adhoc

completed
2026-09-03T04:18:36.728363+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
361.7 s
total steps
129
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 puzzle piece with its wooden knob slightly below image center, so it is roughly under and a bit behind the gripper. Lowering and moving slightly back to line up above the knob.
move_to
right_x0.2700right_y0.0000right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.0204, 0.7921, 0.6037, -0.3782, -0.0216, -0.0402, 0.9993, -0.02, 0.7914, 0.6094, -0.3752, -0.0227, -0.0147, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5265, -1.3744, 10.3453, 1.8437, -0.0415, 0.1636, -0.0855, -0.4991, -1.2376, 9.812, 1.7705, -0.0415, -0.0171, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.0, "right_z": 0.12, "right_gripper": 1.0}, "note": "The right wrist camera shows the blue puzzle piece with its wooden knob slightly below image center, so it is roughly under and a bit behind the gripper. Lowering and moving slightly back to line up above the knob."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe knob has shifted to slightly above image center after moving back, so it lies around x≈0.28 in front of the gripper. Moving forward a little and descending toward the knob with the gripper open.
move_to
right_x0.2800right_y0.0030right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3798, -0.0216, -0.0414, 0.9993, -0.0319, 0.6651, 0.3401, -0.292, -0.0315, -0.0151, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1793 left_yaw=0.001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2651 right_y=0.0007 right_z=0.111 right_yaw=-0.0041 right_pitch=-0.0598 right_roll=0.006 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.5795, 6.9949, 1.8339, -0.0806, -0.0415, -0.0171, -0.5675, -0.7453, 7.8291, 2.1856, -0.0708, -0.1392, -0.105] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.003, "right_z": 0.05, "right_gripper": 1.0}, "note": "The knob has shifted to slightly above image center after moving back, so it lies around x\u22480.28 in front of the gripper. Moving forward a little and descending toward the knob with the gripper open."})
tool
executing move_to over 4 steps (0.4s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe arm sagged lower than commanded and the knob now appears well ahead of the fingertips at the top of the wrist image. Raising slightly, leveling the pitch, and moving forward ~7 cm to get over the knob.
move_to
right_x0.3300right_y0.0030right_z0.0600right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, -0.0174, 0.9123, 0.1551, 0.0097, -0.0273, -0.0113, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.001 left_pitch=-0.0107 left_roll=-0.0007 left_gripper=0.9993 right_x=0.2588 right_y=0.0039 right_z=0.0286 right_yaw=0.0051 right_pitch=-0.1903 right_roll=0.0096 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.2239, 7.1043, 1.7509, -0.0269, -0.0659, -0.0171, 0.4034, -2.7692, 7.0359, 2.0879, 0.1001, 0.0122, -0.105] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.003, "right_z": 0.06, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm sagged lower than commanded and the knob now appears well ahead of the fingertips at the top of the wrist image. Raising slightly, leveling the pitch, and moving forward ~7 cm to get over the knob."})
tool
executing move_to over 7 steps (0.7s)
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 knob is now centered horizontally but still ahead of the fingertips in the wrist view; the controller is undershooting x. Advancing another few centimeters at low height so the open jaws straddle the knob.
move_to
right_x0.3600right_y0.0030right_z0.0350right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, -0.0181, 1.2327, 0.2264, 0.3389, -0.0315, -0.012, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.001 left_pitch=-0.0168 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3082 right_y=0.0036 right_z=0.0337 right_yaw=0.0081 right_pitch=-0.1101 right_roll=0.0098 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.6615, 7.2274, 1.7363, -0.0855, -0.0757, -0.0171, -0.335, -3.2068, 7.665, 1.9902, -0.0366, -0.0024, -0.105] 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": 0.36, "right_y": 0.003, "right_z": 0.035, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The knob is now centered horizontally but still ahead of the fingertips in the wrist view; the controller is undershooting x. Advancing another few centimeters at low height so the open jaws straddle the knob."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gripper is nearly at table height but the knob is still several centimeters ahead of the jaws in the wrist view; the arm undershoots in x and sags in z. Commanding further forward and slightly higher to compensate so the jaws end up around the knob.
move_to
right_x0.3900right_y0.0030right_z0.0600right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.523, 0.2737, 0.5545, -0.0357, -0.0147, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3314 right_y=0.0039 right_z=0.0045 right_yaw=0.0132 right_pitch=-0.1375 right_roll=0.0112 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.4974, 7.0769, 1.707, -0.0024, -0.0611, -0.0073, -0.212, -5.5726, 6.9812, 2.1172, -0.0415, 0.0024, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.003, "right_z": 0.06, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The gripper is nearly at table height but the knob is still several centimeters ahead of the jaws in the wrist view; the arm undershoots in x and sags in z. Commanding further forward and slightly higher to compensate so the jaws end up around the knob."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe knob is now closer, sitting just above the fingertips in the wrist view, but the arm only advanced 2 cm of the 6 cm commanded. Pushing forward further so the jaws reach around the knob.
move_to
right_x0.4200right_y0.0030right_z0.0450right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3809, -0.0216, -0.0418, 0.9992, -0.0181, 1.5417, 0.2939, 0.638, -0.036, -0.0147, 0.9991] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0215 right_yaw=0.0133 right_pitch=-0.0524 right_roll=0.0087 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.2376, 7.2274, 1.7265, -0.0757, -0.0757, -0.0073, -0.3077, -5.2171, 5.8872, 2.044, -0.0513, 0.0269, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.003, "right_z": 0.045, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The knob is now closer, sitting just above the fingertips in the wrist view, but the arm only advanced 2 cm of the 6 cm commanded. Pushing forward further so the jaws reach around the knob."})
tool
executing move_to over 6 steps (0.6s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm did not move at all on the last command, likely an IK hold from the awkward low-forward pose. Trying a smaller forward step combined with a slight lift to get the controller tracking again.
move_to
right_x0.3750right_y0.0030right_z0.0700right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0414, 0.9992, -0.0181, 1.5421, 0.2939, 0.638, -0.036, -0.0147, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.001 left_pitch=-0.0202 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0214 right_yaw=0.0133 right_pitch=-0.0528 right_roll=0.0087 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.7021, -0.0806, -0.0366, -0.0122, -0.3077, -5.2171, 5.9419, 1.9951, -0.0317, -0.0073, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.003, "right_z": 0.07, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm did not move at all on the last command, likely an IK hold from the awkward low-forward pose. Trying a smaller forward step combined with a slight lift to get the controller tracking again."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe knob now sits just ahead of and between the open jaws in the wrist view. Descending to knob height with a small forward nudge so the jaws straddle it.
