adhoc

completed
2026-09-03T02:48:14.919228+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
20
max_output_tokens
null
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
chat
wire_capture
true
seed
0
max steps
900
duration
392.7 s
total steps
138
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

partial

Grader notes

trial 03
Trial 0 transcript
Run video
top_cam · left_cam · right_cam
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe right wrist camera shows the blue disc with its knob slightly ahead and below the gripper; I'm moving the right arm forward and lower to hover above it and refine alignment.
move_to
right_x0.3600right_y0.0000right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7914, 0.6033, -0.379, -0.0216, -0.0376, 0.9995, -0.0158, 0.791, 0.609, -0.3756, -0.0212, -0.0128, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0026 right_z=0.184 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.3333, 10.4274, 1.7998, -0.0855, 0.2466, -0.0659, -0.8957, -1.1009, 9.8667, 1.7753, -0.0513, -0.0317, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.1}, "note": "The right wrist camera shows the blue disc with its knob slightly ahead and below the gripper; I'm moving the right arm forward and lower to hover above it and refine alignment."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe knob is centered between the fingers in the wrist view but still a bit ahead; moving forward and down so the open jaws straddle the knob just above the disc.
move_to
right_x0.3850right_y0.0000right_z0.0350right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7982, 0.6041, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.2194, 0.4629, 0.0814, -0.028, -0.0154, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0084 left_roll=-0.003 left_gripper=0.9995 right_x=0.3413 right_y=0.0017 right_z=0.0814 right_yaw=0.0032 right_pitch=-0.1178 right_roll=0.0041 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.6068, 7.0085, 1.7705, -0.0366, -0.0317, -0.0122, -0.4581, -4.9573, 5.8872, 1.9951, -0.0708, -0.0464, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.0, "right_z": 0.035, "right_pitch": 0.0}, "note": "The knob is centered between the fingers in the wrist view but still a bit ahead; moving forward and down so the open jaws straddle the knob just above the disc."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe gripper is now low (z≈0.01) but the knob still appears ahead of the fingertips in the wrist view; raising slightly and advancing forward so the jaws come to straddle the knob.
move_to
right_x0.3950right_y0.0050right_z0.0300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8036, 0.6037, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.6009, 0.4034, 0.4877, -0.0319, -0.0154, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0141 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3605 right_y=0.002 right_z=0.0091 right_yaw=0.0066 right_pitch=-0.1524 right_roll=0.0074 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.4564, 7.0769, 1.6972, -0.0464, -0.0171, -0.0171, -0.5949, -7.4051, 4.9846, 2.2198, -0.0757, -0.0269, -0.0122] 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": 0.395, "right_y": 0.005, "right_z": 0.03, "right_pitch": 0.0}, "note": "The gripper is now low (z\u22480.01) but the knob still appears ahead of the fingertips in the wrist view; raising slightly and advancing forward so the jaws come to straddle the knob."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe arm only reached x≈0.36 and the knob is still ahead of the fingertips in the wrist camera; commanding a larger forward target so the jaws actually reach around the knob.
move_to
right_x0.4200right_y0.0050right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0154, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0093 right_pitch=-0.0742 right_roll=0.0074 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.746, -0.0611, -0.0464, -0.0122, -0.2256, -5.3265, 4.4513, 1.8535, -0.0415, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.005, "right_z": 0.02, "right_pitch": 0.0}, "note": "The arm only reached x\u22480.36 and the knob is still ahead of the fingertips in the wrist camera; commanding a larger forward target so the jaws actually reach around the knob."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe arm did not move at all on the last command—likely the fingertips are resting on the table at z≈0.01 and blocking forward motion. Lifting to z=0.07 while moving forward to get over the knob.
move_to
right_x0.4200right_y0.0050right_z0.0700right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0151, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0091 right_pitch=-0.0742 right_roll=0.0077 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.1829, 7.2684, 1.6923, -0.0513, -0.0562, -0.0122, -0.0479, -5.3265, 4.4513, 1.8681, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.005, "right_z": 0.07, "right_pitch": 0.0}, "note": "The arm did not move at all on the last command\u2014likely the fingertips are resting on the table at z\u22480.01 and blocking forward motion. Lifting to z=0.07 while moving forward to get over the knob."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe knob now sits between the two open fingertips in the wrist camera; lowering the gripper so the jaws surround the knob before closing.
move_to
right_x0.4150right_y0.0080right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0113, 1.6337, 0.5583, 0.4927, -0.0349, -0.0154, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9995 right_x=0.412 right_y=0.0051 right_z=0.0529 right_yaw=0.0177 right_pitch=-0.0254 right_roll=0.0057 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7216, -0.0757, -0.0757, -0.0122, 0.3487, -8.5675, 7.0496, 1.7216, 0.0562, 0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.008, "right_z": 0.02, "right_pitch": 0.0}, "note": "The knob now sits between the two open fingertips in the wrist camera; lowering the gripper so the jaws surround the knob before closing."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe wooden knob is between the two fingertips at the bottom of the wrist camera view; closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0212, -0.0414, 0.9995, -0.0044, 1.7771, 0.5217, 0.6247, -0.0349, -0.0128, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4064 right_y=0.008 right_z=0.0108 right_yaw=0.0232 right_pitch=-0.0734 right_roll=0.0093 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.388, 7.1863, 1.6874, -0.0464, -0.0415, -0.0122, 0.4718, -7.8154, 4.7795, 2.3516, 0.022, -0.0269, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The wooden knob is between the two fingertips at the bottom of the wrist camera view; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper closed but missed—the knob is visible just ahead of the closed fingertips in the wrist view. Reopening and moving forward ~3 cm while lifting slightly to re-align over the knob.
move_to
right_gripper1.0000right_x0.4400right_z0.0400
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, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.7962, 0.514, 0.6464, -0.038, -0.0124, 0.0114] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4049 right_y=0.0085 right_z=0.0053 right_yaw=0.0256 right_pitch=-0.0783 right_roll=0.0116 right_gripper=0.0114 state[joint_eff]: [-0.2393, -1.1282, 7.2547, 1.7509, -0.0757, -0.0806, -0.0122, -0.1846, -8.4718, 5.094, 1.5165, -0.0024, -0.0269, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.44, "right_z": 0.04}, "note": "The gripper closed but missed\u2014the knob is visible just ahead of the closed fingertips in the wrist view. Reopening and moving forward ~3 cm while lifting slightly to re-align over the knob."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe knob is now between the jaws in the wrist view but still a couple of centimeters ahead of the fingertips, and the tool has drifted to a backward pitch; moving forward and down with pitch leveled so the fingertips drop around the knob.
