0.9995, 0.062, 1.3178, 0.5148, 0.1368, 0.0277, 0.0036, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.001 left_gripper=0.9995 right_x=0.3607 right_y=0.0211 right_z=0.0807 right_yaw=0.0279 right_pitch=-0.1081 right_roll=-0.0131 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.6068, 7.0496, 1.7265, -0.0073, -0.0562, -0.0171, 0.4444, -5.7231, 7.1726, 1.8632, 0.1832, 0.2222, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d96f9c1d3522d206e0267545f5d79955663aeccefe87a44ced37b36bebc4cfac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eee9bc2a26868fb6dea87a9443dbca9fbde8338b28b7280ba2dd0a9ec6da147f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b5bc8b8e2c8acae6bfdfcfcef7e462d43fbdcdf43b92b02352cd3d78c602d0e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 7.299 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6037, -0.3786, -0.0216, -0.0402, 0.9995, -0.0174, 0.791, 0.6086, -0.3756, -0.0208, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4991, -1.2923, 10.3453, 1.8486, -0.0073, 0.188, -0.0659, -0.6222, -1.1556, 9.9077, 1.7851, -0.0464, -0.0366, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.02, \"right_z\": 0.035, \"right_gripper\": 1.0}, \"note\": \"The wrist camera now shows the knob centered horizontally, slightly below image center, between the open fingers. Descending toward knob height with a small forward adjustment before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CH9pmonPaN1McaSeP3RDyv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CH9pmonPaN1McaSeP3RDyv"
}

{
  "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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4727, 0.4763, 0.2871, 0.0246, 0.0032, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3643 right_y=0.0206 right_z=0.0411 right_yaw=0.0271 right_pitch=-0.1513 right_roll=-0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.6972, -0.0659, -0.022, -0.0171, -0.3761, -6.2154, 6.6393, 2.1905, -0.0366, -0.022, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a03ba063b1aa3158eacf1399171d97ae83f88d8a61cf798899e2ecc8849ae85a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4c2f866edefdefc5fdd4495e7f9ce2b3fbdbf5cfcd1b65e66c585950db5802ab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9248c1ff44a06a3dd138c0180a600e5246de58b024748fe33d612bcb51ec62d8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 9.41 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6041, -0.3813, -0.0212, -0.0414, 0.9995, 0.062, 1.3178, 0.5148, 0.1368, 0.0277, 0.0036, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.001 left_gripper=0.9995 right_x=0.3607 right_y=0.0211 right_z=0.0807 right_yaw=0.0279 right_pitch=-0.1081 right_roll=-0.0131 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.6068, 7.0496, 1.7265, -0.0073, -0.0562, -0.0171, 0.4444, -5.7231, 7.1726, 1.8632, 0.1832, 0.2222, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.02, \"right_z\": 0.02, \"right_gripper\": 1.0}, \"note\": \"The knob is centered between the fingers in the wrist view but still slightly ahead and below the fingertips. Moving a bit forward and down so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YFWDubNAv4fqLRUAofD1Mm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01YFWDubNAv4fqLRUAofD1Mm"
}

{
  "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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.1009, 7.2957, 1.7363, -0.0855, -0.0513, -0.0073, -0.4308, -5.9145, 6.2017, 1.8681, -0.0171, -0.0806, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a61dd9b7045942954df239c385c9512ac4b2261e5a525e8c16289212ba494d22"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ae4137bfc83590f36d7e71b5ff7515b0e22bd2646061812bb33b0dfd943d24b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75076e1596b932f09d795ec096e22f985bad85f2e3fda6e6ed577c8b0bf7d243"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.057 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4727, 0.4763, 0.2871, 0.0246, 0.0032, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3643 right_y=0.0206 right_z=0.0411 right_yaw=0.0271 right_pitch=-0.1513 right_roll=-0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.1145, 7.2, 1.6972, -0.0659, -0.022, -0.0171, -0.3761, -6.2154, 6.6393, 2.1905, -0.0366, -0.022, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm barely moved on the last command and the knob is still ahead of the fingertips in the wrist view, with the tool pitched back. Commanding a larger forward step with level pitch so the jaws reach around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Sez2ZTqtZiuijHHuN9V6tM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Sez2ZTqtZiuijHHuN9V6tM"
