adhoc - adhoc_6708f542.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: 317.2 s
total steps: 97

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see the blue puzzle piece with a knob ahead in the right camera and the board with the circular groove to its left in the top view. Moving the right arm forward and down to get closer to the piece and calibrate its position in view.

move_to

right_x0.4000right_y0.0000right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7918, 0.6037, -0.3782, -0.0216, -0.0399, 0.9995, -0.0151, 0.7906, 0.609, -0.3756, -0.017, -0.0128, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1808 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4718, -1.3197, 10.3316, 1.8486, -0.0317, 0.2222, -0.0659, -0.8957, -1.1829, 9.894, 1.7802, -0.0611, -0.0269, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.0, "right_z": 0.12, "right_gripper": 1}, "note": "I see the blue puzzle piece with a knob ahead in the right camera and the board with the circular groove to its left in the top view. Moving the right arm forward and down to get closer to the piece and calibrate its position in view."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe blue piece with its knob appears in the lower-left of the right wrist camera, suggesting it's slightly closer and to the left of the gripper. Moving down and adjusting position to hover just above the knob.

move_to

right_x0.3400right_y0.0300right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7982, 0.6048, -0.3809, -0.0212, -0.0414, 0.9995, -0.0181, 1.3575, 0.5999, 0.0872, -0.0216, -0.0139, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.179 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3768 right_y=0.0006 right_z=0.0921 right_yaw=0.0016 right_pitch=-0.1132 right_roll=0.0037 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.6752, 6.9812, 1.7314, 0.0073, -0.0269, -0.0171, -0.212, -5.8325, 9.1692, 1.8974, -0.0122, -0.0757, -0.1148] 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": 0.34, "right_y": 0.03, "right_z": 0.06, "right_gripper": 1}, "note": "The blue piece with its knob appears in the lower-left of the right wrist camera, suggesting it's slightly closer and to the left of the gripper. Moving down and adjusting position to hover just above the knob."})

tool

executing move_to over 3 steps (0.3s)

step 12

assistant

agent noteThe knob is now centered horizontally in the wrist camera but still forward of the fingertips. Moving slightly forward and lower so the fingers straddle the knob.

move_to

right_x0.3700right_y0.0300right_z0.0350right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3794, -0.0216, -0.0418, 0.9995, 0.1059, 1.3136, 0.4271, 0.1902, 0.0364, 0.0326, 0.9991] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1783 left_yaw=0.001 left_pitch=-0.0095 left_roll=-0.0014 left_gripper=0.9995 right_x=0.3419 right_y=0.0335 right_z=0.0574 right_yaw=0.0511 right_pitch=-0.1388 right_roll=0.0027 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.1829, 7.1316, 1.7949, -0.0611, -0.0562, -0.0122, -0.8957, -5.6821, 7.5692, 1.9267, 0.3736, 0.1343, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.035, "right_gripper": 1}, "note": "The knob is now centered horizontally in the wrist camera but still forward of the fingertips. Moving slightly forward and lower so the fingers straddle the knob."})

tool

executing move_to over 3 steps (0.3s)

step 15

assistant

agent noteThe wooden knob is clearly visible in the wrist camera, centered but still forward of the fingertips. Moving forward and down so the open fingers straddle the knob for the grasp.

move_to

right_x0.4000right_y0.0300right_z0.0150right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8043, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0841, 1.5074, 0.4511, 0.2798, 0.0334, 0.0261, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.177 left_yaw=0.001 left_pitch=-0.0149 left_roll=-0.0013 left_gripper=0.9995 right_x=0.351 right_y=0.0273 right_z=0.019 right_yaw=0.0347 right_pitch=-0.2189 right_roll=-0.0043 right_gripper=0.9991 state[joint_eff]: [-0.3077, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0171, -0.4855, -6.5026, 7.2274, 1.9463, 0.0171, -0.0562, -0.1099] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.03, "right_z": 0.015, "right_gripper": 1}, "note": "The wooden knob is clearly visible in the wrist camera, centered but still forward of the fingertips. Moving forward and down so the open fingers straddle the knob for the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe approver clamped my last step so the arm barely advanced; the knob is still just ahead of the open fingers in the wrist view. Repeating the forward-and-down motion with pitch reset to reach over the knob.