move_to
right_x0.4500right_y0.0100right_z0.0120right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0212, -0.0414, 0.9995, -0.0044, 1.7962, 0.6682, 0.4404, -0.0444, -0.0174, 0.9946] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4289 right_y=0.0096 right_z=0.0173 right_yaw=0.0339 right_pitch=-0.13 right_roll=0.0134 right_gripper=0.9946 state[joint_eff]: [-0.1436, -1.3197, 7.1863, 1.707, -0.0464, -0.0171, -0.0171, -0.2667, -10.4274, 7.0906, 1.6972, 0.0757, 0.0806, 0.1001] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.01, "right_z": 0.012, "right_pitch": 0.0}, "note": "The knob is now between the jaws in the wrist view but still a couple of centimeters ahead of the fingertips, and the tool has drifted to a backward pitch; moving forward and down with pitch leveled so the fingertips drop around the knob."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe knob now sits squarely between the two fingertips at the bottom of the wrist camera view with the gripper at table height; closing the jaws to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0044, 1.9083, 0.6525, 0.6434, -0.0536, -0.0154, 0.9952] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4422 right_y=0.0111 right_z=0.0052 right_yaw=0.0404 right_pitch=-0.0547 right_roll=0.0173 right_gripper=0.9952 state[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.335, -7.1179, 4.3966, 1.8193, 0.0806, -0.0269, 0.0562] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The knob now sits squarely between the two fingertips at the bottom of the wrist camera view with the gripper at table height; closing the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteGripper closed fully again—the fingertips seem to be pushing the disc forward along the table each time I advance at table height. Opening, lifting well clear, and moving ~4 cm forward so I can descend straight down onto the knob.
move_to
right_gripper1.0000right_x0.4850right_z0.0800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.9125, 0.6521, 0.6628, -0.0578, -0.0196, 0.0123] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4444 right_y=0.0118 right_z=0.0073 right_yaw=0.0462 right_pitch=-0.0397 right_roll=0.0156 right_gripper=0.0123 state[joint_eff]: [-0.335, -1.3607, 7.0769, 1.7167, -0.0513, -0.0562, -0.0122, -0.1846, -8.6085, 4.4923, 1.5995, -0.0073, 0.0073, 1.033] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.485, "right_z": 0.08, "right_pitch": 0.0}, "note": "Gripper closed fully again\u2014the fingertips seem to be pushing the disc forward along the table each time I advance at table height. Opening, lifting well clear, and moving ~4 cm forward so I can descend straight down onto the knob."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteFrom above, the knob now sits directly between the two fingertips in the wrist camera; descending straight down to table height without any forward motion so the jaws land around the knob.
move_to
right_x0.4780right_y0.0130right_z0.0080right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0044, 1.8366, 0.8433, 0.3851, -0.065, -0.0315, 0.9949] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4757 right_y=0.013 right_z=0.0536 right_yaw=0.0586 right_pitch=-0.0499 right_roll=0.0105 right_gripper=0.9949 state[joint_eff]: [-0.2393, -1.3197, 7.2137, 1.7216, -0.0562, -0.0513, -0.0171, -0.335, -11.2889, 8.2256, 1.6923, 0.0317, 0.1294, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.478, "right_y": 0.013, "right_z": 0.008, "right_pitch": 0.0}, "note": "From above, the knob now sits directly between the two fingertips in the wrist camera; descending straight down to table height without any forward motion so the jaws land around the knob."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe gripper is at table height with the knob directly between the two fingers in the wrist view; closing to grasp the knob.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8112, 0.6037, -0.3809, -0.0212, -0.0418, 0.9995, -0.0044, 1.9785, 0.7914, 0.5663, -0.0647, -0.0345, 0.9959] state[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4726 right_y=0.0129 right_z=0.0065 right_yaw=0.06 right_pitch=-0.0625 right_roll=0.0086 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122, -0.2667, -10.0991, 4.7658, 2.0684, -0.1685, 0.3101, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table height with the knob directly between the two fingers in the wrist view; closing to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe gripper stopped at 0.16 around the knob—the blue piece is grasped. The top camera shows the board with the circular groove further forward of the right arm (toward the image center), so I'm lifting the piece and carrying it forward toward the board.
move_to
right_z0.0900right_x0.5800right_y0.0100
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, -0.3805, -0.0216, -0.0414, 0.9995, -0.0032, 1.985, 0.7929, 0.6109, -0.0727, -0.0414, 0.1645] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0021 left_pitch=-0.0225 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4786 right_y=0.0149 right_z=0.0132 right_yaw=0.0714 right_pitch=-0.0225 right_roll=0.0047 right_gripper=0.1645 state[joint_eff]: [-0.1162, -1.4564, 7.0906, 1.7314, -0.0757, -0.0269, -0.0171, -0.4308, -9.7709, 4.8479, 1.3211, 0.022, 0.0171, 1.0965] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09, "right_x": 0.58, "right_y": 0.01}, "note": "The gripper stopped at 0.16 around the knob\u2014the blue piece is grasped. The top camera shows the board with the circular groove further forward of the right arm (toward the image center), so I'm lifting the piece and carrying it forward toward the board."})
tool
executing move_to over 8 steps (0.8s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe piece is held and lifted; the top camera shows the board with the circular groove between the two arms, to the right arm's left (+y) and slightly back. Carrying the piece toward that spot at a safe height.
move_to
right_x0.4700right_y0.2000right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8181, 0.6037, -0.3817, -0.0216, -0.0418, 0.9995, -0.0059, 2.0727, 1.3094, 0.1875, -0.0837, -0.0509, 0.1649] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9995 right_x=0.5722 right_y=0.015 right_z=0.0836 right_yaw=0.0832 right_pitch=-0.0166 right_roll=0.0023 right_gripper=0.1649 state[joint_eff]: [-0.3214, -1.4974, 7.0496, 1.6972, -0.0757, -0.0708, -0.0122, -0.8684, -10.6462, 8.4308, 1.9463, -0.0415, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.2, "right_z": 0.09}, "note": "The piece is held and lifted; the top camera shows the board with the circular groove between the two arms, to the right arm's left (+y) and slightly back. Carrying the piece toward that spot at a safe height."})
tool
executing move_to over 16 steps (1.6s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe white board with the circular groove is visible at the bottom-left of the right wrist camera and to the left of the gripper in the top camera, so the groove is further +y and slightly forward; shifting the held piece that way to center it above the groove.