}

{
  "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, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0012 left_pitch=-0.0126 left_roll=-0.001 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.265, 7.1316, 1.7363, -0.0708, -0.0806, -0.0073, -0.3897, -5.9145, 6.3111, 1.8632, -0.0513, -0.0269, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a681ae177b20cde9458dc1b1af9cf56bf56d95caa3b79ebbb8f6a2151ddd6591"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:350f702718bf5917b74d285a9b1b1db3ac48800c781b87e450a2d553753886c2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93948a9d2e100140a5464ab9215ea884e2f8073ae5b235dffc8439c3e8cc8685"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 6.964 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.001 left_pitch=-0.0126 left_roll=-0.0007 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.1009, 7.2957, 1.7363, -0.0855, -0.0513, -0.0073, -0.4308, -5.9145, 6.2017, 1.8681, -0.0171, -0.0806, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.02, \"right_z\": 0.07, \"right_gripper\": 1.0}, \"note\": \"The arm did not move on the last command, suggesting the low, forward target was held as unreachable. Lifting slightly while moving forward so the IK can advance the gripper over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_011WbXfRqnXTqjijGsMfz9X6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_011WbXfRqnXTqjijGsMfz9X6"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0517, 1.557, 0.6582, 0.1818, 0.0158, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4013 right_y=0.0216 right_z=0.0596 right_yaw=0.0345 right_pitch=-0.1591 right_roll=-0.0169 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -1.1829, 7.2274, 1.7021, -0.0366, -0.0757, -0.0073, -0.841, -6.188, 6.5299, 1.3797, -0.0855, -0.0269, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29faac544e2e74ad60cb177582fc95178c1278b8e0f933f43f905c18ad91bac3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aa8c894d2fc66b17813f846dc035e3d8dad69409c67093287ad267c220007929"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ef2ef557ab02d12dda1f9e38fd3cf5137a6b8deae9f17eff448b3f22795d2cf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 9.703 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.0586, 1.4731, 0.466, 0.2974, 0.0216, 0.0021, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0012 left_pitch=-0.0126 left_roll=-0.001 left_gripper=0.9994 right_x=0.3625 right_y=0.021 right_z=0.0391 right_yaw=0.0304 right_pitch=-0.1517 right_roll=-0.0118 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.265, 7.1316, 1.7363, -0.0708, -0.0806, -0.0073, -0.3897, -5.9145, 6.3111, 1.8632, -0.0513, -0.0269, -0.1001]",
      "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\": 0.03, \"right_gripper\": 1.0}, \"note\": \"The knob now sits centered between the open jaws in the wrist camera, just below image center. Descending straight down so the fingers surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XsYB2ibyExiyMPhoxnS9dU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01XsYB2ibyExiyMPhoxnS9dU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0212, -0.0418, 0.9994, 0.0475, 1.6142, 0.6579, 0.2523, 0.0135, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0164 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4094 right_y=0.0207 right_z=0.0506 right_yaw=0.034 right_pitch=-0.1461 right_roll=-0.0176 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.3197, 7.5419, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -5.7778, 4.2598, 1.4628, -0.0562, -0.0415, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fab9b4210013002297eb47517c06a7e80ab7c4ffc86c4c874078386d3024b4f3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f29f018bbb3602223af95581658bc9456e325dcdc5dcc98c8bf89045b364221e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5cd6322585fdafff0789617d17d8eb6b35f78f82d6c0ae8eadcaec6ee1d692bf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 7.938 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0212, -0.0418, 0.9994, 0.0517, 1.557, 0.6582, 0.1818, 0.0158, -0.0093, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4013 right_y=0.0216 right_z=0.0596 right_yaw=0.0345 right_pitch=-0.1591 right_roll=-0.0169 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -1.1829, 7.2274, 1.7021, -0.0366, -0.0757, -0.0073, -0.841, -6.188, 6.5299, 