move_to

right_x0.4000right_y0.0300right_z0.0100right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8062, 0.6041, -0.3805, -0.0216, -0.0414, 0.9995, 0.0799, 1.5299, 0.4526, 0.326, 0.0174, 0.0135, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3573 right_y=0.0291 right_z=0.0202 right_yaw=0.0514 right_pitch=-0.1941 right_roll=-0.0013 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.4564, 7.0359, 1.7265, -0.0659, -0.0269, -0.0171, -0.4581, -5.9009, 7.1453, 1.8779, -0.0757, -0.0562, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.03, "right_z": 0.01, "right_pitch": 0, "right_gripper": 1}, "note": "The approver clamped my last step so the arm barely advanced; the knob is still just ahead of the open fingers in the wrist view. Repeating the forward-and-down motion with pitch reset to reach over the knob."})

tool

executing move_to over 7 steps (0.7s)

step 26

assistant

agent noteThe arm barely moved last step (clamped), knob still ahead of the fingertips in the wrist view. Trying a smaller forward-down step without changing pitch to slide the fingers around the knob.

move_to

right_x0.3800right_z0.0120right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8062, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0799, 1.5299, 0.4526, 0.3256, 0.0174, 0.0139, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3572 right_y=0.0291 right_z=0.0201 right_yaw=0.0512 right_pitch=-0.1945 right_roll=-0.001 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.306, 7.0769, 1.7363, -0.0855, -0.0611, -0.0171, -0.3487, -5.9009, 7.1316, 1.8388, -0.0562, -0.0269, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_z": 0.012, "right_gripper": 1}, "note": "The arm barely moved last step (clamped), knob still ahead of the fingertips in the wrist view. Trying a smaller forward-down step without changing pitch to slide the fingers around the knob."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteThe knob sits centered but still above the fingertips in the wrist view, meaning it's a bit further forward. Advancing ~3 cm forward and slightly down so the jaws surround the knob.

move_to

right_x0.4000right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8055, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0788, 1.6203, 0.4568, 0.4278, 0.0158, 0.0105, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1767 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0013 left_gripper=0.9995 right_x=0.367 right_y=0.0298 right_z=0.0091 right_yaw=0.0533 right_pitch=-0.1785 right_roll=-0.0021 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.0598, 7.0359, 1.7216, -0.022, -0.0366, -0.0122, -0.7453, -6.3932, 5.2308, 1.6288, -0.0659, -0.0562, -0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_z": 0.005, "right_gripper": 1}, "note": "The knob sits centered but still above the fingertips in the wrist view, meaning it's a bit further forward. Advancing ~3 cm forward and slightly down so the jaws surround the knob."})

tool

executing move_to over 3 steps (0.3s)

step 31

assistant

agent noteThe knob is closer now but still just beyond the fingertips in the wrist view. Advancing another ~3 cm forward and down to table height so the jaws straddle the knob.

move_to

right_x0.4200right_z0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8085, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0769, 1.729, 0.548, 0.4438, 0.0097, 0.0021, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1758 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0012 left_gripper=0.9995 right_x=0.3916 right_y=0.032 right_z=0.0032 right_yaw=0.0611 right_pitch=-0.1801 right_roll=-0.0043 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.5521, 7.0496, 1.6923, -0.0513, -0.0659, -0.0171, -0.9368, -6.2974, 5.9829, 1.4628, -0.0269, -0.0122, -0.1099] 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": 0.42, "right_z": 0.0, "right_gripper": 1}, "note": "The knob is closer now but still just beyond the fingertips in the wrist view. Advancing another ~3 cm forward and down to table height so the jaws straddle the knob."})

tool

executing move_to over 3 steps (0.3s)

step 34

assistant

agent noteThe knob is nearly between the fingertips at the bottom of the wrist view. One more small forward-down step to center the jaws around the knob before closing.

move_to

right_x0.4350right_z-0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0734, 1.8015, 0.6338, 0.4305, 0.0055, -0.0097, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.001 left_pitch=-0.0213 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4131 right_y=0.033 right_z=0.0015 right_yaw=0.0677 right_pitch=-0.1801 right_roll=-0.0103 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.347, 7.0359, 1.6825, -0.0513, -0.0464, -0.0122, -0.3761, -6.4342, 5.7231, 1.6093, -0.0659, 0.0269, -0.105] 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": 0.435, "right_z": -0.005, "right_gripper": 1}, "note": "The knob is nearly between the fingertips at the bottom of the wrist view. One more small forward-down step to center the jaws around the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 36

assistant

agent noteThe knob is now right at the bottom edge of the wrist view between the jaws, just slightly short. Tiny forward nudge to center it between the fingertips before closing.

move_to

right_x0.4430right_z-0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8112, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0731, 1.8511, 0.6899, 0.4385, 0.0032, -0.0196, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.001 left_pitch=-0.0217 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4294 right_y=0.0344 right_z=0.0018 right_yaw=0.0746 right_pitch=-0.1657 right_roll=-0.0163 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.3607, 7.2274, 1.663, -0.0611, -0.0611, -0.0171, -0.6496, -6.6803, 5.2444, 1.5165, -0.0659, 0.0269, -0.1099] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.443, "right_z": -0.005, "right_gripper": 1}, "note": "The knob is now right at the bottom edge of the wrist view between the jaws, just slightly short. Tiny forward nudge to center it between the fingertips before closing."})

tool

executing move_to over 2 steps (0.2s)

step 38

assistant

agent noteThe knob has disappeared below the wrist camera view, indicating it is now between the fingertips. Closing the gripper to grasp the knob.

