adhoc - adhoc_452ee506.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 324.3 s
total steps: 108

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

partial

Grader notes

trial 03

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see the blue knobbed puzzle piece to the right in the top camera and centered in the right camera; the white board with the circular groove is in the middle. I'll move the right arm forward and to the side to appear in the cameras so I can calibrate where the arm is relative to the piece.

move_to

right_x0.3800right_y0.1000right_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]: [-0.0204, 0.7925, 0.6041, -0.3786, -0.0212, -0.0376, 0.9995, -0.0151, 0.7914, 0.6098, -0.3752, -0.0208, -0.0158, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2959 right_y=0.0028 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5265, -1.3333, 10.4137, 1.8242, -0.0366, 0.2173, -0.0659, -0.8821, -1.1282, 9.853, 1.7558, -0.0366, -0.0122, -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": 0.38, "right_y": 0.1, "right_z": 0.15, "right_gripper": 1}, "note": "I see the blue knobbed puzzle piece to the right in the top camera and centered in the right camera; the white board with the circular groove is in the middle. I'll move the right arm forward and to the side to appear in the cameras so I can calibrate where the arm is relative to the piece."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe right arm is now visible at the top-right of the top camera, near where the blue piece is; the right wrist camera shows the piece just below center. I'll lower the gripper toward the piece while keeping the tool level to check alignment from above.

move_to

right_x0.3700right_y0.1000right_z0.0700right_pitch0.0000right_roll0.0000right_yaw0.0000

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, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, 0.3782, 1.2957, 0.6956, -0.0719, 0.2733, 0.1692, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3624 right_y=0.0966 right_z=0.1279 right_yaw=0.0457 right_pitch=-0.0866 right_roll=-0.0325 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.5521, 7.0222, 1.7509, -0.0611, -0.0122, -0.0171, 0.335, -4.8479, 9.1145, 1.7705, 0.3541, 0.1685, -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": 0.37, "right_y": 0.1, "right_z": 0.07, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm is now visible at the top-right of the top camera, near where the blue piece is; the right wrist camera shows the piece just below center. I'll lower the gripper toward the piece while keeping the tool level to check alignment from above."})

tool

executing move_to over 4 steps (0.4s)

step 13

assistant

agent noteThe right camera shows the blue piece with its knob near image center, and my gripper's dark fingers entering from the bottom-right corner. I'll move forward and lower to just above table height to judge the gripper's position relative to the piece.

move_to

right_x0.4000right_y0.1000right_z0.0300

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0212, -0.0414, 0.9994, 0.3977, 1.4757, 0.5049, 0.239, 0.3042, 0.1989, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1781 left_yaw=0.0021 left_pitch=-0.0103 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3514 right_y=0.0941 right_z=0.0472 right_yaw=0.0213 right_pitch=-0.1354 right_roll=-0.0487 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.3607, 7.4188, 1.7021, -0.0122, -0.0562, -0.0122, 0.5949, -6.4615, 6.7624, 2.2393, 0.3394, 0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.1, "right_z": 0.03}, "note": "The right camera shows the blue piece with its knob near image center, and my gripper's dark fingers entering from the bottom-right corner. I'll move forward and lower to just above table height to judge the gripper's position relative to the piece."})

tool

executing move_to over 4 steps (0.4s)

step 17

assistant

agent noteIn the right camera the gripper fingers are at the bottom-left while the blue piece with its knob sits center-right, suggesting I need to move further forward and slightly right. I'll shift forward and a bit in -y to line the fingers over the knob.

move_to

right_x0.4200right_y0.0800right_z0.0500

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, 0.8013, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.3737, 0.3149, 0.1993, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0024 left_pitch=-0.0114 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0984 right_z=0.0568 right_yaw=0.0188 right_pitch=-0.0482 right_roll=-0.0208 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.3197, 7.0632, 1.7021, -0.0855, -0.0513, -0.0122, 0.3761, -6.1607, 6.3932, 1.9219, 0.3297, 0.1343, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.08, "right_z": 0.05}, "note": "In the right camera the gripper fingers are at the bottom-left while the blue piece with its knob sits center-right, suggesting I need to move further forward and slightly right. I'll shift forward and a bit in -y to line the fingers over the knob."})

tool

executing move_to over 5 steps (0.5s)

step 22

assistant

agent noteThe arm didn't move last step (target likely clamped/unreachable). The wrist camera still shows the knob forward-right of my fingers, so I'll take a smaller step forward and slightly right while flattening pitch.

move_to

right_x0.3900right_y0.0800right_z0.0400right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.374, 0.3145, 0.1993, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0024 left_pitch=-0.011 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0985 right_z=0.0569 right_yaw=0.0191 right_pitch=-0.0479 right_roll=-0.0205 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.2786, 7.0769, 1.6972, -0.0855, -0.0269, -0.0122, 0.2256, -6.1607, 6.4479, 1.9219, 0.2418, 0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.08, "right_z": 0.04, "right_pitch": 0}, "note": "The arm didn't move last step (target likely clamped/unreachable). The wrist camera still shows the knob forward-right of my fingers, so I'll take a smaller step forward and slightly right while flattening pitch."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe knob is still forward and to the right of my fingers in the wrist camera. I'll take a small step forward and to the right to center the gripper over the knob.

move_to

right_x0.4000right_y0.0700right_z0.0500

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, 0.8013, 0.6041, -0.3813, -0.0216, -0.0414, 0.9994, 0.3485, 1.5894, 0.4896, 0.4839, 0.2756, 0.1673, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1777 left_yaw=0.0024 left_pitch=-0.0118 left_roll=-0.003 left_gripper=0.9994 right_x=0.3777 right_y=0.0899 right_z=0.0463 right_yaw=0.0161 right_pitch=-0.0331 right_roll=-0.017 right_gripper=0.999 state[joint_eff]: [-0.1709, -0.9641, 7.2274, 1.7021, -0.0611, -0.0317, -0.0122, -1.1145, -5.3538, 4.7111, 1.3797, -0.0122, -0.0806, -0.0122] 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": 0.4, "right_y": 0.07, "right_z": 0.05}, "note": "The knob is still forward and to the right of my fingers in the wrist camera. I'll take a small step forward and to the right to center the gripper over the knob."})

tool

executing move_to over 2 steps (0.2s)

step 27

assistant

agent noteThe knob is now close to the gripper but still slightly forward-right of the finger gap. I'll step forward and further right while lowering slightly to bracket the knob between the fingers.