1.3797, -0.0855, -0.0269, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.2}, \"note\": \"The knob sits between the two fingertips at the bottom of the wrist view and the arm seems to have stopped descending (likely contact with the table). Closing the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013uzXsxiUwW8qXF1vzWdmVA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_013uzXsxiUwW8qXF1vzWdmVA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.6371, 0.6384, 0.2424, 0.0059, -0.0132, 0.2054]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3996 right_y=0.0215 right_z=0.0328 right_yaw=0.0409 right_pitch=-0.1984 right_roll=-0.0135 right_gripper=0.2054\nstate[joint_eff]: [-0.1846, -1.4974, 7.1863, 1.7021, -0.0757, -0.0806, -0.0122, -0.1983, -8.4034, 6.9949, 1.6825, 0.0562, -0.0464, 0.1832]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c659dab96612e081398bba6796d559340b78db8eef17c15e1750105c67712af"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dabc0532e64cae437faf4ca2c4ab7425e3e283247752489d6dd0a7ae72e43d43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:89e7f7ad27ecba06a75ef11c76756de29042768b2517280b26a3089442b6ddab"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 30.63 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0212, -0.0418, 0.9994, 0.0475, 1.6142, 0.6579, 0.2523, 0.0135, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0164 left_roll=-0.0011 left_gripper=0.9994 right_x=0.4094 right_y=0.0207 right_z=0.0506 right_yaw=0.034 right_pitch=-0.1461 right_roll=-0.0176 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.3197, 7.5419, 1.7363, -0.0317, -0.0562, -0.0122, -0.253, -5.7778, 4.2598, 1.4628, -0.0562, -0.0415, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.12, \"right_gripper\": 0.15}, \"note\": \"The wrist camera shows both fingertips pinching the knob at the center of the blue disc. Squeezing slightly more and lifting to check that the piece comes up with the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Ps2QpQQ4ohPa7po7jXrEDD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Ps2QpQQ4ohPa7po7jXrEDD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.4631, 0.8101, -0.1066, 0.0021, -0.0158, 0.1518]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.401 right_y=0.0223 right_z=0.1035 right_yaw=0.0456 right_pitch=-0.2019 right_roll=-0.0128 right_gripper=0.1518\nstate[joint_eff]: [-0.2256, -1.3333, 7.0769, 1.7314, -0.0611, -0.0562, -0.0073, -0.3487, -7.8974, 8.6906, 1.58, 0.0269, -0.0269, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a4b42535b2f885f12d29fc0190e43b1f683026f1adb8c4469105b49ac1802007"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f1abb6efb3ea719ec87b4ca718c02247c0907c8da76ca838b1ed51d2fdaf031"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf61d9f0dc0a6fe4522da97b462e48087204562da820afaccdd71108e24702b0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 21.22 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.6371, 0.6384, 0.2424, 0.0059, -0.0132, 0.2054]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3996 right_y=0.0215 right_z=0.0328 right_yaw=0.0409 right_pitch=-0.1984 right_roll=-0.0135 right_gripper=0.2054\nstate[joint_eff]: [-0.1846, -1.4974, 7.1863, 1.7021, -0.0757, -0.0806, -0.0122, -0.1983, -8.4034, 6.9949, 1.6825, 0.0562, -0.0464, 0.1832]\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\": 0.4, \"right_y\": 0.2, \"right_z\": 0.12, \"right_gripper\": 0.15}, \"note\": \"The blue piece is lifted, held by its knob in the right gripper. The top camera shows the board about 20 cm to the right arm's left (+y), so I'm translating the arm sideways toward the board while keeping height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y9cSsAbxrS55M46vXjwsrr",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y9cSsAbxrS55M46vXjwsrr"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5941, 1.6661, 1.0767, -0.2668, 0.3553, 0.3462, 0.1506]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3942 right_y=0.1965 right_z=0.1106 right_yaw=0.0893 right_pitch=-0.2292 right_roll=-0.0254 right_gripper=0.1506\nstate[joint_eff]: [-0.335, -1.2923, 7.1863, 1.6972, -0.0611, -0.0415, -0.0073, 0.3897, -7.5966, 8.7453, 1.2772, 0.3834, 0.2369, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a107c91a27b769878adc1f17f80ba7fc010d3136e618c553eb78f795c4dc3c7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:daaed127cb520e351eba619e1d9957282a00e45936a2e52d9b2a57ff67f79be8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a19c8ac1752d272b6fdf21b2debedf706ede647c65444911afbf36f1b21b7e4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 