move_to

right_gripper0.2500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0731, 1.8862, 0.7235, 0.4564, 0.0029, -0.028, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4406 right_y=0.0353 right_z=0.0019 right_yaw=0.0794 right_pitch=-0.1493 right_roll=-0.0225 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5658, 7.0359, 1.6825, -0.0757, -0.0611, -0.0122, -0.6359, -6.3658, 6.147, 1.4432, -0.0659, 0.0855, -0.1099] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.25}, "note": "The knob has disappeared below the wrist camera view, indicating it is now between the fingertips. Closing the gripper to grasp the knob."})

tool

executing move_to over 8 steps (0.8s)

step 46

assistant

agent noteThe gripper closed to 0.26; the blue piece is no longer visible under the wrist camera, so it may be in the jaws. Lifting to verify whether the piece was grasped.

move_to

right_z0.0800

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, 0.9995, 0.0734, 1.8957, 0.733, 0.4625, -0.0029, -0.0307, 0.2556] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4439 right_y=0.0368 right_z=0.0023 right_yaw=0.0861 right_pitch=-0.1432 right_roll=-0.0209 right_gripper=0.2556 state[joint_eff]: [-0.3487, -1.388, 7.0359, 1.7216, -0.022, -0.0611, -0.0171, -0.1709, -7.0769, 5.5453, 1.5018, 0.0366, 0.0708, 0.0904] 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_z": 0.08}, "note": "The gripper closed to 0.26; the blue piece is no longer visible under the wrist camera, so it may be in the jaws. Lifting to verify whether the piece was grasped."})

tool

executing move_to over 6 steps (0.6s)

step 52

assistant

agent noteThe gripper held at 0.25 after lifting, and a blue blob moved with the arm in the top view, so the piece is grasped. Moving left (toward the board seen in the center of the top camera) at a safe height to line up over the circular groove.

move_to

right_x0.4500right_y0.2000right_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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0734, 1.6882, 0.8314, 0.2001, -0.0048, -0.0357, 0.2544] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4507 right_y=0.0376 right_z=0.0778 right_yaw=0.0903 right_pitch=-0.0997 right_roll=-0.0242 right_gripper=0.2544 state[joint_eff]: [-0.1026, -1.4701, 7.1863, 1.7705, -0.0464, -0.0708, -0.0171, -0.1709, -8.3077, 6.8308, 1.3407, 0.0171, -0.0171, -0.1441] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.12}, "note": "The gripper held at 0.25 after lifting, and a blue blob moved with the arm in the top view, so the piece is grasped. Moving left (toward the board seen in the center of the top camera) at a safe height to line up over the circular groove."})

tool

executing move_to over 14 steps (1.4s)

step 66

assistant

agent noteThe board with the circular groove appears at the bottom-left of the wrist camera, so it is slightly closer and further left than the gripper. Shifting left and slightly back to center over the groove.

move_to

right_x0.4200right_y0.2500right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8185, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5259, 1.7752, 1.1183, -0.0612, 0.3134, 0.2188, 0.2542] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0294 left_roll=-0.001 left_gripper=0.9994 right_x=0.4438 right_y=0.1988 right_z=0.1119 right_yaw=0.1369 right_pitch=-0.1195 right_roll=-0.0337 right_gripper=0.2542 state[joint_eff]: [-0.1983, -1.6752, 7.0222, 1.6825, -0.0611, -0.0757, -0.0171, 0.2667, -7.9658, 8.7316, 1.5897, 0.2662, 0.188, -0.0269] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.1}, "note": "The board with the circular groove appears at the bottom-left of the wrist camera, so it is slightly closer and further left than the gripper. Shifting left and slightly back to center over the groove."})

tool

executing move_to over 5 steps (0.5s)

step 71

assistant

agent noteThe board's blue circular groove is at the bottom-left of the wrist camera, still left of the fingers. Shifting the arm further left to center the grasped piece over the groove.

move_to

right_x0.4200right_y0.3100right_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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6689, 1.8221, 1.1294, -0.0784, 0.3889, 0.2943, 0.2542] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4159 right_y=0.248 right_z=0.0948 right_yaw=0.175 right_pitch=-0.1443 right_roll=-0.0444 right_gripper=0.2542 state[joint_eff]: [-0.3077, -1.3607, 7.1179, 1.6874, -0.0659, -0.0562, -0.0073, 0.1573, -8.7316, 7.9385, 1.5995, 0.3639, 0.1783, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.31, "right_z": 0.09}, "note": "The board's blue circular groove is at the bottom-left of the wrist camera, still left of the fingers. Shifting the arm further left to center the grasped piece over the groove."})

tool

executing move_to over 6 steps (0.6s)

step 77

assistant

agent noteThe arm barely moved last step; the board's circular groove is still to the left of the gripper in the wrist camera. Trying again with a slightly closer target to shift left over the groove.