move_to
right_x0.3850right_y0.0030right_z0.0250right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.449, 0.3965, 0.4831, -0.0391, -0.0154, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3694 right_y=0.0038 right_z=0.0582 right_yaw=0.0162 right_pitch=-0.012 right_roll=0.0084 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.2513, 7.0359, 1.7021, -0.0806, -0.0806, -0.0122, -0.4581, -5.641, 7.2821, 1.7607, -0.022, -0.0366, -0.105] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.003, "right_z": 0.025, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The knob now sits just ahead of and between the open jaws in the wrist view. Descending to knob height with a small forward nudge so the jaws straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe arm barely descended; the knob is still between and slightly ahead of the jaws in the wrist camera. Re-issuing the descent to about 3 cm above the table so the jaws surround the knob.
move_to
right_x0.3800right_y0.0030right_z0.0300right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.2923, 7.2, 1.7021, -0.0366, -0.0464, -0.0073, -0.3761, -5.9692, 6.9128, 1.8291, -0.0415, -0.0659, -0.105] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.003, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm barely descended; the knob is still between and slightly ahead of the jaws in the wrist camera. Re-issuing the descent to about 3 cm above the table so the jaws surround the knob."})
tool
executing move_to over 2 steps (0.2s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe arm is not responding to small steps at this low, extended pose; the knob remains just ahead of the jaws in the wrist camera. Trying a larger combined step: forward, down, and pitching the tool forward so the fingertips reach the knob.
move_to
right_x0.4000right_y0.0030right_z0.0200right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.0229 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.6068, 7.0496, 1.746, -0.0366, -0.0611, -0.0171, -0.335, -5.9556, 7.0359, 1.8828, -0.0122, -0.0464, -0.105] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.003, "right_z": 0.02, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The arm is not responding to small steps at this low, extended pose; the knob remains just ahead of the jaws in the wrist camera. Trying a larger combined step: forward, down, and pitching the tool forward so the fingertips reach the knob."})
tool
executing move_to over 12 steps (1.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe gripper is now at table level and the knob is large in the wrist view but still a few centimeters ahead of the jaw tips. Advancing ~4 cm more so the knob sits between the fingers.
move_to
right_x0.4350right_y0.0030right_z0.0000right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8181, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, -0.0193, 2.1071, 0.3241, 1.4231, -0.0387, -0.0284, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3931 right_y=0.0029 right_z=0.0002 right_yaw=0.0224 right_pitch=0.1974 right_roll=-0.0114 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.7436, 7.0632, 1.6728, -0.0464, -0.022, -0.0171, -0.5402, -6.8581, 2.4137, 1.707, -0.1538, 0.1685, -0.105] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.003, "right_z": 0.0, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The gripper is now at table level and the knob is large in the wrist view but still a few centimeters ahead of the jaw tips. Advancing ~4 cm more so the knob sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe knob now sits centered between the two jaws at the bottom of the wrist camera view. Closing the gripper 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, -0.0181, 2.2379, 0.4667, 1.5223, -0.046, -0.0349, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0012 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4327 right_y=0.0039 right_z=0.0069 right_yaw=0.0348 right_pitch=0.3083 right_roll=-0.0209 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.5385, 7.1043, 1.6728, -0.0708, -0.0708, -0.0073, -0.1983, -6.5983, 2.0308, 1.7705, 0.0513, 0.0757, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The knob now sits centered between the two jaws at the bottom of the wrist camera view. Closing the gripper to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe jaws closed on the knob (gripper stopped at 0.24 with rising effort), and the top camera shows the board with the circular groove lying further forward along the arm's x-axis. Lifting the piece and carrying it forward toward the board.
move_to
right_x0.5000right_y0.0100right_z0.1200right_pitch0.0000right_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, 0.8204, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, -0.0181, 2.2486, 0.4702, 1.5478, -0.0494, -0.0376, 0.2397] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4341 right_y=0.0044 right_z=0.0094 right_yaw=0.0397 right_pitch=0.3267 right_roll=-0.0239 right_gripper=0.2397 state[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.6825, -0.0562, -0.0611, -0.0122, -0.335, -9.2239, 1.7026, 1.6239, -0.0122, 0.0122, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.01, "right_z": 0.12, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The jaws closed on the knob (gripper stopped at 0.24 with rising effort), and the top camera shows the board with the circular groove lying further forward along the arm's x-axis. Lifting the piece and carrying it forward toward the board."})
tool
executing move_to over 11 steps (1.1s)
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 piece is lifted in the gripper; in the top camera the board with the circular groove is about 95 px to the image-left (+y) and 40 px back (-x) of the gripper, at ~1.2 mm/px. Moving the piece over toward the board.
move_to
right_x0.4600right_y0.1100right_z0.1000right_pitch0.0000right_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, 0.8238, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0025, 1.7973, 0.9703, 0.2962, -0.0406, -0.0418, 0.2396] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1714 left_yaw=0.0012 left_pitch=-0.0343 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5021 right_y=0.012 right_z=0.1049 right_yaw=0.0521 right_pitch=0.0267 right_roll=-0.0148 right_gripper=0.2396 state[joint_eff]: [-0.2667, -1.6889, 7.0222, 1.7265, -0.0855, -0.0708, -0.0122, 0.3077, -12.0957, 7.788, 1.8291, 0.1294, -0.0562, 1.0281] 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_x": 0.46, "right_y": 0.11, "right_z": 0.1, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The piece is lifted in the gripper; in the top camera the board with the circular groove is about 95 px to the image-left (+y) and 40 px back (-x) of the gripper, at ~1.2 mm/px. Moving the piece over toward the board."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteIn the top camera the right arm enters from the image right edge, so the board with the groove is farther forward (+x) of the gripper and roughly aligned in y now. Extending forward toward the board while holding the piece.