move_to
right_x0.5000right_y0.2800right_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.4984, 1.9358, 1.0767, 0.2047, 0.3016, 0.2047, 0.1649] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0023 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4707 right_y=0.2005 right_z=0.0671 right_yaw=0.1261 right_pitch=-0.0632 right_roll=-0.0167 right_gripper=0.1649 state[joint_eff]: [-0.3214, -1.5521, 7.159, 1.7558, -0.0757, -0.0415, -0.0122, 0.294, -13.3538, 6.2291, 1.6484, 0.2857, 0.1783, 1.0281] 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": 0.5, "right_y": 0.28, "right_z": 0.07}, "note": "The white board with the circular groove is visible at the bottom-left of the right wrist camera and to the left of the gripper in the top camera, so the groove is further +y and slightly forward; shifting the held piece that way to center it above the groove."})
tool
executing move_to over 7 steps (0.7s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteIn the top camera the held blue piece is now over the white board, just slightly right of the groove; nudging ~2 cm further +y and lowering the piece to just above the board surface.
move_to
right_x0.5000right_y0.3000right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8249, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6178, 2.1315, 1.3903, 0.0566, 0.3668, 0.2592, 0.1649] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4942 right_y=0.2778 right_z=0.066 right_yaw=0.1621 right_pitch=-0.0743 right_roll=-0.0217 right_gripper=0.1649 state[joint_eff]: [-0.294, -1.5658, 7.0222, 1.6825, -0.0904, -0.0562, -0.0122, 0.294, -11.1111, 8.0752, 1.4628, 0.4274, 0.2515, 1.0281] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.3, "right_z": 0.03}, "note": "In the top camera the held blue piece is now over the white board, just slightly right of the groove; nudging ~2 cm further +y and lowering the piece to just above the board surface."})
tool
executing move_to over 3 steps (0.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe blue piece is hovering just above the board's groove in both cameras; lowering it the last couple of centimeters into the groove and releasing the knob.
move_to
right_x0.5000right_y0.3000right_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, 0.8265, 0.6037, -0.3805, -0.0216, -0.0418, 0.9995, 0.6388, 2.2265, 1.4269, 0.0891, 0.3771, 0.2695, 0.1649] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4962 right_y=0.292 right_z=0.0347 right_yaw=0.1682 right_pitch=-0.0945 right_roll=-0.031 right_gripper=0.1649 state[joint_eff]: [-0.294, -1.5385, 6.9949, 1.707, -0.0464, -0.0415, -0.0122, 0.7863, -11.959, 8.0615, 1.7265, 0.2564, 0.0855, 1.0281] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.3, "right_z": 0.012, "right_gripper": 1.0}, "note": "The blue piece is hovering just above the board's groove in both cameras; lowering it the last couple of centimeters into the groove and releasing the knob."})
tool
executing move_to over 9 steps (0.9s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe gripper has released and the blue piece is sitting on the board where the groove is; raising the arm to clear the view and confirm placement.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8322, 0.6029, -0.3817, -0.0216, -0.0418, 0.9995, 0.6437, 2.2623, 1.4326, 0.1127, 0.3851, 0.2771, 0.995] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1686 left_yaw=0.0023 left_pitch=-0.0438 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4971 right_y=0.2945 right_z=0.0216 right_yaw=0.1623 right_pitch=-0.0978 right_roll=-0.0326 right_gripper=0.995 state[joint_eff]: [-0.1436, -1.8393, 7.3915, 1.6825, -0.0806, -0.0366, -0.0122, 0.2803, -12.7658, 7.2274, 1.6532, 0.1929, -0.0024, -0.2466] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "The gripper has released and the blue piece is sitting on the board where the groove is; raising the arm to clear the view and confirm placement."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteGrasped the blue puzzle piece by its central knob with the right gripper (after two misses caused by pushing the piece forward at table height), carried it to the white board at right_x≈0.50, right_y≈0.29, lowered it onto the circular groove, released, and retracted. The top and left cameras show the blue disc resting on the board at the groove location.
done
hindsightRight-arm base frame: the blue piece started roughly at right_x≈0.40–0.48, y≈0.01 (table height for the grasp point is z≈0.01). The board with the circular groove sits between the two arms at about right_x≈0.50, right_y≈0.29. Approaching the knob by sliding forward at table height pushes the disc away (it moved from x≈0.40 to x≈0.48 over two misses); instead hover at z≈0.05–0.08 until the knob is centered between the fingertips in the wrist camera, then descend straight down and close. The wrist camera looks along the fingers, so the knob should appear centered between the two dark finger pads at the bottom of the image just before descending. A successful knob grasp stops the gripper around 0.16. Large commanded steps get delta-clamped by the approver, so the arm falls short of targets—re-command as needed. Commanding pitch=0 keeps the tool from drifting to a backward pitch during low moves.
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, 0.8333, 0.6029, -0.382, -0.0216, -0.0418, 0.9995, 0.6437, 2.1597, 1.5665, -0.1623, 0.3809, 0.2764, 0.9959] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1682 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4962 right_y=0.2947 right_z=0.084 right_yaw=0.1641 right_pitch=-0.1333 right_roll=-0.0486 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.5658, 7.159, 1.6874, -0.0611, -0.0366, -0.0122, -0.253, -16.253, 8.4444, 1.4432, 0.1294, -0.0366, 0.0904] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the blue puzzle piece by its central knob with the right gripper (after two misses caused by pushing the piece forward at table height), carried it to the white board at right_x\u22480.50, right_y\u22480.29, lowered it onto the circular groove, released, and retracted. The top and left cameras show the blue disc resting on the board at the groove location.", "hindsight": "Right-arm base frame: the blue piece started roughly at right_x\u22480.40\u20130.48, y\u22480.01 (table height for the grasp point is z\u22480.01). The board with the circular groove sits between the two arms at about right_x\u22480.50, right_y\u22480.29. Approaching the knob by sliding forward at table height pushes the disc away (it moved from x\u22480.40 to x\u22480.48 over two misses); instead hover at z\u22480.05\u20130.08 until the knob is centered between the fingertips in the wrist camera, then descend straight down and close. The wrist camera looks along the fingers, so the knob should appear centered between the two dark finger pads at the bottom of the image just before descending. A successful knob grasp stops the gripper around 0.16. Large commanded steps get delta-clamped by the approver, so the arm falls short of targets\u2014re-command as needed. Commanding pitch=0 keeps the tool from drifting to a backward pitch during low moves."})
tool
done: Grasped the blue puzzle piece by its central knob with the right gripper (after two misses caused by pushing the piece forward at table height), carried it to the white board at right_x≈0.50, right_y≈0.29, lowered it onto the circular groove, released, and retracted. The top and left cameras show the blue disc resting on the board at the groove location.