move_to

right_x0.4100right_y0.0500right_z0.0300

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2726, 1.6657, 0.5045, 0.5072, 0.21, 0.1162, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.385 right_y=0.0731 right_z=0.0264 right_yaw=0.0216 right_pitch=-0.0811 right_roll=-0.0325 right_gripper=0.999 state[joint_eff]: [-0.1573, -1.7162, 7.2684, 1.7216, -0.0708, -0.0366, -0.0122, -0.7453, -8.8547, 7.2821, 1.917, 0.0904, -0.0269, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.05, "right_z": 0.03}, "note": "The knob is now close to the gripper but still slightly forward-right of the finger gap. I'll step forward and further right while lowering slightly to bracket the knob between the fingers."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteThe knob is nearly between the fingers now, just slightly forward-right. One more small step forward-right and down so the knob sits in the finger gap before closing.

move_to

right_x0.4200right_y0.0450right_z0.0200

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3801, -0.0216, -0.0414, 0.9994, 0.2333, 1.6688, 0.535, 0.4873, 0.1802, 0.0998, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3944 right_y=0.0648 right_z=0.0314 right_yaw=0.0162 right_pitch=-0.078 right_roll=-0.0264 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.347, 7.1043, 1.7118, -0.0806, -0.0513, -0.0122, -0.8684, -5.4769, 5.6137, 1.8535, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.045, "right_z": 0.02}, "note": "The knob is nearly between the fingers now, just slightly forward-right. One more small step forward-right and down so the knob sits in the finger gap before closing."})

tool

executing move_to over 2 steps (0.2s)

step 31

assistant

agent noteThe arm only moved slightly; the knob still sits just ahead and slightly right of the finger gap in the wrist view. Repeating a small forward-right-down step to bracket the knob.

move_to

right_x0.4250right_y0.0450right_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0887, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0231 right_pitch=-0.103 right_roll=-0.0276 right_gripper=0.999 state[joint_eff]: [-0.1983, -1.1419, 7.2, 1.7363, -0.0513, -0.0611, -0.0122, -0.1709, -6.4615, 5.6274, 1.8193, 0.0904, -0.1001, -0.0122] 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": 0.425, "right_y": 0.045, "right_z": 0.015}, "note": "The arm only moved slightly; the knob still sits just ahead and slightly right of the finger gap in the wrist view. Repeating a small forward-right-down step to bracket the knob."})

tool

executing move_to over 3 steps (0.3s)

step 34

assistant

agent noteThe arm hasn't moved for two commands—likely the IK is struggling with a flat wrist at this reach. I'll add positive pitch to tip the tool forward-down and command a slightly lower target so the fingers can descend around the knob.

move_to

right_x0.4150right_y0.0500right_z0.0050right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0212, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0883, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1763 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0233 right_pitch=-0.103 right_roll=-0.0279 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.3333, 7.2547, 1.746, -0.0073, -0.0513, -0.0122, -0.212, -6.4342, 5.5179, 1.8144, 0.0513, -0.1441, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.415, "right_y": 0.05, "right_z": 0.005, "right_pitch": 0.2}, "note": "The arm hasn't moved for two commands\u2014likely the IK is struggling with a flat wrist at this reach. I'll add positive pitch to tip the tool forward-down and command a slightly lower target so the fingers can descend around the knob."})

tool

executing move_to over 11 steps (1.1s)

step 45

assistant

agent noteWith the pitched wrist the gripper descended; the knob now sits near the right finger, slightly right of the gripper centerline. I'll shift a touch left (+y) and down to center the knob between the fingertips.

move_to

right_x0.4180right_y0.0580right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1806, 2.0624, 0.4343, 1.2385, 0.1555, 0.0135, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4144 right_y=0.0515 right_z=0.004 right_yaw=0.0285 right_pitch=0.1714 right_roll=-0.0426 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.5795, 7.241, 1.7167, -0.0611, -0.0464, -0.0122, -0.8, -6.4342, 2.1128, 1.5067, -0.0952, 0.0952, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.418, "right_y": 0.058, "right_z": 0.0}, "note": "With the pitched wrist the gripper descended; the knob now sits near the right finger, slightly right of the gripper centerline. I'll shift a touch left (+y) and down to center the knob between the fingertips."})

tool

executing move_to over 1 steps (0.1s)

step 46

assistant

agent noteThe wrist camera shows the knob just below the gripper, slightly right of the tool centerline. I'll nudge forward-right and lower to table level so the knob sits between the open fingers.

move_to

right_x0.4220right_y0.0470right_z-0.0120

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.178, 2.0796, 0.4297, 1.277, 0.1524, 0.0139, 0.999] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4147 right_y=0.051 right_z=0.0046 right_yaw=0.0278 right_pitch=0.1878 right_roll=-0.0386 right_gripper=0.999 state[joint_eff]: [0.0342, -1.6205, 7.2684, 1.7216, -0.0562, -0.0708, -0.0122, -0.7043, -6.6667, 2.3179, 2.1416, -0.0562, 0.0171, -0.022] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.422, "right_y": 0.047, "right_z": -0.012}, "note": "The wrist camera shows the knob just below the gripper, slightly right of the tool centerline. I'll nudge forward-right and lower to table level so the knob sits between the open fingers."})

tool

executing move_to over 2 steps (0.2s)

step 48

assistant

agent noteThe knob is between the fingertips in the wrist view. I'll descend straight down to table level with the gripper wide open so the fingers straddle the knob.