move_to
right_x0.5800right_y0.1300right_z0.1000right_pitch0.0000right_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, 0.8261, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, 0.2932, 1.7512, 0.8875, 0.2462, 0.1734, 0.0875, 0.2396] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.001 left_pitch=-0.0366 left_roll=-0.0002 left_gripper=0.9992 right_x=0.459 right_y=0.1105 right_z=0.0833 right_yaw=0.0927 right_pitch=-0.0499 right_roll=-0.0281 right_gripper=0.2396 state[joint_eff]: [-0.1709, -1.5932, 7.0359, 1.7021, -0.0562, -0.022, -0.0073, 0.294, -10.8239, 5.6957, 1.917, 0.1587, 0.1294, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.58, "right_y": 0.13, "right_z": 0.1, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "In the top camera the right arm enters from the image right edge, so the board with the groove is farther forward (+x) of the gripper and roughly aligned in y now. Extending forward toward the board while holding the piece."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteIn the top camera the gripper moved upward in the image as x increased, so the board with the groove (image center-left) lies about 19 cm toward +y and 8 cm back in x from the gripper. Moving the piece over the groove and lowering it to just above the board.
move_to
right_x0.4900right_y0.3100right_z0.0500right_pitch0.0000right_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, 0.8322, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, 0.2676, 2.1033, 1.3998, 0.112, 0.1463, 0.0631, 0.2396] state[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.169 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0004 left_gripper=0.9992 right_x=0.5682 right_y=0.1328 right_z=0.0904 right_yaw=0.1032 right_pitch=-0.0274 right_roll=-0.0285 right_gripper=0.2396 state[joint_eff]: [-0.3624, -1.812, 7.0359, 1.7021, -0.0757, -0.0513, -0.0122, -1.0051, -11.1248, 8.294, 1.8486, 0.0562, -0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.31, "right_z": 0.05, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "In the top camera the gripper moved upward in the image as x increased, so the board with the groove (image center-left) lies about 19 cm toward +y and 8 cm back in x from the gripper. Moving the piece over the groove and lowering it to just above the board."})
tool
executing move_to over 15 steps (1.5s)
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 top camera shows the gripper holding the piece directly above the board's circular groove. Lowering the piece the last couple of centimeters into the groove and opening the gripper to release it.
move_to
right_x0.4850right_y0.3050right_z0.0150right_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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.693, 2.2204, 1.393, 0.1375, 0.4686, 0.2901, 0.2396] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0012 left_pitch=-0.0439 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4837 right_y=0.3025 right_z=0.0377 right_yaw=0.1404 right_pitch=-0.0475 right_roll=-0.0548 right_gripper=0.2396 state[joint_eff]: [-0.335, -1.5521, 7.0359, 1.7021, -0.0757, -0.0806, -0.0122, 0.4034, -11.2205, 8.9094, 1.7363, 0.3443, 0.2271, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.485, "right_y": 0.305, "right_z": 0.015, "right_gripper": 1.0}, "note": "The top camera shows the gripper holding the piece directly above the board's circular groove. Lowering the piece the last couple of centimeters into the groove and opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gripper has opened and the wrist camera shows the blue piece released and sitting on the board beneath the jaws, over the groove. Lifting the arm clear to reveal the placement.
move_to
right_z0.1500right_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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.6952, 2.262, 1.3911, 0.1852, 0.4675, 0.2905, 0.7949] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0012 left_pitch=-0.0439 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4852 right_y=0.3057 right_z=0.0226 right_yaw=0.1435 right_pitch=-0.0443 right_roll=-0.0516 right_gripper=0.7949 state[joint_eff]: [-0.3487, -1.2923, 7.0632, 1.7021, -0.0708, -0.0513, -0.0122, -0.1436, -11.0564, 5.6547, 1.5849, 0.1197, -0.0073, -0.1783] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_gripper": 1.0}, "note": "The gripper has opened and the wrist camera shows the blue piece released and sitting on the board beneath the jaws, over the groove. Lifting the arm clear to reveal the placement."})
tool
executing move_to over 9 steps (0.9s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteGrasped the blue puzzle piece by its center knob with the right arm, carried it to the board at (x≈0.485, y≈0.305), lowered it over the circular groove, released it, and retracted. The piece is resting on the board over the groove.
done
hindsightRight arm: the puzzle piece knob started ~0.43 m forward at z≈0.01 (table level near z=0), directly ahead in y. The controller badly undershoots x and sags z near full extension at low height; commands are clamped per step so send larger targets (e.g. 4–5 cm beyond what you want) and pitch the tool forward ~0.3 rad to reach low knobs. Gripper closes to ~0.24 on the knob. The board with the circular groove was at about x≈0.485, y≈0.305 in the right arm frame (to the arm's left, roughly level with the piece). In top_cam the right arm enters from the image right; +x moves the gripper up in the image, +y moves it left. Wrist cam (right_cam) looks down along the jaws; objects at image bottom are between the fingertips.
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, 0.8345, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, 0.6952, 2.1128, 1.5829, -0.1894, 0.4625, 0.2802, 0.9983] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1685 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0 left_gripper=0.9992 right_x=0.4856 right_y=0.3071 right_z=0.1159 right_yaw=0.1518 right_pitch=-0.0749 right_roll=-0.0748 right_gripper=0.9983 state[joint_eff]: [-0.0342, -1.1009, 7.0359, 1.6728, -0.0464, -0.0415, -0.0073, -0.335, -15.5556, 9.0325, 1.4335, 0.1392, 0.0464, -0.0708] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
done({"hindsight": "Right arm: the puzzle piece knob started ~0.43 m forward at z\u22480.01 (table level near z=0), directly ahead in y. The controller badly undershoots x and sags z near full extension at low height; commands are clamped per step so send larger targets (e.g. 4\u20135 cm beyond what you want) and pitch the tool forward ~0.3 rad to reach low knobs. Gripper closes to ~0.24 on the knob. The board with the circular groove was at about x\u22480.485, y\u22480.305 in the right arm frame (to the arm's left, roughly level with the piece). In top_cam the right arm enters from the image right; +x moves the gripper up in the image, +y moves it left. Wrist cam (right_cam) looks down along the jaws; objects at image bottom are between the fingertips.", "summary": "Grasped the blue puzzle piece by its center knob with the right arm, carried it to the board at (x\u22480.485, y\u22480.305), lowered it over the circular groove, released it, and retracted. The piece is resting on the board over the groove."})
tool
done: Grasped the blue puzzle piece by its center knob with the right arm, carried it to the board at (x≈0.485, y≈0.305), lowered it over the circular groove, released it, and retracted. The piece is resting on the board over the groove.