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 · 17.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7914, 0.6033, -0.379, -0.0216, -0.0376, 0.9995, -0.0158, 0.791, 0.609, -0.3756, -0.0212, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0026 right_z=0.184 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 10.4274, 1.7998, -0.0855, 0.2466, -0.0659, -0.8957, -1.1009, 9.8667, 1.7753, -0.0513, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a034a35b39f317ab4006c55032b92279eb5192f24f4b40238be8bb5b0e56892"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6de5267e61e1f195ccc838123705b6a42615dcf0445896d611fbc9ce6d2e8592"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27c78342da04d303aedc8b690c58cea0cb213d382e15f22661b70e0e9df50f6f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6a034a35b39f
wire blob 6de5267e61e1
wire blob 27c78342da04
call 1 attempt 0 · /chat/completions · status 200 · 7.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.1}, \"note\": \"The right wrist camera shows the blue disc with its knob slightly ahead and below the gripper; I'm moving the right arm forward and lower to hover above it and refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ABwLyuK8hEAV3addjyMdx6",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01ABwLyuK8hEAV3addjyMdx6"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6041, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.2194, 0.4629, 0.0814, -0.028, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0084 left_roll=-0.003 left_gripper=0.9995 right_x=0.3413 right_y=0.0017 right_z=0.0814 right_yaw=0.0032 right_pitch=-0.1178 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.6068, 7.0085, 1.7705, -0.0366, -0.0317, -0.0122, -0.4581, -4.9573, 5.8872, 1.9951, -0.0708, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aa9c406e730229fcc0813a51cf290893551a95c97d43ae0424104e4a8dd9d87f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a83a98c1449b1892adecf1736bc0d5d05659bc4010ee54529fb5dd7cc83caa7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:224c2a507277ca6ded8dfb04f2254814e5ba7315ade1a97760489ba1e6a1d944"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob aa9c406e7302
wire blob 6a83a98c1449
wire blob 224c2a507277
call 2 attempt 0 · /chat/completions · status 200 · 10.16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7914, 0.6033, -0.379, -0.0216, -0.0376, 0.9995, -0.0158, 0.791, 0.609, -0.3756, -0.0212, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0026 right_z=0.184 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3333, 10.4274, 1.7998, -0.0855, 0.2466, -0.0659, -0.8957, -1.1009, 9.8667, 1.7753, -0.0513, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.0}, \"note\": \"The knob is centered between the fingers in the wrist view but still a bit ahead; moving forward and down so the open jaws straddle the knob just above the disc.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XymhM6JTQ4zc58HSmGVvio",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01XymhM6JTQ4zc58HSmGVvio"
}
{
  "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, 0.8036, 0.6037, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.6009, 0.4034, 0.4877, -0.0319, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0141 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3605 right_y=0.002 right_z=0.0091 right_yaw=0.0066 right_pitch=-0.1524 right_roll=0.0074 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4564, 7.0769, 1.6972, -0.0464, -0.0171, -0.0171, -0.5949, -7.4051, 4.9846, 2.2198, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b3a2c269e83527d0e3388c7b05707860f71c6dbc7588908bce5b15d4eb0c7c2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:819d71f36a5b508d7ffdd1eabee339db742e21c7869067dcd963672fcc983f91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:804dc60c9a0beb6a44155f3337d20fe77812862dbd08d2f004c79e28d967cde4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1b3a2c269e83
wire blob 819d71f36a5b
wire blob 804dc60c9a0b
call 3 attempt 0 · /chat/completions · status 200 · 11.1 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, 0.7982, 0.6041, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.2194, 0.4629, 0.0814, -0.028, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0084 left_roll=-0.003 left_gripper=0.9995 right_x=0.3413 right_y=0.0017 right_z=0.0814 right_yaw=0.0032 right_pitch=-0.1178 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.6068, 7.0085, 1.7705, -0.0366, -0.0317, -0.0122, -0.4581, -4.9573, 5.8872, 1.9951, -0.0708, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.005, \"right_z\": 0.03, \"right_pitch\": 0.0}, \"note\": \"The gripper is now low (z\\u22480.01) but the knob still appears ahead of the fingertips in the wrist view; raising slightly and advancing forward so the jaws come to straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UDA3WudcLSnrZTgLDPsUZR",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01UDA3WudcLSnrZTgLDPsUZR"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0093 right_pitch=-0.0742 right_roll=0.0074 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.746, -0.0611, -0.0464, -0.0122, -0.2256, -5.3265, 4.4513, 1.8535, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:574db01eba4673feb843ce0d44f4afe5ebe8581fd19f428a46aa0d40bfad98b3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:76edbac71c8c6a207a748deba0af2aa29ad78d3c06e586b72f3da13813d9cb6c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a66cc3b9c4aa3757dacb27080e5fd4a55c81dab5235d4f301d59a2dc9f8ef6f2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 574db01eba46
wire blob 76edbac71c8c
wire blob a66cc3b9c4aa
call 4 attempt 0 · /chat/completions · status 200 · 8.042 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, 0.8036, 0.6037, -0.3813, -0.0216, -0.0414, 0.9995, -0.02, 1.6009, 0.4034, 0.4877, -0.0319, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0141 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3605 right_y=0.002 right_z=0.0091 right_yaw=0.0066 right_pitch=-0.1524 right_roll=0.0074 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4564, 7.0769, 1.6972, -0.0464, -0.0171, -0.0171, -0.5949, -7.4051, 4.9846, 2.2198, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.005, \"right_z\": 0.02, \"right_pitch\": 0.0}, \"note\": \"The arm only reached x\\u22480.36 and the knob is still ahead of the fingertips in the wrist camera; commanding a larger forward target so the jaws actually reach around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KwUFrVD2edgFbU2TerYwC1",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KwUFrVD2edgFbU2TerYwC1"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0091 right_pitch=-0.0742 right_roll=0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.1829, 7.2684, 1.6923, -0.0513, -0.0562, -0.0122, -0.0479, -5.3265, 4.4513, 1.8681, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32281b4871e629a34e284a01163e2bcd4939e38874bdf6560be738fbb180a69c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:acc10df6ab3376c9c6258d39ac7567183a8742c2025448c59c2ba0566c098966"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ddfae3a89b657535ceaf73356707a3898f085b1fc45aab6a861494481acb42d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 32281b4871e6