move_to

right_z-0.0150right_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, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1818, 2.1334, 0.4614, 1.3277, 0.1505, 0.0002, 0.999] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9994 right_x=0.4235 right_y=0.0546 right_z=0.0031 right_yaw=0.0398 right_pitch=0.2158 right_roll=-0.0468 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.5521, 7.0496, 1.707, -0.0171, -0.0415, -0.0122, -1.0051, -6.1197, 2.2632, 0.9206, -0.1538, 0.2955, -0.0073] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.015, "right_gripper": 1}, "note": "The knob is between the fingertips in the wrist view. I'll descend straight down to table level with the gripper wide open so the fingers straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 50

assistant

agent noteThe knob appears centered between the fingertips at table level in the wrist camera. 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, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.173, 2.1971, 0.4759, 1.4284, 0.1528, -0.0158, 0.999] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4294 right_y=0.0514 right_z=0.0043 right_yaw=0.0359 right_pitch=0.2666 right_roll=-0.0558 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.4291, 7.2137, 1.6923, -0.0611, -0.0611, -0.0073, 0.6222, -5.7915, 2.3043, 1.0769, -0.1001, 0.1783, -0.1148] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The knob appears centered between the fingertips at table level in the wrist camera. Closing the gripper to grasp the knob."})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteThe gripper closed fully (0.009) which means it missed the knob—the wrist view shows the knob just ahead of the fingertips. Opening the gripper and stepping ~1.5 cm forward and down to re-straddle the knob.

move_to

right_gripper1.0000right_x0.4450right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1764, 2.2074, 0.4786, 1.4544, 0.1459, -0.0124, 0.0086] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4307 right_y=0.0543 right_z=0.0068 right_yaw=0.0429 right_pitch=0.2846 right_roll=-0.0478 right_gripper=0.0086 state[joint_eff]: [-0.3214, -1.265, 7.3094, 1.707, -0.0855, -0.0415, -0.0073, -0.0889, -9.1692, 1.9077, 1.6532, 0.0562, -0.0659, 0.6325] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.445, "right_z": -0.01}, "note": "The gripper closed fully (0.009) which means it missed the knob\u2014the wrist view shows the knob just ahead of the fingertips. Opening the gripper and stepping ~1.5 cm forward and down to re-straddle the knob."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThe knob now sits centered between the open fingers in the wrist view, but slightly ahead of the fingertips. One more small forward-down step so the knob is fully within the jaws.

move_to

right_x0.4620right_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1761, 2.2761, 0.5484, 1.5085, 0.1299, -0.0147, 0.9949] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4481 right_y=0.0601 right_z=0.0086 right_yaw=0.0558 right_pitch=0.3389 right_roll=-0.0387 right_gripper=0.9949 state[joint_eff]: [-0.1983, -1.388, 7.0769, 1.7216, -0.0464, -0.0317, -0.0122, -1.0325, -6.2701, 2.8376, 1.5116, 0.0562, -0.0171, -0.2662] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.462, "right_z": -0.005}, "note": "The knob now sits centered between the open fingers in the wrist view, but slightly ahead of the fingertips. One more small forward-down step so the knob is fully within the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 72

assistant

agent noteThe wooden knob is now sitting right between the fingertips in the wrist camera. Closing the gripper to grip the knob.

move_to

right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1761, 2.3116, 0.5941, 1.5349, 0.1261, -0.0166, 0.996] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.003 left_gripper=0.9994 right_x=0.4593 right_y=0.0628 right_z=0.0114 right_yaw=0.0587 right_pitch=0.3751 right_roll=-0.0353 right_gripper=0.996 state[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.707, -0.0464, -0.0806, -0.0122, -1.0051, -6.8581, 2.1402, 1.5458, -0.0611, -0.0171, 0.0904] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.1}, "note": "The wooden knob is now sitting right between the fingertips in the wrist camera. Closing the gripper to grip the knob."})

tool

executing move_to over 9 steps (0.9s)

step 81

assistant

agent noteThe gripper stopped at 0.23 with rising effort—it's holding the knob, and the wrist camera confirms the knob between the fingers. Lifting the piece straight up.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8154, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1764, 2.3257, 0.6003, 1.5608, 0.1219, -0.0189, 0.2287] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1739 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4607 right_y=0.064 right_z=0.013 right_yaw=0.0634 right_pitch=0.3929 right_roll=-0.0347 right_gripper=0.2287 state[joint_eff]: [-0.1573, -1.5248, 7.0496, 1.6923, -0.0464, -0.0611, -0.0122, -0.2803, -10.3316, 1.6889, 1.6435, 0.022, -0.0024, 0.9841] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "The gripper stopped at 0.23 with rising effort\u2014it's holding the knob, and the wrist camera confirms the knob between the fingers. Lifting the piece straight up."})

tool

executing move_to over 7 steps (0.7s)

step 88

assistant

agent noteThe piece lifted with the gripper—the blue disc is off the table and held by the knob. The white board with the circular groove is to the left in the top camera, so I'll carry the piece leftward (+y) over the board.

move_to

right_x0.4300right_y0.2200right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8204, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.1764, 1.853, 0.5648, 1.1294, 0.1177, -0.02, 0.2329] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1726 left_yaw=0.0024 left_pitch=-0.0301 left_roll=-0.0025 left_gripper=0.9994 right_x=0.458 right_y=0.0642 right_z=0.1084 right_yaw=0.0676 right_pitch=0.3985 right_roll=-0.0345 right_gripper=0.2329 state[joint_eff]: [-0.3624, -1.2786, 7.0222, 1.7607, -0.0855, -0.0659, -0.0122, -0.3624, -9.1145, 6.7487, 1.8974, -0.0024, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.22, "right_z": 0.12}, "note": "The piece lifted with the gripper\u2014the blue disc is off the table and held by the knob. The white board with the circular groove is to the left in the top camera, so I'll carry the piece leftward (+y) over the board."})

tool

executing move_to over 13 steps (1.3s)

step 101

assistant

agent noteTop camera shows the held blue piece just right of the white board; the circular groove is a bit further left. Continuing leftward (+y) and slightly down to hover over the groove.