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 · 29.59 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 20 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6037, -0.3782, -0.0216, -0.0402, 0.9993, -0.02, 0.7914, 0.6094, -0.3752, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.3744, 10.3453, 1.8437, -0.0415, 0.1636, -0.0855, -0.4991, -1.2376, 9.812, 1.7705, -0.0415, -0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5060f8d0e01c3761f1d46a57f49cd4f9a6993b872aed936372e5dfc080f01fa8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3afa0a646188e6e97f8e78f29156ad3b3257bc1cb6d948cc1408cf00f737596"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6d7246e2317024eb7fd876a321146049711c1c1e6e862621dfe15f3a61d4c8c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 5060f8d0e01c
wire blob f3afa0a64618
wire blob b6d7246e2317
call 1 attempt 0 · /chat/completions · status 200 · 29.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.27, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece with its wooden knob slightly below image center, so it is roughly under and a bit behind the gripper. Lowering and moving slightly back to line up above the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012qat3nHjwFUqTzSNuYWKvk",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_012qat3nHjwFUqTzSNuYWKvk"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3798, -0.0216, -0.0414, 0.9993, -0.0319, 0.6651, 0.3401, -0.292, -0.0315, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1793 left_yaw=0.001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2651 right_y=0.0007 right_z=0.111 right_yaw=-0.0041 right_pitch=-0.0598 right_roll=0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.5795, 6.9949, 1.8339, -0.0806, -0.0415, -0.0171, -0.5675, -0.7453, 7.8291, 2.1856, -0.0708, -0.1392, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b5e8dd57f85a4ae26f5855d7afdda677a119a21aa457e5f3d4e6e2dba94dce55"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a11cdc0ef9ac9cd911f67a19fc10824060fe5d7829edb262306d91e0169245cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a4cb422cf26798a3841976a25dc5c7b565e6473f61cd3178b371939aac07321b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b5e8dd57f85a
wire blob a11cdc0ef9ac
wire blob a4cb422cf267
call 2 attempt 0 · /chat/completions · status 200 · 19.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6037, -0.3782, -0.0216, -0.0402, 0.9993, -0.02, 0.7914, 0.6094, -0.3752, -0.0227, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.3744, 10.3453, 1.8437, -0.0415, 0.1636, -0.0855, -0.4991, -1.2376, 9.812, 1.7705, -0.0415, -0.0171, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.28, \"right_y\": 0.003, \"right_z\": 0.05, \"right_gripper\": 1.0}, \"note\": \"The knob has shifted to slightly above image center after moving back, so it lies around x\\u22480.28 in front of the gripper. Moving forward a little and descending toward the knob with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ABeJ64SaQ7jTMSigNHM5yc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01ABeJ64SaQ7jTMSigNHM5yc"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, -0.0174, 0.9123, 0.1551, 0.0097, -0.0273, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.001 left_pitch=-0.0107 left_roll=-0.0007 left_gripper=0.9993 right_x=0.2588 right_y=0.0039 right_z=0.0286 right_yaw=0.0051 right_pitch=-0.1903 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2239, 7.1043, 1.7509, -0.0269, -0.0659, -0.0171, 0.4034, -2.7692, 7.0359, 2.0879, 0.1001, 0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c508c519f53f50081b8ff08e24e52ae8318aa19467386af87978386b12bcfdd4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82fae0eb2b664aff95d438c47e49e9f6ca472afa85f9bb582bbbf3c8594aa706"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb6f4b1c5a66bcd369f8b59434153b9079253887d08f4cd2b9d9e1c771e62640"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c508c519f53f
wire blob 82fae0eb2b66
wire blob cb6f4b1c5a66
call 3 attempt 0 · /chat/completions · status 200 · 12.43 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3798, -0.0216, -0.0414, 0.9993, -0.0319, 0.6651, 0.3401, -0.292, -0.0315, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1793 left_yaw=0.001 left_pitch=-0.0061 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2651 right_y=0.0007 right_z=0.111 right_yaw=-0.0041 right_pitch=-0.0598 right_roll=0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.5795, 6.9949, 1.8339, -0.0806, -0.0415, -0.0171, -0.5675, -0.7453, 7.8291, 2.1856, -0.0708, -0.1392, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.33, \"right_y\": 0.003, \"right_z\": 0.06, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm sagged lower than commanded and the knob now appears well ahead of the fingertips at the top of the wrist image. Raising slightly, leveling the pitch, and moving forward ~7 cm to get over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013gHFv5ziDP39gArweNC6Zs",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_013gHFv5ziDP39gArweNC6Zs"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, -0.0181, 1.2327, 0.2264, 0.3389, -0.0315, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.001 left_pitch=-0.0168 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3082 right_y=0.0036 right_z=0.0337 right_yaw=0.0081 right_pitch=-0.1101 right_roll=0.0098 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6615, 7.2274, 1.7363, -0.0855, -0.0757, -0.0171, -0.335, -3.2068, 7.665, 1.9902, -0.0366, -0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4ea3bc765ce17c2fd7db8164959df573cefefcf179e634c92dff410c416a7dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:999ff9f073f3da94d40ad884181740c394c00344a870ecef20182edb76b0fc20"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc490bdb68dcfbb03a540ce6485599b9e4fbea04f0543c67aa54c50b3cf7c27b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b4ea3bc765ce
wire blob 999ff9f073f3
wire blob fc490bdb68dc
call 4 attempt 0 · /chat/completions · status 200 · 11.61 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, 0.8005, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, -0.0174, 0.9123, 0.1551, 0.0097, -0.0273, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.178 left_yaw=0.001 left_pitch=-0.0107 left_roll=-0.0007 left_gripper=0.9993 right_x=0.2588 right_y=0.0039 right_z=0.0286 right_yaw=0.0051 right_pitch=-0.1903 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2239, 7.1043, 1.7509, -0.0269, -0.0659, -0.0171, 0.4034, -2.7692, 7.0359, 2.0879, 0.1001, 0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.003, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered horizontally but still ahead of the fingertips in the wrist view; the controller is undershooting x. Advancing another few centimeters at low height so the open jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CH2Eb4dmsbifhYWARb2Vns",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01CH2Eb4dmsbifhYWARb2Vns"