13.47 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.0475, 1.4631, 0.8101, -0.1066, 0.0021, -0.0158, 0.1518]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.401 right_y=0.0223 right_z=0.1035 right_yaw=0.0456 right_pitch=-0.2019 right_roll=-0.0128 right_gripper=0.1518\nstate[joint_eff]: [-0.2256, -1.3333, 7.0769, 1.7314, -0.0611, -0.0562, -0.0073, -0.3487, -7.8974, 8.6906, 1.58, 0.0269, -0.0269, 0.149]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.12, \"right_z\": 0.11, \"right_gripper\": 1.0}, \"note\": \"The wrist camera shows the gripper jaws are now empty \\u2014 the piece slipped out during the sideways move and lies on the table to the right (\\u2212y) of the fingers, while the board is at the left of the image. Opening the gripper and moving back toward the piece to re-grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TYaz65HnTnerb1i4N8BX98",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01TYaz65HnTnerb1i4N8BX98"
}

{
  "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, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.3916, 1.5471, 0.9123, -0.2329, 0.2283, 0.2024, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0012 left_pitch=-0.0214 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3866 right_y=0.1202 right_z=0.0944 right_yaw=0.07 right_pitch=-0.2801 right_roll=-0.0411 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.4154, 7.159, 1.7167, -0.0708, -0.0464, -0.0073, -0.2803, -9.5795, 6.4342, 1.7314, 0.0415, 0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e638fd5777069a72227418ea54c7c77bd68dc5b80a34de195fe5a10854166a5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e48d66bb4d3897aeb938ceb381de6522c35cf7c8a1599e1df79c488140e03c61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9f8aeb1fc52f950ead4c6287e245283fc0692ab97030cdb374e5371bff95699c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 13.63 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5941, 1.6661, 1.0767, -0.2668, 0.3553, 0.3462, 0.1506]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3942 right_y=0.1965 right_z=0.1106 right_yaw=0.0893 right_pitch=-0.2292 right_roll=-0.0254 right_gripper=0.1506\nstate[joint_eff]: [-0.335, -1.2923, 7.1863, 1.6972, -0.0611, -0.0415, -0.0073, 0.3897, -7.5966, 8.7453, 1.2772, 0.3834, 0.2369, 0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.09, \"right_z\": 0.06, \"right_gripper\": 1.0}, \"note\": \"The wrist camera shows the dropped blue piece with its knob just to the right of the right fingertip (toward \\u2212y). Shifting the gripper about 3 cm toward \\u2212y and lowering so the knob is centered between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011CCFqzXWe8MkgiSXzvxQKX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011CCFqzXWe8MkgiSXzvxQKX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.3107, 1.5536, 0.7891, -0.1246, 0.1787, 0.1509, 0.9989]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3775 right_y=0.092 right_z=0.0604 right_yaw=0.0587 right_pitch=-0.3122 right_roll=-0.0445 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -0.9504, 7.0085, 1.6874, -0.0366, -0.0415, -0.0073, -0.294, -5.9692, 7.4735, 1.8632, -0.0513, -0.1245, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad06da3316f1f6dcc919f68726a14f2288652b772391d38e3da5021f3f1ccf62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a0df92cead322395589ab346bd8f23e5bb43b81f52e6b2221e96425e21d4f36"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe999f04efd0a828d895ccb6131bfbec4e00ad2de7474f6de821fc5abbb6a8a4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 7.712 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.3916, 1.5471, 0.9123, -0.2329, 0.2283, 0.2024, 0.9949]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0012 left_pitch=-0.0214 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3866 right_y=0.1202 right_z=0.0944 right_yaw=0.07 right_pitch=-0.2801 right_roll=-0.0411 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.4154, 7.159, 1.7167, -0.0708, -0.0464, -0.0073, -0.2803, -9.5795, 6.4342, 1.7314, 0.0415, 0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.065, \"right_z\": 0.04, \"right_gripper\": 1.0}, \"note\": \"The knob is still about 2.5 cm to the image-right of the jaw center (image-right corresponds to \\u2212y for this wrist camera). Shifting further \\u2212y and lowering to grasp height.\"}",
        "name": "move_to"
      },