move_to

right_x0.4200right_y0.2800right_z0.0900

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.82, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.6598, 1.9022, 0.7258, 0.9703, 0.5552, 0.0525, 0.2329] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1727 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4272 right_y=0.2181 right_z=0.1136 right_yaw=0.1157 right_pitch=0.3811 right_roll=-0.054 right_gripper=0.2329 state[joint_eff]: [-0.294, -1.3744, 7.2684, 1.6874, -0.0415, -0.0269, -0.0122, 0.3214, -7.9248, 6.6256, 1.8339, 0.3199, 0.1001, 1.0281] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.28, "right_z": 0.09}, "note": "Top camera shows the held blue piece just right of the white board; the circular groove is a bit further left. Continuing leftward (+y) and slightly down to hover over the groove."})

tool

executing move_to over 6 steps (0.6s)

step 107

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, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.7967, 2.0598, 0.8513, 0.9493, 0.6582, 0.0727, 0.2335] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1727 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4172 right_y=0.2773 right_z=0.0837 right_yaw=0.1599 right_pitch=0.3509 right_roll=-0.0854 right_gripper=0.2335 state[joint_eff]: [-0.3214, -1.4291, 7.1453, 1.7021, -0.0806, -0.0708, -0.0122, 0.3761, -9.0325, 6.4068, 1.9951, 0.3883, 0.1685, 1.0281] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]

call 0 attempt 0 · /chat/completions · status 200 · 10.68 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6041, -0.3786, -0.0212, -0.0376, 0.9995, -0.0151, 0.7914, 0.6098, -0.3752, -0.0208, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2959 right_y=0.0028 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.3333, 10.4137, 1.8242, -0.0366, 0.2173, -0.0659, -0.8821, -1.1282, 9.853, 1.7558, -0.0366, -0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d5dc556454b56448c3b52c61f4a4bdbab9ad0ed22e6ca0d6a26af032bfe8969a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8077b740f82961903a2b962f2f0383afbc952cf4d9b51ae32875605aa06bc5e3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0415b7371610b859b1e687313eeee1f1b51dd5e35c513023f3c58ab82be1c41c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 14.32 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.1, \"right_z\": 0.15, \"right_gripper\": 1}, \"note\": \"I see the blue knobbed puzzle piece to the right in the top camera and centered in the right camera; the white board with the circular groove is in the middle. I'll move the right arm forward and to the side to appear in the cameras so I can calibrate where the arm is relative to the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PaifeeXynceQwcpF7UZNCb",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01PaifeeXynceQwcpF7UZNCb"
}

{
  "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, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, 0.3782, 1.2957, 0.6956, -0.0719, 0.2733, 0.1692, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3624 right_y=0.0966 right_z=0.1279 right_yaw=0.0457 right_pitch=-0.0866 right_roll=-0.0325 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5521, 7.0222, 1.7509, -0.0611, -0.0122, -0.0171, 0.335, -4.8479, 9.1145, 1.7705, 0.3541, 0.1685, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2e48dcee39fe2171be9bcea6e29a979be88cc32ff8cdb6454f25c77739afb5c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:387886106c667dc9d02ea43b7a496431e3d90e004e9527e51ff3976484ac83e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d2eaf44fbf667238668d0e43d9e3acfd1d5ccc20b9eeeef4d85020ab1eddd58"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 20.4 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6041, -0.3786, -0.0212, -0.0376, 0.9995, -0.0151, 0.7914, 0.6098, -0.3752, -0.0208, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2959 right_y=0.0028 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -1.3333, 10.4137, 1.8242, -0.0366, 0.2173, -0.0659, -0.8821, -1.1282, 9.853, 1.7558, -0.0366, -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\": 0.37, \"right_y\": 0.1, \"right_z\": 0.07, \"right_pitch\": 0, \"right_roll\": 0, \"right_yaw\": 0}, \"note\": \"The right arm is now visible at the top-right of the top camera, near where the blue piece is; the right wrist camera shows the piece just below center. I'll lower the gripper toward the piece while keeping the tool level to check alignment from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WVT4sc5h7ntsGE8K7ntrNS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01WVT4sc5h7ntsGE8K7ntrNS"
}

{
  "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, 0.8001, 0.6041, -0.3809, -0.0212, -0.0414, 0.9994, 0.3977, 1.4757, 0.5049, 0.239, 0.3042, 0.1989, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1781 left_yaw=0.0021 left_pitch=-0.0103 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3514 right_y=0.0941 right_z=0.0472 right_yaw=0.0213 right_pitch=-0.1354 right_roll=-0.0487 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3607, 7.4188, 1.7021, -0.0122, -0.0562, -0.0122, 0.5949, -6.4615, 6.7624, 2.2393, 0.3394, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:274ea09111042d5d15730a39bc2bdc0b0e6c63e69365bbf625086e5dc5a30f43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2fc3ca0bc7ea9aba19a33e28fd63f7f368824cfb5c1f6fa18c0110c3166b62b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f8bef7ea4a1c3eff5efa4baff59d1bc876acbb7a8f5b348ded558f9ad323c26"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 17.94 s

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

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, 0.3782, 1.2957, 0.6956, -0.0719, 0.2733, 0.1692, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3624 right_y=0.0966 right_z=0.1279 right_yaw=0.0457 right_pitch=-0.0866 right_roll=-0.0325 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5521, 7.0222, 1.7509, -0.0611, -0.0122, -0.0171, 0.335, -4.8479, 9.1145, 1.7705, 0.3541, 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_x\": 0.4, \"right_y\": 0.1, \"right_z\": 0.03}, \"note\": \"The right camera shows the blue piece with its knob near image center, and my gripper's dark fingers entering from the bottom-right corner. I'll move forward and lower to just above table height to judge the gripper's position relative to the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CnbwVXV3pgW68TB5yULy6n",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01CnbwVXV3pgW68TB5yULy6n"
}

{
  "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, 0.8013, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.3737, 0.3149, 0.1993, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0024 left_pitch=-0.0114 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0984 right_z=0.0568 right_yaw=0.0188 right_pitch=-0.0482 right_roll=-0.0208 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 7.0632, 1.7021, -0.0855, -0.0513, -0.0122, 0.3761, -6.1607, 6.3932, 1.9219, 0.3297, 0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9b31dfa95e085d31a363afdc90a155c1ca60f2af179be4a24ad690ccb9f6fccc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:068c0a04aa5386943e4c5f1d75e00e3e0d38e9facb0237dcae3e21aff5b5d6ba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf71a4f088a80ed0dfc4ef06bbd5bad1094577a69375634693d34923ba111da8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 10.3 s