}
{
  "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, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.523, 0.2737, 0.5545, -0.0357, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3314 right_y=0.0039 right_z=0.0045 right_yaw=0.0132 right_pitch=-0.1375 right_roll=0.0112 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.4974, 7.0769, 1.707, -0.0024, -0.0611, -0.0073, -0.212, -5.5726, 6.9812, 2.1172, -0.0415, 0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a122cecb84ab8d986f3fbfbf0487c02339bb290419c5c7e551a849ea38b175b0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87d601f35c91b7cc18ab1f5f6b48a5b7cc2098acbbaba84c141eb9fb498dddd8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8e865c3302afba6e2e3eb5d62f8fdd468bd3e02b32c7bd3e2885ffcba69b956"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob a122cecb84ab
wire blob 87d601f35c91
wire blob c8e865c3302a
call 5 attempt 0 · /chat/completions · status 200 · 18.62 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 11 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, -0.0181, 1.2327, 0.2264, 0.3389, -0.0315, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.001 left_pitch=-0.0168 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3082 right_y=0.0036 right_z=0.0337 right_yaw=0.0081 right_pitch=-0.1101 right_roll=0.0098 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6615, 7.2274, 1.7363, -0.0855, -0.0757, -0.0171, -0.335, -3.2068, 7.665, 1.9902, -0.0366, -0.0024, -0.105]\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\": 0.39, \"right_y\": 0.003, \"right_z\": 0.06, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The gripper is nearly at table height but the knob is still several centimeters ahead of the jaws in the wrist view; the arm undershoots in x and sags in z. Commanding further forward and slightly higher to compensate so the jaws end up around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SZyZNjh3iTtLHJik2Kb7bn",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01SZyZNjh3iTtLHJik2Kb7bn"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3809, -0.0216, -0.0418, 0.9992, -0.0181, 1.5417, 0.2939, 0.638, -0.036, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0215 right_yaw=0.0133 right_pitch=-0.0524 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2376, 7.2274, 1.7265, -0.0757, -0.0757, -0.0073, -0.3077, -5.2171, 5.8872, 2.044, -0.0513, 0.0269, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b8b47ed313b2a87cbe50e42cae9dfc54e1ac947d40b6a5140f9c008fac58b254"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae9861b4312d551eef1b51139671c3aa12fae1456ae4de51cffd1540a336aa88"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75487b76ad3963f1bbadf9c7da085df18e1e5b6a33e7d99e268ab54e1e96ce33"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob b8b47ed313b2
wire blob ae9861b4312d
wire blob 75487b76ad39
call 6 attempt 0 · /chat/completions · status 200 · 12.32 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, 0.8089, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.523, 0.2737, 0.5545, -0.0357, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1756 left_yaw=0.0012 left_pitch=-0.0194 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3314 right_y=0.0039 right_z=0.0045 right_yaw=0.0132 right_pitch=-0.1375 right_roll=0.0112 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.4974, 7.0769, 1.707, -0.0024, -0.0611, -0.0073, -0.212, -5.5726, 6.9812, 2.1172, -0.0415, 0.0024, -0.105]\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\": 0.003, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now closer, sitting just above the fingertips in the wrist view, but the arm only advanced 2 cm of the 6 cm commanded. Pushing forward further so the jaws reach around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CT6WJ4TDHZoM4w3KbqfqEo",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01CT6WJ4TDHZoM4w3KbqfqEo"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0414, 0.9992, -0.0181, 1.5421, 0.2939, 0.638, -0.036, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.001 left_pitch=-0.0202 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0214 right_yaw=0.0133 right_pitch=-0.0528 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.7021, -0.0806, -0.0366, -0.0122, -0.3077, -5.2171, 5.9419, 1.9951, -0.0317, -0.0073, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34cf81b6ec01f25c4751b7b011b3b03192b4b7862f4d555366c1197e8e083de1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:948496d7da200fcca61791c27a7655ca07958c13c3891f34abcf0e52d5f54cd5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e309411bdd143e317a2ad9c8efe85dfbda3d8d7a712cfb5e384a70fd4a6e942"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 34cf81b6ec01
wire blob 948496d7da20
wire blob 1e309411bdd1
call 7 attempt 0 · /chat/completions · status 200 · 12.41 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, 0.8097, 0.6041, -0.3809, -0.0216, -0.0418, 0.9992, -0.0181, 1.5417, 0.2939, 0.638, -0.036, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1755 left_yaw=0.0012 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0215 right_yaw=0.0133 right_pitch=-0.0524 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2376, 7.2274, 1.7265, -0.0757, -0.0757, -0.0073, -0.3077, -5.2171, 5.8872, 2.044, -0.0513, 0.0269, -0.105]\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\": 0.375, \"right_y\": 0.003, \"right_z\": 0.07, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command, likely an IK hold from the awkward low-forward pose. Trying a smaller forward step combined with a slight lift to get the controller tracking again.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MAUryi2rxMWmFzBx5HLoPM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01MAUryi2rxMWmFzBx5HLoPM"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.449, 0.3965, 0.4831, -0.0391, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3694 right_y=0.0038 right_z=0.0582 right_yaw=0.0162 right_pitch=-0.012 right_roll=0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2513, 7.0359, 1.7021, -0.0806, -0.0806, -0.0122, -0.4581, -5.641, 7.2821, 1.7607, -0.022, -0.0366, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36902a8276faf418fb82abc1c1749aa67c51552c1d23ac7be21dbd32d98cfba8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fefd332cc807273c9262e3673c6acd0064a29e61183ec21dd8a9e4938bde58cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c07a69de810d8b6240a79fe5e12cc01e20811f43c8532625b1b69d8b2fa48767"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 36902a8276fa
wire blob fefd332cc807
wire blob c07a69de810d