      "id": "toolu_014MVERMGRriW9Qo5UjDxfeE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_014MVERMGRriW9Qo5UjDxfeE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.2276, 1.5871, 0.7509, -0.0574, 0.1299, 0.0933, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0233 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3811 right_y=0.0685 right_z=0.0434 right_yaw=0.0502 right_pitch=-0.3258 right_roll=-0.0453 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.6825, -0.0513, -0.0708, -0.0122, -0.253, -5.7778, 5.6274, 1.6532, -0.0708, -0.0513, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11b133a273583e8b351ee2ede793b1460fe2c7b908c50a455eb74bb06d0f5c1c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29e3fe07aa246a829414653aa329ac5975695385db95081cebf22ec3e3101559"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f25709ec67119edf0bc73b12d69c439532351fef1ca459e694e17700c2ac7cf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 9.127 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.3107, 1.5536, 0.7891, -0.1246, 0.1787, 0.1509, 0.9989]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3775 right_y=0.092 right_z=0.0604 right_yaw=0.0587 right_pitch=-0.3122 right_roll=-0.0445 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -0.9504, 7.0085, 1.6874, -0.0366, -0.0415, -0.0073, -0.294, -5.9692, 7.4735, 1.8632, -0.0513, -0.1245, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.045, \"right_z\": 0.028, \"right_pitch\": -0.1, \"right_gripper\": 1.0}, \"note\": \"The knob is still about 2 cm right of center between the jaws and slightly ahead; the tool is pitched back which offsets the fingers. Shifting \\u2212y, a little forward, straightening pitch and lowering to knob height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QjSdYxSws2QnzNTMz3vRNm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01QjSdYxSws2QnzNTMz3vRNm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.157, 1.6314, 0.5243, 0.3691, 0.0998, 0.0296, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3787 right_y=0.0458 right_z=0.018 right_yaw=0.0466 right_pitch=-0.176 right_roll=-0.0452 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.3744, 7.2274, 1.7021, -0.0366, -0.0806, -0.0122, -0.6496, -5.1487, 5.2991, 1.8437, -0.0366, -0.1001, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:666365724613be6efff03af338a63b11e4b789ade2dfc13b9d20993af52bc32a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efcd3b699b82b566dbdd0da86a418f3bd661f3ec1762835cc453e6110cea59ee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78be3988b62fa28a85403ae9f7e9a287ed7e2a4af94f50d484a37c4e4f04366b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 6.712 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.2276, 1.5871, 0.7509, -0.0574, 0.1299, 0.0933, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0233 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3811 right_y=0.0685 right_z=0.0434 right_yaw=0.0502 right_pitch=-0.3258 right_roll=-0.0453 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.6825, -0.0513, -0.0708, -0.0122, -0.253, -5.7778, 5.6274, 1.6532, -0.0708, -0.0513, -0.1197]",
      "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\": 0.045, \"right_z\": 0.03, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered laterally between the jaws but sits ahead of the fingertips in the wrist view. Advancing about 2.5 cm forward so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01V3hNu6d78S2XUmKEnabcVq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01V3hNu6d78S2XUmKEnabcVq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1505, 1.6688, 0.6067, 0.3351, 0.091, 0.017, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0012 left_pitch=-0.0236 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3988 right_y=0.0479 right_z=0.0267 right_yaw=0.0546 right_pitch=-0.1659 right_roll=-0.0477 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3607, 7.2, 1.7314, -0.0464, -0.0659, -0.0122, -1.1829, -6.3111, 6.8034, 1.4969, -0.0513, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b26fd3557e63e22cabcf5538066bc15899e2e82c42043a031132b45d1de1b0a2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:498fbc1d30ff03940b6fa609522720bf47d840176904a658b6016cb31391c965"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb02d0713a8439bad7a1c9e7ff659adbdcf4f61aa54f204982be3686b3b30e40"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 6.57 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.157, 1.6314, 0.5243, 0.3691, 0.0998, 0.0296, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.0233 left_roll=-0.001 left_gripper=0.9994 right_x=0.3787 right_y=0.0458 right_z=0.018 right_yaw=0.0466 right_pitch=-0.176 right_roll=-0.0452 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.3744, 7.2274, 1.7021, -0.0366, -0.0806, -0.0122, -0.6496, -5.1487, 5.2991, 1.8437, -0.0366, -0.1001, -0.1197]",