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

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0212, -0.0414, 0.9994, 0.3977, 1.4757, 0.5049, 0.239, 0.3042, 0.1989, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1781 left_yaw=0.0021 left_pitch=-0.0103 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3514 right_y=0.0941 right_z=0.0472 right_yaw=0.0213 right_pitch=-0.1354 right_roll=-0.0487 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3607, 7.4188, 1.7021, -0.0122, -0.0562, -0.0122, 0.5949, -6.4615, 6.7624, 2.2393, 0.3394, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.08, \"right_z\": 0.05}, \"note\": \"In the right camera the gripper fingers are at the bottom-left while the blue piece with its knob sits center-right, suggesting I need to move further forward and slightly right. I'll shift forward and a bit in -y to line the fingers over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QqqRZhyvktC5L2gv8y3uCU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01QqqRZhyvktC5L2gv8y3uCU"
}

{
  "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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.374, 0.3145, 0.1993, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0024 left_pitch=-0.011 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0985 right_z=0.0569 right_yaw=0.0191 right_pitch=-0.0479 right_roll=-0.0205 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.2786, 7.0769, 1.6972, -0.0855, -0.0269, -0.0122, 0.2256, -6.1607, 6.4479, 1.9219, 0.2418, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc29bee705dbd1403014cf2dac2a50a5771b2b66da9cd716d75a0f265a926d90"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f719311989ba535e15c1478460c8945dcb788e2182998668cbf7e90599de06ed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b652849c206a3a1357b889428c83cd00296fecf007957a03e825a6c99c198259"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 15.89 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.3737, 0.3149, 0.1993, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0024 left_pitch=-0.0114 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0984 right_z=0.0568 right_yaw=0.0188 right_pitch=-0.0482 right_roll=-0.0208 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 7.0632, 1.7021, -0.0855, -0.0513, -0.0122, 0.3761, -6.1607, 6.3932, 1.9219, 0.3297, 0.1343, -0.0122]\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\": 0.39, \"right_y\": 0.08, \"right_z\": 0.04, \"right_pitch\": 0}, \"note\": \"The arm didn't move last step (target likely clamped/unreachable). The wrist camera still shows the knob forward-right of my fingers, so I'll take a smaller step forward and slightly right while flattening pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Gxwk7CSAFMGU28nzZkpAuh",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Gxwk7CSAFMGU28nzZkpAuh"
}

{
  "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, 0.8013, 0.6041, -0.3813, -0.0216, -0.0414, 0.9994, 0.3485, 1.5894, 0.4896, 0.4839, 0.2756, 0.1673, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1777 left_yaw=0.0024 left_pitch=-0.0118 left_roll=-0.003 left_gripper=0.9994 right_x=0.3777 right_y=0.0899 right_z=0.0463 right_yaw=0.0161 right_pitch=-0.0331 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.9641, 7.2274, 1.7021, -0.0611, -0.0317, -0.0122, -1.1145, -5.3538, 4.7111, 1.3797, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d45949089f88aa4490551bcc0250be1f27382941cdbf6b59c7e6b3aa5eb84346"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:50cdd3478d807deddca237159983d1d443c642120cf66b8f2e8111cb81152198"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:da4801e2e3239d176304f01a0afe1a37dcd271153cb2ddc87ce89b3175da2036"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 8.841 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.4011, 1.4994, 0.485, 0.374, 0.3145, 0.1993, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0024 left_pitch=-0.011 left_roll=-0.003 left_gripper=0.9994 right_x=0.3629 right_y=0.0985 right_z=0.0569 right_yaw=0.0191 right_pitch=-0.0479 right_roll=-0.0205 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.2786, 7.0769, 1.6972, -0.0855, -0.0269, -0.0122, 0.2256, -6.1607, 6.4479, 1.9219, 0.2418, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.07, \"right_z\": 0.05}, \"note\": \"The knob is still forward and to the right of my fingers in the wrist camera. I'll take a small step forward and to the right to center the gripper over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GxgueZunTcFP3Ezoiuznvt",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01GxgueZunTcFP3Ezoiuznvt"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2726, 1.6657, 0.5045, 0.5072, 0.21, 0.1162, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.385 right_y=0.0731 right_z=0.0264 right_yaw=0.0216 right_pitch=-0.0811 right_roll=-0.0325 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.7162, 7.2684, 1.7216, -0.0708, -0.0366, -0.0122, -0.7453, -8.8547, 7.2821, 1.917, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0eac3cdf52e98e3fa084d95afe0dcbc4a50daff22ed2a25d7e49e0a96d641e9c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79b6f60785e557367041358ac2c917b0c7c1a9666b2f184161171c044e0ffec1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1478824e4d09582e3962e1c1f7166b4646606746158b0a742cd0e1e524f56672"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 6.846 s

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

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3813, -0.0216, -0.0414, 0.9994, 0.3485, 1.5894, 0.4896, 0.4839, 0.2756, 0.1673, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1777 left_yaw=0.0024 left_pitch=-0.0118 left_roll=-0.003 left_gripper=0.9994 right_x=0.3777 right_y=0.0899 right_z=0.0463 right_yaw=0.0161 right_pitch=-0.0331 right_roll=-0.017 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -0.9641, 7.2274, 1.7021, -0.0611, -0.0317, -0.0122, -1.1145, -5.3538, 4.7111, 1.3797, -0.0122, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.05, \"right_z\": 0.03}, \"note\": \"The knob is now close to the gripper but still slightly forward-right of the finger gap. I'll step forward and further right while lowering slightly to bracket the knob between the fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FhWaWnyPG8TeWcFWgaR1UW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01FhWaWnyPG8TeWcFWgaR1UW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3801, -0.0216, -0.0414, 0.9994, 0.2333, 1.6688, 0.535, 0.4873, 0.1802, 0.0998, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3944 right_y=0.0648 right_z=0.0314 right_yaw=0.0162 right_pitch=-0.078 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.347, 7.1043, 1.7118, -0.0806, -0.0513, -0.0122, -0.8684, -5.4769, 5.6137, 1.8535, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3893c00118cc29d4315dd665a7c0f5e26628db5a8736322c08e0bd9ad0596028"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51523f89a8c6567b2519a7c5554777122398afe503ae3ab7b489404c3389b482"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79763877542c45bc28e2ae9f2fd7130097e3861e92ac142a77cd8823d9586593"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 8.901 s