wire blob acc10df6ab33
wire blob 5ddfae3a89b6
call 5 attempt 0 · /chat/completions · status 200 · 7.616 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, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0093 right_pitch=-0.0742 right_roll=0.0074 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4154, 7.0496, 1.746, -0.0611, -0.0464, -0.0122, -0.2256, -5.3265, 4.4513, 1.8535, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.005, \"right_z\": 0.07, \"right_pitch\": 0.0}, \"note\": \"The arm did not move at all on the last command\\u2014likely the fingertips are resting on the table at z\\u22480.01 and blocking forward motion. Lifting to z=0.07 while moving forward to get over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_017fkLFvzkewSiFazjgcoTWj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_017fkLFvzkewSiFazjgcoTWj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0113, 1.6337, 0.5583, 0.4927, -0.0349, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9995 right_x=0.412 right_y=0.0051 right_z=0.0529 right_yaw=0.0177 right_pitch=-0.0254 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7216, -0.0757, -0.0757, -0.0122, 0.3487, -8.5675, 7.0496, 1.7216, 0.0562, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4000abd234f52c546c821de8a01fa21a75373175d13f3dd75f521277e8147296"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e104b644aa34b3ce97e5927d9efd7b03ca6ec44e28ec9e2bd10fb1ca96323bf9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ce2d13e45eeafd7927be4f0540ea7eb4d4fdbf98c595722be79b24d62c068694"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4000abd234f5
wire blob e104b644aa34
wire blob ce2d13e45eea
call 6 attempt 0 · /chat/completions · status 200 · 8.594 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, 0.8051, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.02, 1.647, 0.3504, 0.6651, -0.0353, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0023 left_pitch=-0.0152 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3635 right_y=0.0025 right_z=0.0102 right_yaw=0.0091 right_pitch=-0.0742 right_roll=0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.1829, 7.2684, 1.6923, -0.0513, -0.0562, -0.0122, -0.0479, -5.3265, 4.4513, 1.8681, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.008, \"right_z\": 0.02, \"right_pitch\": 0.0}, \"note\": \"The knob now sits between the two open fingertips in the wrist camera; lowering the gripper so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PyB1EXQt6YkhhVMa9sWdzU",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01PyB1EXQt6YkhhVMa9sWdzU"
}
{
  "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, -0.0212, -0.0414, 0.9995, -0.0044, 1.7771, 0.5217, 0.6247, -0.0349, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4064 right_y=0.008 right_z=0.0108 right_yaw=0.0232 right_pitch=-0.0734 right_roll=0.0093 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 7.1863, 1.6874, -0.0464, -0.0415, -0.0122, 0.4718, -7.8154, 4.7795, 2.3516, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3421a925000e91ac91bee3181b531022501c203ab8872b0a47c45aff4bee2fc0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:259feb466ea609b79b605a3f0369b9eaf49c83050783abfa425024ffbd76e9e9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a29f14f95b638d7fcab51527fe0a4e8648bcf006dcc17d33b848f4da483c3a9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3421a925000e
wire blob 259feb466ea6
wire blob 8a29f14f95b6
call 7 attempt 0 · /chat/completions · status 200 · 12.1 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0113, 1.6337, 0.5583, 0.4927, -0.0349, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9995 right_x=0.412 right_y=0.0051 right_z=0.0529 right_yaw=0.0177 right_pitch=-0.0254 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.4291, 7.241, 1.7216, -0.0757, -0.0757, -0.0122, 0.3487, -8.5675, 7.0496, 1.7216, 0.0562, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The wooden knob is between the two fingertips at the bottom of the wrist camera view; closing the gripper to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_0141DYzCPEibQwCaDj9pt7yc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0141DYzCPEibQwCaDj9pt7yc"
}
{
  "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, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.7962, 0.514, 0.6464, -0.038, -0.0124, 0.0114]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4049 right_y=0.0085 right_z=0.0053 right_yaw=0.0256 right_pitch=-0.0783 right_roll=0.0116 right_gripper=0.0114\nstate[joint_eff]: [-0.2393, -1.1282, 7.2547, 1.7509, -0.0757, -0.0806, -0.0122, -0.1846, -8.4718, 5.094, 1.5165, -0.0024, -0.0269, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:480dd520eb0e2e7ba785d3d3c64f2cd0a513169fe0f58423e89467b460c649e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:421f247e49940781e8297c5f38ba979a91313a124354abca2a99a3a9bad6adc4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0bb7b2c87eeeafa6ad22906b3b27b0758d130a3e6005210ec2a9f8d2ade75b03"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 480dd520eb0e
wire blob 421f247e4994
wire blob 0bb7b2c87eee
call 8 attempt 0 · /chat/completions · status 200 · 8.491 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, 0.8089, 0.6037, -0.3809, -0.0212, -0.0414, 0.9995, -0.0044, 1.7771, 0.5217, 0.6247, -0.0349, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4064 right_y=0.008 right_z=0.0108 right_yaw=0.0232 right_pitch=-0.0734 right_roll=0.0093 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.388, 7.1863, 1.6874, -0.0464, -0.0415, -0.0122, 0.4718, -7.8154, 4.7795, 2.3516, 0.022, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1.0, \"right_x\": 0.44, \"right_z\": 0.04}, \"note\": \"The gripper closed but missed\\u2014the knob is visible just ahead of the closed fingertips in the wrist view. Reopening and moving forward ~3 cm while lifting slightly to re-align over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JWhEoa2sWqfntHhhR8nrnW",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01JWhEoa2sWqfntHhhR8nrnW"
}
{
  "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, -0.0212, -0.0414, 0.9995, -0.0044, 1.7962, 0.6682, 0.4404, -0.0444, -0.0174, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4289 right_y=0.0096 right_z=0.0173 right_yaw=0.0339 right_pitch=-0.13 right_roll=0.0134 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.3197, 7.1863, 1.707, -0.0464, -0.0171, -0.0171, -0.2667, -10.4274, 7.0906, 1.6972, 0.0757, 0.0806, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42a3c270867e66d86ada84df6b2a86afdd01339b9b9bd94d50235e9c797bfd2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:46c77fea62a2a9524db57313d40f6a98820921dc9b38a69b6d57442bbaef42c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:13e4d5165e92880056aea299eec52b396d4a8b6bb05bbde5dad5d483970b4659"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 42a3c270867e