call 8 attempt 0 · /chat/completions · status 200 · 12.38 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, 0.8097, 0.6041, -0.3813, -0.0216, -0.0414, 0.9992, -0.0181, 1.5421, 0.2939, 0.638, -0.036, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.001 left_pitch=-0.0202 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3494 right_y=0.0036 right_z=0.0214 right_yaw=0.0133 right_pitch=-0.0528 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.7021, -0.0806, -0.0366, -0.0122, -0.3077, -5.2171, 5.9419, 1.9951, -0.0317, -0.0073, -0.105]\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\": 0.385, \"right_y\": 0.003, \"right_z\": 0.025, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob now sits just ahead of and between the open jaws in the wrist view. Descending to knob height with a small forward nudge so the jaws straddle it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CZ3bovTCKMFefmhf6TqwPf",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01CZ3bovTCKMFefmhf6TqwPf"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.7021, -0.0366, -0.0464, -0.0073, -0.3761, -5.9692, 6.9128, 1.8291, -0.0415, -0.0659, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d23e9c6fc955bb8911d781090399e2d4cde5c4083c35d40ada801d03c3b8fdfe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b351868013da1bede3137e46711680033af9015f6d1038241359cc1c5e98a145"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:383edb78416c48ef6ff1222640cf843a2787ca29eb4223c9135ea27020277517"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob d23e9c6fc955
wire blob b351868013da
wire blob 383edb78416c
call 9 attempt 0 · /chat/completions · status 200 · 14.8 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, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9992, -0.0181, 1.449, 0.3965, 0.4831, -0.0391, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3694 right_y=0.0038 right_z=0.0582 right_yaw=0.0162 right_pitch=-0.012 right_roll=0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2513, 7.0359, 1.7021, -0.0806, -0.0806, -0.0122, -0.4581, -5.641, 7.2821, 1.7607, -0.022, -0.0366, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.003, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm barely descended; the knob is still between and slightly ahead of the jaws in the wrist camera. Re-issuing the descent to about 3 cm above the table so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RJwny1LjkPNp6zATXyr5nK",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01RJwny1LjkPNp6zATXyr5nK"
}
{
  "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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.0229 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6068, 7.0496, 1.746, -0.0366, -0.0611, -0.0171, -0.335, -5.9556, 7.0359, 1.8828, -0.0122, -0.0464, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:017bb5ea696909c127fa0c04efc2296b0f65b9c58b0c73258db24f4ca2c0b2e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d9bd544b99674adfaa9c3a4202c568267f2d6912ac9d1ead8aece215c7ca99c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8be907e5da619ae208818198fb6dc7847d9ffabca44852e4e341dc6872bcba36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 017bb5ea6969
wire blob 3d9bd544b996
wire blob 8be907e5da61
call 10 attempt 0 · /chat/completions · status 200 · 19.92 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, 0.8097, 0.6041, -0.3813, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1754 left_yaw=0.0012 left_pitch=-0.0202 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.7021, -0.0366, -0.0464, -0.0073, -0.3761, -5.9692, 6.9128, 1.8291, -0.0415, -0.0659, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.003, \"right_z\": 0.02, \"right_pitch\": 0.3, \"right_gripper\": 1.0}, \"note\": \"The arm is not responding to small steps at this low, extended pose; the knob remains just ahead of the jaws in the wrist camera. Trying a larger combined step: forward, down, and pitching the tool forward so the fingertips reach the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MehabZJ4XGmJuyDXxZRp1d",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01MehabZJ4XGmJuyDXxZRp1d"
}
{
  "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, -0.3809, -0.0216, -0.0414, 0.9992, -0.0193, 2.1071, 0.3241, 1.4231, -0.0387, -0.0284, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3931 right_y=0.0029 right_z=0.0002 right_yaw=0.0224 right_pitch=0.1974 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.7436, 7.0632, 1.6728, -0.0464, -0.022, -0.0171, -0.5402, -6.8581, 2.4137, 1.707, -0.1538, 0.1685, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d8e77a6e67ea0dd1dcca6c81641de3812aaaa4ab64e16792a34fbced6cc9e4b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4dc64931414e8862c7e9c66d259144012281850b8000092cf1cb098db8aad6d9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:903093fb87af147c176dea515bb6c8f4f6cec45460a3574737944c4d4e0454b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6d8e77a6e67e
wire blob 4dc64931414e
wire blob 903093fb87af
call 11 attempt 0 · /chat/completions · status 200 · 10.14 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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, -0.0181, 1.4376, 0.4133, 0.4244, -0.0387, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.0229 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3673 right_y=0.0038 right_z=0.0565 right_yaw=0.0157 right_pitch=-0.0425 right_roll=0.0096 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6068, 7.0496, 1.746, -0.0366, -0.0611, -0.0171, -0.335, -5.9556, 7.0359, 1.8828, -0.0122, -0.0464, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.003, \"right_z\": 0.0, \"right_pitch\": 0.3, \"right_gripper\": 1.0}, \"note\": \"The gripper is now at table level and the knob is large in the wrist view but still a few centimeters ahead of the jaw tips. Advancing ~4 cm more so the knob sits between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_019U4BawT4oTws6cCWCJTyeJ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_019U4BawT4oTws6cCWCJTyeJ"
}
{
  "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, 0.9992, -0.0181, 2.2379, 0.4667, 1.5223, -0.046, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0012 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4327 right_y=0.0039 right_z=0.0069 right_yaw=0.0348 right_pitch=0.3083 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5385, 7.1043, 1.6728, -0.0708, -0.0708, -0.0073, -0.1983, -6.5983, 2.0308, 1.7705, 0.0513, 0.0757, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da7152c64f680409d9041c38213169319dfab200e2c9f3199ecf4bef51164d6a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0863714927b5ca6dd83bcfee2b810d2ba614164a5b8a3bf6736142fb10e4361f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:017314d9638f9ffcee55d2f1a856883f9a48907139b3da86565a8ed8cd34b0ee"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob da7152c64f68
wire blob 0863714927b5
wire blob 017314d9638f
call 12 attempt 0 · /chat/completions · status 200 · 24.81 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, 0.8181, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, -0.0193, 2.1071, 0.3241, 1.4231, -0.0387, -0.0284, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.173 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3931 right_y=0.0029 right_z=0.0002 right_yaw=0.0224 right_pitch=0.1974 right_roll=-0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.7436, 7.0632, 1.6728, -0.0464, -0.022, -0.0171, -0.5402, -6.8581, 2.4137, 1.707, -0.1538, 0.1685, -0.105]",