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

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2726, 1.6657, 0.5045, 0.5072, 0.21, 0.1162, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.385 right_y=0.0731 right_z=0.0264 right_yaw=0.0216 right_pitch=-0.0811 right_roll=-0.0325 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.7162, 7.2684, 1.7216, -0.0708, -0.0366, -0.0122, -0.7453, -8.8547, 7.2821, 1.917, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.045, \"right_z\": 0.02}, \"note\": \"The knob is nearly between the fingers now, just slightly forward-right. One more small step forward-right and down so the knob sits in the finger gap before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_017MpXxc56SdmCPuRxDngFCG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_017MpXxc56SdmCPuRxDngFCG"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0887, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0231 right_pitch=-0.103 right_roll=-0.0276 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.1419, 7.2, 1.7363, -0.0513, -0.0611, -0.0122, -0.1709, -6.4615, 5.6274, 1.8193, 0.0904, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4277c5fee14ba0fed639b6af1e39f161c2b87f00c58a840c824a6c5260957f2b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2193fb8cd6b98fba6ac2d72906dbca6ca9c1f4bafe82d24ceeeeb3b1eda2681a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4198e4d8dd2d011a9cb94f7abe691a1e4d3baf40f1722d784a08fd7343be883c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 20.05 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3801, -0.0216, -0.0414, 0.9994, 0.2333, 1.6688, 0.535, 0.4873, 0.1802, 0.0998, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.0024 left_pitch=-0.0164 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3944 right_y=0.0648 right_z=0.0314 right_yaw=0.0162 right_pitch=-0.078 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.347, 7.1043, 1.7118, -0.0806, -0.0513, -0.0122, -0.8684, -5.4769, 5.6137, 1.8535, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.045, \"right_z\": 0.015}, \"note\": \"The arm only moved slightly; the knob still sits just ahead and slightly right of the finger gap in the wrist view. Repeating a small forward-right-down step to bracket the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RzmaRchtcvUUt9Lafaxaxu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RzmaRchtcvUUt9Lafaxaxu"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0212, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0883, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1763 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0233 right_pitch=-0.103 right_roll=-0.0279 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.3333, 7.2547, 1.746, -0.0073, -0.0513, -0.0122, -0.212, -6.4342, 5.5179, 1.8144, 0.0513, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa2aff3a3531c736224caf7ad9d093ee0af852791527c031e3d1fdddcf473361"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a8239b0d860fc462ea5d2c52ef782ba674c07cfa1f7195e805afdb132c8edf0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:923771350deecd6232b86d381ac7e0501874116fb6a97c0587c254c5cf288487"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 17.61 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0887, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0028 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0231 right_pitch=-0.103 right_roll=-0.0276 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.1419, 7.2, 1.7363, -0.0513, -0.0611, -0.0122, -0.1709, -6.4615, 5.6274, 1.8193, 0.0904, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.05, \"right_z\": 0.005, \"right_pitch\": 0.2}, \"note\": \"The arm hasn't moved for two commands\\u2014likely the IK is struggling with a flat wrist at this reach. I'll add positive pitch to tip the tool forward-down and command a slightly lower target so the fingers can descend around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Na2L9SUwNFygCve9ix1f3z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01Na2L9SUwNFygCve9ix1f3z"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1806, 2.0624, 0.4343, 1.2385, 0.1555, 0.0135, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4144 right_y=0.0515 right_z=0.004 right_yaw=0.0285 right_pitch=0.1714 right_roll=-0.0426 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.241, 1.7167, -0.0611, -0.0464, -0.0122, -0.8, -6.4342, 2.1128, 1.5067, -0.0952, 0.0952, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0860ad8285bad8c40f87051ef82c16adfe037d7876969c210b7de7a787a2998e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:270ffab8d216ee887358ebc306c75388f51818aa18037a096a9338259bd2f9ff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ae623512070ecbe578abe577bac6dc3b4b27fe8bcd04bad88a9f23017bc076e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 17.14 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0212, -0.0414, 0.9994, 0.2173, 1.6863, 0.5346, 0.4824, 0.1596, 0.0883, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1763 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9994 right_x=0.3927 right_y=0.0616 right_z=0.0233 right_yaw=0.0233 right_pitch=-0.103 right_roll=-0.0279 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.3333, 7.2547, 1.746, -0.0073, -0.0513, -0.0122, -0.212, -6.4342, 5.5179, 1.8144, 0.0513, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.418, \"right_y\": 0.058, \"right_z\": 0.0}, \"note\": \"With the pitched wrist the gripper descended; the knob now sits near the right finger, slightly right of the gripper centerline. I'll shift a touch left (+y) and down to center the knob between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SFabNuvfhtXin2ZkwJuerS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01SFabNuvfhtXin2ZkwJuerS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.178, 2.0796, 0.4297, 1.277, 0.1524, 0.0139, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4147 right_y=0.051 right_z=0.0046 right_yaw=0.0278 right_pitch=0.1878 right_roll=-0.0386 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6205, 7.2684, 1.7216, -0.0562, -0.0708, -0.0122, -0.7043, -6.6667, 2.3179, 2.1416, -0.0562, 0.0171, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d3d8708c3c7fa31bb6e1d3a0622cbfe011dbb92c3883176c7bea69edd8c61bc2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9a22c11aac9f10ba3266fd6cd2b72f5714b70dab21d33c15ee02c91dcabf615"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:118d234d549b80553c4fa5a22f9a6fa5f2653789e7903bcc79622f7db82d37f5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 16.28 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1806, 2.0624, 0.4343, 1.2385, 0.1555, 0.0135, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4144 right_y=0.0515 right_z=0.004 right_yaw=0.0285 right_pitch=0.1714 right_roll=-0.0426 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.5795, 7.241, 1.7167, -0.0611, -0.0464, -0.0122, -0.8, -6.4342, 2.1128, 1.5067, -0.0952, 0.0952, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.422, \"right_y\": 0.047, \"right_z\": -0.012}, \"note\": \"The wrist camera shows the knob just below the gripper, slightly right of the tool centerline. I'll nudge forward-right and lower to table level so the knob sits between the open fingers.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LkjowKHht5XuKZo69iUtWi",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01LkjowKHht5XuKZo69iUtWi"
}