wire blob 46c77fea62a2
wire blob 13e4d5165e92
call 9 attempt 0 · /chat/completions · status 200 · 7.246 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, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.7962, 0.514, 0.6464, -0.038, -0.0124, 0.0114]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4049 right_y=0.0085 right_z=0.0053 right_yaw=0.0256 right_pitch=-0.0783 right_roll=0.0116 right_gripper=0.0114\nstate[joint_eff]: [-0.2393, -1.1282, 7.2547, 1.7509, -0.0757, -0.0806, -0.0122, -0.1846, -8.4718, 5.094, 1.5165, -0.0024, -0.0269, 0.9988]\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\": 0.45, \"right_y\": 0.01, \"right_z\": 0.012, \"right_pitch\": 0.0}, \"note\": \"The knob is now between the jaws in the wrist view but still a couple of centimeters ahead of the fingertips, and the tool has drifted to a backward pitch; moving forward and down with pitch leveled so the fingertips drop around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0196ipuwFoEiARhhacWQ9cim",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_0196ipuwFoEiARhhacWQ9cim"
}
{
  "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, 0.9995, -0.0044, 1.9083, 0.6525, 0.6434, -0.0536, -0.0154, 0.9952]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4422 right_y=0.0111 right_z=0.0052 right_yaw=0.0404 right_pitch=-0.0547 right_roll=0.0173 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.335, -7.1179, 4.3966, 1.8193, 0.0806, -0.0269, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:76c7ba97288f8fe8526d4953c69e565137038cd8e4a16fe7917f64c74e4cc3ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c6595e6b35a8f7bfa82fe885a39d6f60a769ab717ae1b2357bd5be60331a027"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eded9028d3dd541b80f905c84507882caa99153ce4017c1aa4aa14d514f06c41"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 76c7ba97288f
wire blob 5c6595e6b35a
wire blob eded9028d3dd
call 10 attempt 0 · /chat/completions · status 200 · 19.87 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, -0.0212, -0.0414, 0.9995, -0.0044, 1.7962, 0.6682, 0.4404, -0.0444, -0.0174, 0.9946]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.003 left_gripper=0.9995 right_x=0.4289 right_y=0.0096 right_z=0.0173 right_yaw=0.0339 right_pitch=-0.13 right_roll=0.0134 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.3197, 7.1863, 1.707, -0.0464, -0.0171, -0.0171, -0.2667, -10.4274, 7.0906, 1.6972, 0.0757, 0.0806, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The knob now sits squarely between the two fingertips at the bottom of the wrist camera view with the gripper at table height; closing the jaws to grasp it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XBrcmJZWjaPkzXfy2zm345",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XBrcmJZWjaPkzXfy2zm345"
}
{
  "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, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.9125, 0.6521, 0.6628, -0.0578, -0.0196, 0.0123]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4444 right_y=0.0118 right_z=0.0073 right_yaw=0.0462 right_pitch=-0.0397 right_roll=0.0156 right_gripper=0.0123\nstate[joint_eff]: [-0.335, -1.3607, 7.0769, 1.7167, -0.0513, -0.0562, -0.0122, -0.1846, -8.6085, 4.4923, 1.5995, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb35cbf7dce3c4fa4151a80067c984be4b449994708ba40db0f28906c193932e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f48d4535c95573dd55e668cf5cdbc05296082ea26dcdb98098bf0e67a07e9cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb0365654082cd7b23cfa75c121319bbc95393c543ecdcc30c84fdff35e39e72"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bb35cbf7dce3
wire blob 5f48d4535c95
wire blob bb0365654082
call 11 attempt 0 · /chat/completions · status 200 · 8.188 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, 0.9995, -0.0044, 1.9083, 0.6525, 0.6434, -0.0536, -0.0154, 0.9952]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4422 right_y=0.0111 right_z=0.0052 right_yaw=0.0404 right_pitch=-0.0547 right_roll=0.0173 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.3607, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.335, -7.1179, 4.3966, 1.8193, 0.0806, -0.0269, 0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1.0, \"right_x\": 0.485, \"right_z\": 0.08, \"right_pitch\": 0.0}, \"note\": \"Gripper closed fully again\\u2014the fingertips seem to be pushing the disc forward along the table each time I advance at table height. Opening, lifting well clear, and moving ~4 cm forward so I can descend straight down onto the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_011CuNqB7jTqiU5nNzN8bJ2U",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011CuNqB7jTqiU5nNzN8bJ2U"
}
{
  "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, 0.9995, -0.0044, 1.8366, 0.8433, 0.3851, -0.065, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4757 right_y=0.013 right_z=0.0536 right_yaw=0.0586 right_pitch=-0.0499 right_roll=0.0105 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.3197, 7.2137, 1.7216, -0.0562, -0.0513, -0.0171, -0.335, -11.2889, 8.2256, 1.6923, 0.0317, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df5fda4ce9d0f31792537ea84c3dc7307456238441b551ebf52c1ade78b6aefb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f5e0d0803cce157d2ac7bbfd121a5a360b1911243d0d3e7f81f7572a5dbeee9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27c0e969191ac67eab8786bf7a8ef11155314e2c40d8921f5d7150d726fcb50a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob df5fda4ce9d0
wire blob 7f5e0d0803cc
wire blob 27c0e969191a
call 12 attempt 0 · /chat/completions · status 200 · 6.105 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, 0.8089, 0.6037, -0.3805, -0.0216, -0.0418, 0.9995, -0.0044, 1.9125, 0.6521, 0.6628, -0.0578, -0.0196, 0.0123]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4444 right_y=0.0118 right_z=0.0073 right_yaw=0.0462 right_pitch=-0.0397 right_roll=0.0156 right_gripper=0.0123\nstate[joint_eff]: [-0.335, -1.3607, 7.0769, 1.7167, -0.0513, -0.0562, -0.0122, -0.1846, -8.6085, 4.4923, 1.5995, -0.0073, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.478, \"right_y\": 0.013, \"right_z\": 0.008, \"right_pitch\": 0.0}, \"note\": \"From above, the knob now sits directly between the two fingertips in the wrist camera; descending straight down to table height without any forward motion so the jaws land around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y4LGuNV4KzustqnByTRKiK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y4LGuNV4KzustqnByTRKiK"
}
{