      "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 centered between the two jaws at the bottom of the wrist camera view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_015gaHvbq3qFsFfD2SKtyKQY",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_015gaHvbq3qFsFfD2SKtyKQY"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, -0.0181, 2.2486, 0.4702, 1.5478, -0.0494, -0.0376, 0.2397]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4341 right_y=0.0044 right_z=0.0094 right_yaw=0.0397 right_pitch=0.3267 right_roll=-0.0239 right_gripper=0.2397\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.6825, -0.0562, -0.0611, -0.0122, -0.335, -9.2239, 1.7026, 1.6239, -0.0122, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c62dde960323d118f1be2b6e93ac4bcd66e28703c4877302a7725a97f8bbda9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:702f1572e695d9c0b36fbb0c52e31d7dab09d49b8348f8ff655a3e02baf742fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba8a49e5387c653d53d010de467a64f81e76217558a755cd457abcb5a1fff03e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 8c62dde96032
wire blob 702f1572e695
wire blob ba8a49e5387c
call 13 attempt 0 · /chat/completions · status 200 · 13.68 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, -0.0181, 2.2379, 0.4667, 1.5223, -0.046, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0012 left_pitch=-0.0305 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4327 right_y=0.0039 right_z=0.0069 right_yaw=0.0348 right_pitch=0.3083 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5385, 7.1043, 1.6728, -0.0708, -0.0708, -0.0073, -0.1983, -6.5983, 2.0308, 1.7705, 0.0513, 0.0757, -0.105]\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\": 0.01, \"right_z\": 0.12, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"The jaws closed on the knob (gripper stopped at 0.24 with rising effort), and the top camera shows the board with the circular groove lying further forward along the arm's x-axis. Lifting the piece and carrying it forward toward the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AmNJVaCUbZw43EUc7EXi1s",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01AmNJVaCUbZw43EUc7EXi1s"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8238, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0025, 1.7973, 0.9703, 0.2962, -0.0406, -0.0418, 0.2396]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1714 left_yaw=0.0012 left_pitch=-0.0343 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5021 right_y=0.012 right_z=0.1049 right_yaw=0.0521 right_pitch=0.0267 right_roll=-0.0148 right_gripper=0.2396\nstate[joint_eff]: [-0.2667, -1.6889, 7.0222, 1.7265, -0.0855, -0.0708, -0.0122, 0.3077, -12.0957, 7.788, 1.8291, 0.1294, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5eb57802034d9c38759ce7294fb974860d349f614a7300da7b186ca21c11180"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2339d2a4fc309621233ff2fd1c059e8bf6bd5048be6e8726c6b1c3e36758b1b9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e2690a308458470c1a2f9cb18a91bf551d0ba3eb8e69c3a7eadb2f08f0069056"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob c5eb57802034
wire blob 2339d2a4fc30
wire blob e2690a308458
call 14 attempt 0 · /chat/completions · status 200 · 19.79 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, 0.8204, 0.6037, -0.3805, -0.0216, -0.0414, 0.9992, -0.0181, 2.2486, 0.4702, 1.5478, -0.0494, -0.0376, 0.2397]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0305 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4341 right_y=0.0044 right_z=0.0094 right_yaw=0.0397 right_pitch=0.3267 right_roll=-0.0239 right_gripper=0.2397\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.6825, -0.0562, -0.0611, -0.0122, -0.335, -9.2239, 1.7026, 1.6239, -0.0122, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.11, \"right_z\": 0.1, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"The piece is lifted in the gripper; in the top camera the board with the circular groove is about 95 px to the image-left (+y) and 40 px back (-x) of the gripper, at ~1.2 mm/px. Moving the piece over toward the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_013qbZKVX3UoHHEdJAH8UsEu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_013qbZKVX3UoHHEdJAH8UsEu"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8261, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, 0.2932, 1.7512, 0.8875, 0.2462, 0.1734, 0.0875, 0.2396]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.001 left_pitch=-0.0366 left_roll=-0.0002 left_gripper=0.9992 right_x=0.459 right_y=0.1105 right_z=0.0833 right_yaw=0.0927 right_pitch=-0.0499 right_roll=-0.0281 right_gripper=0.2396\nstate[joint_eff]: [-0.1709, -1.5932, 7.0359, 1.7021, -0.0562, -0.022, -0.0073, 0.294, -10.8239, 5.6957, 1.917, 0.1587, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42386d6d0d45445d9f085a1e082efbcdb5510bf710ed3b763c246e9703c150b3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00673133baf117c5332e93c096288b40b0d72c273d20245d08debd333cc4c1ee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1bba6281fb812cf8232da9b81641b9e9d5c205a28c36fae07688d81eab5515a3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 42386d6d0d45
wire blob 00673133baf1
wire blob 1bba6281fb81
call 15 attempt 0 · /chat/completions · status 200 · 15.83 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, 0.8238, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0025, 1.7973, 0.9703, 0.2962, -0.0406, -0.0418, 0.2396]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1714 left_yaw=0.0012 left_pitch=-0.0343 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5021 right_y=0.012 right_z=0.1049 right_yaw=0.0521 right_pitch=0.0267 right_roll=-0.0148 right_gripper=0.2396\nstate[joint_eff]: [-0.2667, -1.6889, 7.0222, 1.7265, -0.0855, -0.0708, -0.0122, 0.3077, -12.0957, 7.788, 1.8291, 0.1294, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.58, \"right_y\": 0.13, \"right_z\": 0.1, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"In the top camera the right arm enters from the image right edge, so the board with the groove is farther forward (+x) of the gripper and roughly aligned in y now. Extending forward toward the board while holding the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_014tzAR53aAqjibWt1DLBmG3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014tzAR53aAqjibWt1DLBmG3"
}