{
  "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, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1818, 2.1334, 0.4614, 1.3277, 0.1505, 0.0002, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9994 right_x=0.4235 right_y=0.0546 right_z=0.0031 right_yaw=0.0398 right_pitch=0.2158 right_roll=-0.0468 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.5521, 7.0496, 1.707, -0.0171, -0.0415, -0.0122, -1.0051, -6.1197, 2.2632, 0.9206, -0.1538, 0.2955, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7260441b8305198e8b3cb30a35e883a0646b06763a6ac512cade37f5660ee3a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fd20641b8cc0693069c745e7812ea0d2afb8824a44aca8e0350b8c4dfdbc04e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dac264112a7cb1d4162f561a0bb7a612e73f4e285415534ed87d69c93a7bdfd9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 7.872 s

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

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.178, 2.0796, 0.4297, 1.277, 0.1524, 0.0139, 0.999]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.021 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4147 right_y=0.051 right_z=0.0046 right_yaw=0.0278 right_pitch=0.1878 right_roll=-0.0386 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6205, 7.2684, 1.7216, -0.0562, -0.0708, -0.0122, -0.7043, -6.6667, 2.3179, 2.1416, -0.0562, 0.0171, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": -0.015, \"right_gripper\": 1}, \"note\": \"The knob is between the fingertips in the wrist view. I'll descend straight down to table level with the gripper wide open so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_019tNHGb7tsSexS1GdVjpDoC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_019tNHGb7tsSexS1GdVjpDoC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.173, 2.1971, 0.4759, 1.4284, 0.1528, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4294 right_y=0.0514 right_z=0.0043 right_yaw=0.0359 right_pitch=0.2666 right_roll=-0.0558 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.4291, 7.2137, 1.6923, -0.0611, -0.0611, -0.0073, 0.6222, -5.7915, 2.3043, 1.0769, -0.1001, 0.1783, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0dfc28d98a4e617d95a9b7f7e69fcfffdcda2cc837212e2f4e328e3ccb15d105"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de72c0e7631f482572ec22c86892fe2e8af3eba2bc42ecc144779cc15ecfd61f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b1e2805aa664870989f2460cb5dbdc383cd7cd102eb98c679f4e9d88f7eeda03"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 12.86 s

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

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1818, 2.1334, 0.4614, 1.3277, 0.1505, 0.0002, 0.999]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9994 right_x=0.4235 right_y=0.0546 right_z=0.0031 right_yaw=0.0398 right_pitch=0.2158 right_roll=-0.0468 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.5521, 7.0496, 1.707, -0.0171, -0.0415, -0.0122, -1.0051, -6.1197, 2.2632, 0.9206, -0.1538, 0.2955, -0.0073]",
      "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 appears centered between the fingertips at table level in the wrist camera. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Xv3SFoFPWcSvR8wHZwfCZw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Xv3SFoFPWcSvR8wHZwfCZw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1764, 2.2074, 0.4786, 1.4544, 0.1459, -0.0124, 0.0086]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4307 right_y=0.0543 right_z=0.0068 right_yaw=0.0429 right_pitch=0.2846 right_roll=-0.0478 right_gripper=0.0086\nstate[joint_eff]: [-0.3214, -1.265, 7.3094, 1.707, -0.0855, -0.0415, -0.0073, -0.0889, -9.1692, 1.9077, 1.6532, 0.0562, -0.0659, 0.6325]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fa7d5eea2f68edeaa0e90afd215a1fa3f0eb3157220fda91c2c3ea094e2f8dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65b41707d94b609e811fbce1f247afd8020f94807e3f153d88dee57cf0c36498"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0a4ace9c262172f56124d723c12937e8c79756e99e58368d09a44eced2f01613"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 7.368 s

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

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.173, 2.1971, 0.4759, 1.4284, 0.1528, -0.0158, 0.999]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4294 right_y=0.0514 right_z=0.0043 right_yaw=0.0359 right_pitch=0.2666 right_roll=-0.0558 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.4291, 7.2137, 1.6923, -0.0611, -0.0611, -0.0073, 0.6222, -5.7915, 2.3043, 1.0769, -0.1001, 0.1783, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1, \"right_x\": 0.445, \"right_z\": -0.01}, \"note\": \"The gripper closed fully (0.009) which means it missed the knob\\u2014the wrist view shows the knob just ahead of the fingertips. Opening the gripper and stepping ~1.5 cm forward and down to re-straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JPfoZzMKiWxxoduni7pGDC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01JPfoZzMKiWxxoduni7pGDC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1761, 2.2761, 0.5484, 1.5085, 0.1299, -0.0147, 0.9949]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4481 right_y=0.0601 right_z=0.0086 right_yaw=0.0558 right_pitch=0.3389 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.388, 7.0769, 1.7216, -0.0464, -0.0317, -0.0122, -1.0325, -6.2701, 2.8376, 1.5116, 0.0562, -0.0171, -0.2662]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6aa6d052bcb900098a4e2257016cd9f46d27b5fec185eda51bf3da5ee2619f31"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f27132ccb30dd8becc0731ddaf6b24f1026b0076e7df0d623a8253b4d57e272"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d88e560c1429274b3e4ea0d1e8cb311ae9b01364c572b21ed309f0114bc8e22"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 6.66 s