  "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, 0.8112, 0.6037, -0.3809, -0.0212, -0.0418, 0.9995, -0.0044, 1.9785, 0.7914, 0.5663, -0.0647, -0.0345, 0.9959]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4726 right_y=0.0129 right_z=0.0065 right_yaw=0.06 right_pitch=-0.0625 right_roll=0.0086 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122, -0.2667, -10.0991, 4.7658, 2.0684, -0.1685, 0.3101, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0546c0c4b1decd71475bfb097e8e34f7f9b36e70ee064eb70ad240e336beee73"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8ef1b1b5acc03340af7a38b13e9a503fc2d1aee68d883459a6f5a8b449e6bdd5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0498289ead13152de0a63418d1d4d4388f348bea1f26c25a20243b53a1d6deaa"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 0546c0c4b1de
wire blob 8ef1b1b5acc0
wire blob 0498289ead13
call 13 attempt 0 · /chat/completions · status 200 · 21.08 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0044, 1.8366, 0.8433, 0.3851, -0.065, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4757 right_y=0.013 right_z=0.0536 right_yaw=0.0586 right_pitch=-0.0499 right_roll=0.0105 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.3197, 7.2137, 1.7216, -0.0562, -0.0513, -0.0171, -0.335, -11.2889, 8.2256, 1.6923, 0.0317, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The gripper is at table height with the knob directly between the two fingers in the wrist view; closing to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XdrSZuVQ3iN4vH3dTjeDWm",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XdrSZuVQ3iN4vH3dTjeDWm"
}
{
  "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, -0.3805, -0.0216, -0.0414, 0.9995, -0.0032, 1.985, 0.7929, 0.6109, -0.0727, -0.0414, 0.1645]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0021 left_pitch=-0.0225 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4786 right_y=0.0149 right_z=0.0132 right_yaw=0.0714 right_pitch=-0.0225 right_roll=0.0047 right_gripper=0.1645\nstate[joint_eff]: [-0.1162, -1.4564, 7.0906, 1.7314, -0.0757, -0.0269, -0.0171, -0.4308, -9.7709, 4.8479, 1.3211, 0.022, 0.0171, 1.0965]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de50b580cc86ccfa72096fc30ab08b0d378499351bacf833b555fc8a7fabe2e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bf7df7c42f5a4b65cc1dcc9613258fa419948591203f485aef9968dd6e51f521"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a0682a9f2679f04a4bf90cc14045b93e1c0ac0e60c260c0b556f15ee2549bd43"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob de50b580cc86
wire blob bf7df7c42f5a
wire blob a0682a9f2679
call 14 attempt 0 · /chat/completions · status 200 · 18.15 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, 0.8112, 0.6037, -0.3809, -0.0212, -0.0418, 0.9995, -0.0044, 1.9785, 0.7914, 0.5663, -0.0647, -0.0345, 0.9959]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1749 left_yaw=0.0019 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4726 right_y=0.0129 right_z=0.0065 right_yaw=0.06 right_pitch=-0.0625 right_roll=0.0086 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3197, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122, -0.2667, -10.0991, 4.7658, 2.0684, -0.1685, 0.3101, 0.0659]\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_z\": 0.09, \"right_x\": 0.58, \"right_y\": 0.01}, \"note\": \"The gripper stopped at 0.16 around the knob\\u2014the blue piece is grasped. The top camera shows the board with the circular groove further forward of the right arm (toward the image center), so I'm lifting the piece and carrying it forward toward the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FAYeb9iv49kA9rrrbNmtrj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01FAYeb9iv49kA9rrrbNmtrj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8181, 0.6037, -0.3817, -0.0216, -0.0418, 0.9995, -0.0059, 2.0727, 1.3094, 0.1875, -0.0837, -0.0509, 0.1649]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9995 right_x=0.5722 right_y=0.015 right_z=0.0836 right_yaw=0.0832 right_pitch=-0.0166 right_roll=0.0023 right_gripper=0.1649\nstate[joint_eff]: [-0.3214, -1.4974, 7.0496, 1.6972, -0.0757, -0.0708, -0.0122, -0.8684, -10.6462, 8.4308, 1.9463, -0.0415, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:172f98fa12629480b907bbf95650858f3799c4420a7ae79f4268a5d9c6beda2e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fdb851e1eaa27654b9e6c3fffed7dba4499305b3e6334db77f2b315ef6631c5b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f2a728ead2b07cebc9b6f21eff45b0c003d9093bb944243a582285652fc1993"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 172f98fa1262
wire blob fdb851e1eaa2
wire blob 5f2a728ead2b
call 15 attempt 0 · /chat/completions · status 200 · 21.79 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, -0.3805, -0.0216, -0.0414, 0.9995, -0.0032, 1.985, 0.7929, 0.6109, -0.0727, -0.0414, 0.1645]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0021 left_pitch=-0.0225 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4786 right_y=0.0149 right_z=0.0132 right_yaw=0.0714 right_pitch=-0.0225 right_roll=0.0047 right_gripper=0.1645\nstate[joint_eff]: [-0.1162, -1.4564, 7.0906, 1.7314, -0.0757, -0.0269, -0.0171, -0.4308, -9.7709, 4.8479, 1.3211, 0.022, 0.0171, 1.0965]\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\": 0.47, \"right_y\": 0.2, \"right_z\": 0.09}, \"note\": \"The piece is held and lifted; the top camera shows the board with the circular groove between the two arms, to the right arm's left (+y) and slightly back. Carrying the piece toward that spot at a safe height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TtzvdeQe4sUMBxQC3Ai9My",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 16 steps (1.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01TtzvdeQe4sUMBxQC3Ai9My"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.4984, 1.9358, 1.0767, 0.2047, 0.3016, 0.2047, 0.1649]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0023 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4707 right_y=0.2005 right_z=0.0671 right_yaw=0.1261 right_pitch=-0.0632 right_roll=-0.0167 right_gripper=0.1649\nstate[joint_eff]: [-0.3214, -1.5521, 7.159, 1.7558, -0.0757, -0.0415, -0.0122, 0.294, -13.3538, 6.2291, 1.6484, 0.2857, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19d7551587484244e7502c76ad7fe343f356ce665856d4967b11f2f6659b4b15"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cab8bb42d540dd779dfd2228f7fdaa9b5d9b5927d0f8c2b60340df5633588dfb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ac51b0b59bc09730880d91ff422dc8f7c216ade17ec321c91d0d6a34d0a03a6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 19d755158748
wire blob cab8bb42d540
wire blob 5ac51b0b59bc
call 16 attempt 0 · /chat/completions · status 200 · 12.55 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, 0.8181, 0.6037, -0.3817, -0.0216, -0.0418, 0.9995, -0.0059, 2.0727, 1.3094, 0.1875, -0.0837, -0.0509, 0.1649]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9995 right_x=0.5722 right_y=0.015 right_z=0.0836 right_yaw=0.0832 right_pitch=-0.0166 right_roll=0.0023 right_gripper=0.1649\nstate[joint_eff]: [-0.3214, -1.4974, 7.0496, 1.6972, -0.0757, -0.0708, -0.0122, -0.8684, -10.6462, 8.4308, 1.9463, -0.0415, -0.0317, 1.033]\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\": 0.5, \"right_y\": 0.28, \"right_z\": 0.07}, \"note\": \"The white board with the circular groove is visible at the bottom-left of the right wrist camera and to the left of the gripper in the top camera, so the groove is further +y and slightly forward; shifting the held piece that way to center it above the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_011iGKzQQm6zrx5Kdf891uVv",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_011iGKzQQm6zrx5Kdf891uVv"