      "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\": 0.048, \"right_z\": 0.025, \"right_gripper\": 1.0}, \"note\": \"The knob is centered between the jaws laterally but still just ahead of the fingertips in the wrist view. Advancing another 2 cm forward and slightly down so the fingers surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Pg1zLeVLFoiiUjFaqPdFR4",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Pg1zLeVLFoiiUjFaqPdFR4"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7119, 0.6537, 0.3, 0.083, 0.0128, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0012 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9994 right_x=0.4057 right_y=0.0478 right_z=0.0202 right_yaw=0.0571 right_pitch=-0.1976 right_roll=-0.0483 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.347, 7.0222, 1.6874, -0.0513, -0.0415, -0.0122, -0.4855, -6.5162, 6.8718, 1.8486, 0.0269, -0.0464, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ad761c9a4e75168ac23f494e4b7a157a60255d372d579f0d61874bee46897422"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cccdb6ad8d5f0207f005d11818bc01b5fb787dc905761bf5d32d7f3709a6d80e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19f7a5830ad83c60246c6390e3d90cfbc5f60be4911e7737bedc2f5f7765f481"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 13.2 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1505, 1.6688, 0.6067, 0.3351, 0.091, 0.017, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0012 left_pitch=-0.0236 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3988 right_y=0.0479 right_z=0.0267 right_yaw=0.0546 right_pitch=-0.1659 right_roll=-0.0477 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3607, 7.2, 1.7314, -0.0464, -0.0659, -0.0122, -1.1829, -6.3111, 6.8034, 1.4969, -0.0513, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.1}, \"note\": \"The knob sits between the two fingertips at the bottom center of the wrist view, similar to where the first successful grasp happened. Closing the gripper firmly on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ThqQsuDrzPpXcx6FFmqDxd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01ThqQsuDrzPpXcx6FFmqDxd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8154, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7363, 0.654, 0.2951, 0.0769, 0.0101, 0.2241]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1737 left_yaw=0.0012 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9994 right_x=0.4025 right_y=0.0484 right_z=0.01 right_yaw=0.0633 right_pitch=-0.2269 right_roll=-0.0484 right_gripper=0.2241\nstate[joint_eff]: [-0.2667, -1.5658, 7.2684, 1.6874, -0.0513, -0.0806, -0.0122, -0.3214, -9.2786, 5.0803, 1.5604, 0.0611, -0.0513, 0.9988]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3825faf30b40eb058a9bd9ea62534515c2cb6217a274479998c12a2c5b99c2a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db76027e4661b3bbe526aa51c4e5abed5fd105a0bf09fca0ad8c80fdf56daee5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:09d80140a73575c906d00e64a5c10ed00065df329a5ab8adf5a7931331df1e2e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 10.46 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7119, 0.6537, 0.3, 0.083, 0.0128, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1743 left_yaw=0.0012 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9994 right_x=0.4057 right_y=0.0478 right_z=0.0202 right_yaw=0.0571 right_pitch=-0.1976 right_roll=-0.0483 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.347, 7.0222, 1.6874, -0.0513, -0.0415, -0.0122, -0.4855, -6.5162, 6.8718, 1.8486, 0.0269, -0.0464, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.3, \"right_z\": 0.13, \"right_gripper\": 0.1}, \"note\": \"The wrist camera shows the jaws firmly gripping the knob (gripper effort rose to ~1.0). Lifting the piece and carrying it toward the board, which the top camera shows roughly 25\\u201330 cm to the arm's left at about the same forward distance.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KMnNRJBS25NCMUmfJwdsaA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 21 steps (2.