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

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1764, 2.2074, 0.4786, 1.4544, 0.1459, -0.0124, 0.0086]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4307 right_y=0.0543 right_z=0.0068 right_yaw=0.0429 right_pitch=0.2846 right_roll=-0.0478 right_gripper=0.0086\nstate[joint_eff]: [-0.3214, -1.265, 7.3094, 1.707, -0.0855, -0.0415, -0.0073, -0.0889, -9.1692, 1.9077, 1.6532, 0.0562, -0.0659, 0.6325]\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\": 0.462, \"right_z\": -0.005}, \"note\": \"The knob now sits centered between the open fingers in the wrist view, but slightly ahead of the fingertips. One more small forward-down step so the knob is fully within the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_012QpTC2v66Em7y1H6iGJmWd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_012QpTC2v66Em7y1H6iGJmWd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1761, 2.3116, 0.5941, 1.5349, 0.1261, -0.0166, 0.996]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.003 left_gripper=0.9994 right_x=0.4593 right_y=0.0628 right_z=0.0114 right_yaw=0.0587 right_pitch=0.3751 right_roll=-0.0353 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.707, -0.0464, -0.0806, -0.0122, -1.0051, -6.8581, 2.1402, 1.5458, -0.0611, -0.0171, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fba23bb11a4230337737e1150657a72d7ee8249e4052e04541bfa99a77b2cff8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:154b5f09f5070ac1fca4b2ef96d081a128c8b7d656b27a9321b8f3956292e588"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:284e7589a25a47ccab1780a4edab9c485de41c529a2cd49d45142a448167ff62"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 5.604 s

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

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1761, 2.2761, 0.5484, 1.5085, 0.1299, -0.0147, 0.9949]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4481 right_y=0.0601 right_z=0.0086 right_yaw=0.0558 right_pitch=0.3389 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.388, 7.0769, 1.7216, -0.0464, -0.0317, -0.0122, -1.0325, -6.2701, 2.8376, 1.5116, 0.0562, -0.0171, -0.2662]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.1}, \"note\": \"The wooden knob is now sitting right between the fingertips in the wrist camera. Closing the gripper to grip the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013VLv6sxiYanfbHo4fBZEkY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_013VLv6sxiYanfbHo4fBZEkY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8154, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1764, 2.3257, 0.6003, 1.5608, 0.1219, -0.0189, 0.2287]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1739 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4607 right_y=0.064 right_z=0.013 right_yaw=0.0634 right_pitch=0.3929 right_roll=-0.0347 right_gripper=0.2287\nstate[joint_eff]: [-0.1573, -1.5248, 7.0496, 1.6923, -0.0464, -0.0611, -0.0122, -0.2803, -10.3316, 1.6889, 1.6435, 0.022, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29b9ab6d1e358564538fdd2cd98a1744c9142252d60ed4f9e6fbcf985a344393"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2420495255cb89ad563d59e2a7ae13b01b566bfa86da2bd2a7b982432c94962d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae31c0ad55a21a7e16a938b751a21bbaed17418141debd382ca421039b029800"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 17.48 s

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

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1761, 2.3116, 0.5941, 1.5349, 0.1261, -0.0166, 0.996]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.003 left_gripper=0.9994 right_x=0.4593 right_y=0.0628 right_z=0.0114 right_yaw=0.0587 right_pitch=0.3751 right_roll=-0.0353 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.707, -0.0464, -0.0806, -0.0122, -1.0051, -6.8581, 2.1402, 1.5458, -0.0611, -0.0171, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.12}, \"note\": \"The gripper stopped at 0.23 with rising effort\\u2014it's holding the knob, and the wrist camera confirms the knob between the fingers. Lifting the piece straight up.\"}",
        "name": "move_to"
      },
      "id": "toolu_0165BThLuJKJNwa1AU9RfCyM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_0165BThLuJKJNwa1AU9RfCyM"
}

{
  "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, 0.6041, -0.3805, -0.0216, -0.0414, 0.9994, 0.1764, 1.853, 0.5648, 1.1294, 0.1177, -0.02, 0.2329]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1726 left_yaw=0.0024 left_pitch=-0.0301 left_roll=-0.0025 left_gripper=0.9994 right_x=0.458 right_y=0.0642 right_z=0.1084 right_yaw=0.0676 right_pitch=0.3985 right_roll=-0.0345 right_gripper=0.2329\nstate[joint_eff]: [-0.3624, -1.2786, 7.0222, 1.7607, -0.0855, -0.0659, -0.0122, -0.3624, -9.1145, 6.7487, 1.8974, -0.0024, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:636cefc2f3c06a711ba9bc1d588098fdd87efe71b44ac6172345a121fff4bcd3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:004cc02ad3063fdd9da29f65d3502e6bf88492ff32936ab7751753250e8c3a1d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:147e0c5621219c112644e86b46ecf261666ecdbc4f1813ce5779894b15c824b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 13.94 s

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

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8154, 0.6041, -0.3809, -0.0216, -0.0414, 0.9994, 0.1764, 2.3257, 0.6003, 1.5608, 0.1219, -0.0189, 0.2287]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1739 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4607 right_y=0.064 right_z=0.013 right_yaw=0.0634 right_pitch=0.3929 right_roll=-0.0347 right_gripper=0.2287\nstate[joint_eff]: [-0.1573, -1.5248, 7.0496, 1.6923, -0.0464, -0.0611, -0.0122, -0.2803, -10.3316, 1.6889, 1.6435, 0.022, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.22, \"right_z\": 0.12}, \"note\": \"The piece lifted with the gripper\\u2014the blue disc is off the table and held by the knob. The white board with the circular groove is to the left in the top camera, so I'll carry the piece leftward (+y) over the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BshZRHvUW2eifWdG2ne8rV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BshZRHvUW2eifWdG2ne8rV"
}

{
  "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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.6598, 1.9022, 0.7258, 0.9703, 0.5552, 0.0525, 0.2329]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1727 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4272 right_y=0.2181 right_z=0.1136 right_yaw=0.1157 right_pitch=0.3811 right_roll=-0.054 right_gripper=0.2329\nstate[joint_eff]: [-0.294, -1.3744, 7.2684, 1.6874, -0.0415, -0.0269, -0.0122, 0.3214, -7.9248, 6.6256, 1.8339, 0.3199, 0.1001, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ce0e821ff45fd407dc3564f57f656115e91bacd482e84f1c8eef4a8c440efd7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:125bf65ea8319d68dd54c1e2bbfb6b23ebcdd0734a1fbdb6af84fd9d4023e05a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7e983ce86af483b90cf1e6d70052359134bfc6e3ba41104337eb30d5b9a3bf5d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}