}
{
  "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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6178, 2.1315, 1.3903, 0.0566, 0.3668, 0.2592, 0.1649]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4942 right_y=0.2778 right_z=0.066 right_yaw=0.1621 right_pitch=-0.0743 right_roll=-0.0217 right_gripper=0.1649\nstate[joint_eff]: [-0.294, -1.5658, 7.0222, 1.6825, -0.0904, -0.0562, -0.0122, 0.294, -11.1111, 8.0752, 1.4628, 0.4274, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e49fa385e5dd5b6a423e69ace0913292c4b53ad08df2113bd4ae7a97a4e8ed4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7481abbbd0f5a53f9ca42bcec63e06dbc669828d2d1bcb4041e4904072703063"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0ca3774cd6f0df395edcfa45c331a810bcf386a5bb813d3379f87adad00cff0c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1e49fa385e5d
wire blob 7481abbbd0f5
wire blob 0ca3774cd6f0
call 17 attempt 0 · /chat/completions · status 200 · 8.282 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.4984, 1.9358, 1.0767, 0.2047, 0.3016, 0.2047, 0.1649]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0023 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4707 right_y=0.2005 right_z=0.0671 right_yaw=0.1261 right_pitch=-0.0632 right_roll=-0.0167 right_gripper=0.1649\nstate[joint_eff]: [-0.3214, -1.5521, 7.159, 1.7558, -0.0757, -0.0415, -0.0122, 0.294, -13.3538, 6.2291, 1.6484, 0.2857, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.3, \"right_z\": 0.03}, \"note\": \"In the top camera the held blue piece is now over the white board, just slightly right of the groove; nudging ~2 cm further +y and lowering the piece to just above the board surface.\"}",
        "name": "move_to"
      },
      "id": "toolu_018D7KoVMeewTC36bh4BkPSi",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_018D7KoVMeewTC36bh4BkPSi"
}
{
  "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, 0.8265, 0.6037, -0.3805, -0.0216, -0.0418, 0.9995, 0.6388, 2.2265, 1.4269, 0.0891, 0.3771, 0.2695, 0.1649]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4962 right_y=0.292 right_z=0.0347 right_yaw=0.1682 right_pitch=-0.0945 right_roll=-0.031 right_gripper=0.1649\nstate[joint_eff]: [-0.294, -1.5385, 6.9949, 1.707, -0.0464, -0.0415, -0.0122, 0.7863, -11.959, 8.0615, 1.7265, 0.2564, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:993f6d8836b4c8ad28e179a538b99e096e54b42c51ee08fcf355a2f6de710ae0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f960a5cfb51b01a7e1d9d1c2519cfbb721a4a1d8f57fbf9351a718efd608f23"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a2ec87992c5fecf270f22ff822ea89dabd8add50cec419ba2c7834411678a2ab"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 993f6d8836b4
wire blob 6f960a5cfb51
wire blob a2ec87992c5f
call 18 attempt 0 · /chat/completions · status 200 · 6.805 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, 0.8249, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6178, 2.1315, 1.3903, 0.0566, 0.3668, 0.2592, 0.1649]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4942 right_y=0.2778 right_z=0.066 right_yaw=0.1621 right_pitch=-0.0743 right_roll=-0.0217 right_gripper=0.1649\nstate[joint_eff]: [-0.294, -1.5658, 7.0222, 1.6825, -0.0904, -0.0562, -0.0122, 0.294, -11.1111, 8.0752, 1.4628, 0.4274, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.3, \"right_z\": 0.012, \"right_gripper\": 1.0}, \"note\": \"The blue piece is hovering just above the board's groove in both cameras; lowering it the last couple of centimeters into the groove and releasing the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PbTdmDetXNd7qaQTuqprjp",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01PbTdmDetXNd7qaQTuqprjp"
}
{
  "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, 0.8322, 0.6029, -0.3817, -0.0216, -0.0418, 0.9995, 0.6437, 2.2623, 1.4326, 0.1127, 0.3851, 0.2771, 0.995]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1686 left_yaw=0.0023 left_pitch=-0.0438 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4971 right_y=0.2945 right_z=0.0216 right_yaw=0.1623 right_pitch=-0.0978 right_roll=-0.0326 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.8393, 7.3915, 1.6825, -0.0806, -0.0366, -0.0122, 0.2803, -12.7658, 7.2274, 1.6532, 0.1929, -0.0024, -0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb5fa31d6c83525234769f4ea965a9ed914d42d55452b783d599d0f0545dfca4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1822c7b680c64c3b842cc017c149844443672bde323591425703c6817f3b5b20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:99658a0cfc73844756bb547bdf460480b5763cf153dbf295c1253b490b286077"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob bb5fa31d6c83
wire blob 1822c7b680c6
wire blob 99658a0cfc73
call 19 attempt 0 · /chat/completions · status 200 · 14.23 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, 0.8265, 0.6037, -0.3805, -0.0216, -0.0418, 0.9995, 0.6388, 2.2265, 1.4269, 0.0891, 0.3771, 0.2695, 0.1649]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4962 right_y=0.292 right_z=0.0347 right_yaw=0.1682 right_pitch=-0.0945 right_roll=-0.031 right_gripper=0.1649\nstate[joint_eff]: [-0.294, -1.5385, 6.9949, 1.707, -0.0464, -0.0415, -0.0122, 0.7863, -11.959, 8.0615, 1.7265, 0.2564, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.12}, \"note\": \"The gripper has released and the blue piece is sitting on the board where the groove is; raising the arm to clear the view and confirm placement.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DWHGiFdZ8nqkDjuVUZAXvr",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01DWHGiFdZ8nqkDjuVUZAXvr"
}
{
  "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, 0.8333, 0.6029, -0.382, -0.0216, -0.0418, 0.9995, 0.6437, 2.1597, 1.5665, -0.1623, 0.3809, 0.2764, 0.9959]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1682 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4962 right_y=0.2947 right_z=0.084 right_yaw=0.1641 right_pitch=-0.1333 right_roll=-0.0486 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.5658, 7.159, 1.6874, -0.0611, -0.0366, -0.0122, -0.253, -16.253, 8.4444, 1.4432, 0.1294, -0.0366, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3881cda17f1c666aa140ab2d9f25bedaceba94bdbb600dbdf1f2865c0003d23a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c2533c683eae169d981eeea14b1de1dd591a40226506dacd5cfe55f1af47368b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:69dbb67e7b8daeb5a65a9f181de77ed4377781ef926ff1017f1019dc746e1d96"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 3881cda17f1c
wire blob c2533c683eae
wire blob 69dbb67e7b8d