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01KMnNRJBS25NCMUmfJwdsaA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.8021, 1.9244, 1.4631, -0.4843, 0.4789, 0.495, 0.2233]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0305 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3968 right_y=0.2983 right_z=0.1206 right_yaw=0.1076 right_pitch=-0.246 right_roll=-0.0524 right_gripper=0.2233\nstate[joint_eff]: [-0.2393, -1.7573, 7.0222, 1.6874, -0.0659, -0.0611, -0.0073, 0.3487, -9.6889, 8.9094, 1.2674, 0.6227, 0.2222, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c5e6db0d056301f178becb0d4441df277c0005877354ff67662a32f44d6f950"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34c047825e1c5cfe688715fbbf5435841995512d105102f1376e1d2140dd6bee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eb230f28bead0855d0eb73466e0b7359b2c6a4046d4cfe971d9c63ed352fbeb7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 9.379 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8154, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.1444, 1.7363, 0.654, 0.2951, 0.0769, 0.0101, 0.2241]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1737 left_yaw=0.0012 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9994 right_x=0.4025 right_y=0.0484 right_z=0.01 right_yaw=0.0633 right_pitch=-0.2269 right_roll=-0.0484 right_gripper=0.2241\nstate[joint_eff]: [-0.2667, -1.5658, 7.2684, 1.6874, -0.0513, -0.0806, -0.0122, -0.3214, -9.2786, 5.0803, 1.5604, 0.0611, -0.0513, 0.9988]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.32, \"right_z\": 0.03, \"right_gripper\": 0.1}, \"note\": \"The wrist camera shows the held blue piece hovering over the board with the circular groove visible slightly to the image-left (+y) and slightly ahead of the piece. Shifting ~2 cm in +y and 1 cm forward while lowering the piece down to the board surface.\"}",
        "name": "move_to"
      },
      "id": "toolu_019kDBCNZuTdriMaUaw6WeQs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019kDBCNZuTdriMaUaw6WeQs"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0414, 0.9994, 0.8192, 2.1059, 1.3785, -0.2836, 0.4751, 0.5121, 0.2233]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9994 right_x=0.3965 right_y=0.3112 right_z=0.0286 right_yaw=0.1063 right_pitch=-0.2975 right_roll=-0.0819 right_gripper=0.2233\nstate[joint_eff]: [-0.1709, -1.3744, 7.0359, 1.6874, -0.0855, -0.0366, -0.0073, 0.5675, -10.7009, 6.0376, 1.3504, 0.3346, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3cfd4fcd1f06add8c38e2dbb07dac93cccccefcfbb71a834ffae8d6c2ce3d29d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de1efa3be1d2ca088b53dd939d8ae335c41a55f4a94fb0e8126813bbf967d9a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79c3bcd67ee2d503a17ef813db4725f86652e21cd3c474c223b63665e26e13b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 13.72 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0212, -0.0418, 0.9994, 0.8021, 1.9244, 1.4631, -0.4843, 0.4789, 0.495, 0.2233]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0305 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3968 right_y=0.2983 right_z=0.1206 right_yaw=0.1076 right_pitch=-0.246 right_roll=-0.0524 right_gripper=0.2233\nstate[joint_eff]: [-0.2393, -1.7573, 7.0222, 1.6874, -0.0659, -0.0611, -0.0073, 0.3487, -9.6889, 8.9094, 1.2674, 0.6227, 0.2222, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.34, \"right_z\": 0.012, \"right_gripper\": 1.0}, \"note\": \"The wrist camera shows the piece partially overlapping the groove, with the groove center about 2\\u20133 cm further to image-left (+y) and slightly forward. Shifting the piece that way, lowering it into the groove, and releasing the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01792GpMmoVkRDM3mj6P6A2v",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01792GpMmoVkRDM3mj6P6A2v"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.8272, 2.2208, 1.5208, -0.3038, 0.4732, 0.5125, 0.8946]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.0012 left_pitch=-0.0309 left_roll=-0.0006 left_gripper=0.9994 right_x=0.4139 right_y=0.3365 right_z=0.0186 right_yaw=0.1169 right_pitch=-0.2931 right_roll=-0.0754 right_gripper=0.8946\nstate[joint_eff]: [-0.294, -1.4017, 7.2684, 1.6825, -0.0806, -0.0415, -0.0073, 0.4991, -10.1812, 8.294, 1.1453, 0.2906, 0.1245, -0.0904]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4912aedb0862f2b717e2d88a988e702d7186060498e7a09e150e728f67259d57"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af3331b7a98267b42a9612dc1f571c96722679548cc1f12af94c99d571fb42de"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee1cee627b8e7fad7710300ad1e6f94353782c0ebf2ea1c68f34ef8444efe7e2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}