{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, 0.2676, 2.1033, 1.3998, 0.112, 0.1463, 0.0631, 0.2396]\nstate[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.169 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0004 left_gripper=0.9992 right_x=0.5682 right_y=0.1328 right_z=0.0904 right_yaw=0.1032 right_pitch=-0.0274 right_roll=-0.0285 right_gripper=0.2396\nstate[joint_eff]: [-0.3624, -1.812, 7.0359, 1.7021, -0.0757, -0.0513, -0.0122, -1.0051, -11.1248, 8.294, 1.8486, 0.0562, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:197bb8d9077a201d30669ede01737e204a8bbacfc67e0ccb5624e191dfc70191"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f5058b5e91e50c3faabc49d845e1c8e4adf87b752d906c1da7068e3d2b41c59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:452d8924bfc068aac27db4200c2ae9e1da380946d0ab54004655fd9376f974d2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 197bb8d9077a
wire blob 6f5058b5e91e
wire blob 452d8924bfc0
call 16 attempt 0 · /chat/completions · status 200 · 10.52 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, 0.8261, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, 0.2932, 1.7512, 0.8875, 0.2462, 0.1734, 0.0875, 0.2396]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.001 left_pitch=-0.0366 left_roll=-0.0002 left_gripper=0.9992 right_x=0.459 right_y=0.1105 right_z=0.0833 right_yaw=0.0927 right_pitch=-0.0499 right_roll=-0.0281 right_gripper=0.2396\nstate[joint_eff]: [-0.1709, -1.5932, 7.0359, 1.7021, -0.0562, -0.022, -0.0073, 0.294, -10.8239, 5.6957, 1.917, 0.1587, 0.1294, 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\": 0.49, \"right_y\": 0.31, \"right_z\": 0.05, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"In the top camera the gripper moved upward in the image as x increased, so the board with the groove (image center-left) lies about 19 cm toward +y and 8 cm back in x from the gripper. Moving the piece over the groove and lowering it to just above the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_015EpHd5iwAkb2nb5f3vsFhu",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 15 steps (1.5s)",
  "role": "tool",
  "tool_call_id": "toolu_015EpHd5iwAkb2nb5f3vsFhu"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.693, 2.2204, 1.393, 0.1375, 0.4686, 0.2901, 0.2396]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0012 left_pitch=-0.0439 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4837 right_y=0.3025 right_z=0.0377 right_yaw=0.1404 right_pitch=-0.0475 right_roll=-0.0548 right_gripper=0.2396\nstate[joint_eff]: [-0.335, -1.5521, 7.0359, 1.7021, -0.0757, -0.0806, -0.0122, 0.4034, -11.2205, 8.9094, 1.7363, 0.3443, 0.2271, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2bb1a43fd340bcdcc7c306ecb9b08c4cd96a62babae6ba72c51f09667086657"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:41e15f5bedc523837f6c19a7612ef292e57bd687ea0ab173bbfdab5c65617b21"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f9816052c843bbf7c5bd8706664153f94468e802ed25005f85694547200de96c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f2bb1a43fd34
wire blob 41e15f5bedc5
wire blob f9816052c843
call 17 attempt 0 · /chat/completions · status 200 · 20.34 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, 0.8322, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, 0.2676, 2.1033, 1.3998, 0.112, 0.1463, 0.0631, 0.2396]\nstate[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.169 left_yaw=0.0012 left_pitch=-0.0431 left_roll=-0.0004 left_gripper=0.9992 right_x=0.5682 right_y=0.1328 right_z=0.0904 right_yaw=0.1032 right_pitch=-0.0274 right_roll=-0.0285 right_gripper=0.2396\nstate[joint_eff]: [-0.3624, -1.812, 7.0359, 1.7021, -0.0757, -0.0513, -0.0122, -1.0051, -11.1248, 8.294, 1.8486, 0.0562, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.485, \"right_y\": 0.305, \"right_z\": 0.015, \"right_gripper\": 1.0}, \"note\": \"The top camera shows the gripper holding the piece directly above the board's circular groove. Lowering the piece the last couple of centimeters into the groove and opening the gripper to release it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01R9fKyRgqq45vxeDQUbwCyi",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01R9fKyRgqq45vxeDQUbwCyi"
}
{
  "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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.6952, 2.262, 1.3911, 0.1852, 0.4675, 0.2905, 0.7949]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0012 left_pitch=-0.0439 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4852 right_y=0.3057 right_z=0.0226 right_yaw=0.1435 right_pitch=-0.0443 right_roll=-0.0516 right_gripper=0.7949\nstate[joint_eff]: [-0.3487, -1.2923, 7.0632, 1.7021, -0.0708, -0.0513, -0.0122, -0.1436, -11.0564, 5.6547, 1.5849, 0.1197, -0.0073, -0.1783]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2911fe59aeace469fb65375587576fce01f14fa1ceced5dd83861f5b5c3d7fab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:202262a33881b395f2596ec0179ea227c8ba563e782e6bfb8ca7e27ef568bbe4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f18fc8c01a21b5ac8122d423c96df55b5b308b9fa277e6479402b6c459ef1cd4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2911fe59aeac
wire blob 202262a33881
wire blob f18fc8c01a21
call 18 attempt 0 · /chat/completions · status 200 · 23.25 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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.693, 2.2204, 1.393, 0.1375, 0.4686, 0.2901, 0.2396]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0012 left_pitch=-0.0439 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4837 right_y=0.3025 right_z=0.0377 right_yaw=0.1404 right_pitch=-0.0475 right_roll=-0.0548 right_gripper=0.2396\nstate[joint_eff]: [-0.335, -1.5521, 7.0359, 1.7021, -0.0757, -0.0806, -0.0122, 0.4034, -11.2205, 8.9094, 1.7363, 0.3443, 0.2271, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.15, \"right_gripper\": 1.0}, \"note\": \"The gripper has opened and the wrist camera shows the blue piece released and sitting on the board beneath the jaws, over the groove. Lifting the arm clear to reveal the placement.\"}",
        "name": "move_to"
      },
      "id": "toolu_015aeHMgin9PKYjVnRrNZSfG",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_015aeHMgin9PKYjVnRrNZSfG"
}
{
  "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, 0.8345, 0.6037, -0.3809, -0.0216, -0.0414, 0.9992, 0.6952, 2.1128, 1.5829, -0.1894, 0.4625, 0.2802, 0.9983]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1685 left_yaw=0.001 left_pitch=-0.045 left_roll=-0.0 left_gripper=0.9992 right_x=0.4856 right_y=0.3071 right_z=0.1159 right_yaw=0.1518 right_pitch=-0.0749 right_roll=-0.0748 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.1009, 7.0359, 1.6728, -0.0464, -0.0415, -0.0073, -0.335, -15.5556, 9.0325, 1.4335, 0.1392, 0.0464, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01f99322387795021b6bdbcaa2e843e8ab47d6a533d3983dd58845a1fe857ce0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc51606dbb529b93cf48c51451ff0a57689f8650d5735d062a73b71bb45ce8a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e73c73003b034b4bef26f38233d5884677c84cabec4d530ffda6095a0316163f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 01f993223877
wire blob fc51606dbb52
wire blob e73c73003b03