move_to

right_x0.4000right_y0.3000right_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541 state[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7118, -0.0855, -0.0513, -0.0171, -0.3077, -9.0872, 7.9521, 1.5263, 0.2466, 0.1148, -0.0171] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.3, "right_z": 0.08}, "note": "The arm barely moved last step; the board's circular groove is still to the left of the gripper in the wrist camera. Trying again with a slightly closer target to shift left over the groove."})

tool

executing move_to over 5 steps (0.5s)

step 82

assistant

agent noteThe arm didn't move last command; the board's blue circular groove sits at the bottom-left of the wrist camera, just left of the gripper. Commanding a slightly different pose with yaw reset to break the IK stall and center over the groove.

move_to

right_x0.3800right_y0.2800right_z0.0700right_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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.001 left_pitch=-0.0313 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541 state[joint_eff]: [-0.1573, -1.4017, 7.1726, 1.6923, -0.0806, -0.0415, -0.0171, -0.2256, -9.0462, 7.8701, 1.5116, 0.2466, 0.1245, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.28, "right_z": 0.07, "right_yaw": 0.0}, "note": "The arm didn't move last command; the board's blue circular groove sits at the bottom-left of the wrist camera, just left of the gripper. Commanding a slightly different pose with yaw reset to break the IK stall and center over the groove."})

tool

executing move_to over 3 steps (0.3s)

step 85

assistant

agent noteThe wrist camera shows the blue circular groove to the left of the fingertips. Shifting about 5 cm left and slightly forward-down to center the held piece over the groove.

move_to

right_x0.3900right_y0.3300right_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.8146, 1.9018, 1.1564, -0.131, 0.5426, 0.4789, 0.2541] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.385 right_y=0.2805 right_z=0.0696 right_yaw=0.0935 right_pitch=-0.162 right_roll=-0.0572 right_gripper=0.2541 state[joint_eff]: [-0.3624, -1.4154, 7.241, 1.6874, -0.0562, -0.0659, -0.0171, 0.0205, -9.894, 8.1573, 1.0379, 0.4811, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.33, "right_z": 0.045}, "note": "The wrist camera shows the blue circular groove to the left of the fingertips. Shifting about 5 cm left and slightly forward-down to center the held piece over the groove."})

tool

executing move_to over 5 steps (0.5s)

step 90

assistant

agent noteThe wrist camera shows the groove slightly forward and left of the held piece. Moving a bit forward, left, and down to align the piece over the circular groove.

move_to

right_x0.4050right_y0.3550right_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, 0.8219, 0.6037, -0.3809, -0.0212, -0.0418, 0.9995, 0.8734, 2.0682, 1.2934, -0.1684, 0.5709, 0.5282, 0.2541] state[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.172 left_yaw=0.0007 left_pitch=-0.0328 left_roll=-0.0011 left_gripper=0.9995 right_x=0.386 right_y=0.3177 right_z=0.0386 right_yaw=0.0974 right_pitch=-0.1942 right_roll=-0.0829 right_gripper=0.2541 state[joint_eff]: [-0.0752, -1.5385, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.8821, -10.3179, 8.0205, 1.3993, 0.3736, 0.1538, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.355, "right_z": 0.02}, "note": "The wrist camera shows the groove slightly forward and left of the held piece. Moving a bit forward, left, and down to align the piece over the circular groove."})

tool

executing move_to over 4 steps (0.4s)

step 94

assistant

agent noteThe arm barely moved; the groove is still slightly forward-left of the held piece in the wrist camera. Making another small forward-left-down step to position the piece just above the groove.

move_to

right_x0.4000right_y0.3400right_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, 0.8223, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.8845, 2.0796, 1.2999, -0.1692, 0.5716, 0.5312, 0.2541] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0332 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3832 right_y=0.3226 right_z=0.0354 right_yaw=0.1055 right_pitch=-0.1977 right_roll=-0.0851 right_gripper=0.2541 state[joint_eff]: [-0.3624, -1.4154, 7.0222, 1.6777, -0.0562, -0.0659, -0.0171, 0.3077, -10.3726, 8.4034, 1.3748, 0.3883, 0.105, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.34, "right_z": 0.015}, "note": "The arm barely moved; the groove is still slightly forward-left of the held piece in the wrist camera. Making another small forward-left-down step to position the piece just above the groove."})

tool

executing move_to over 2 steps (0.2s)

step 96

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, 0.8223, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.8845, 2.0796, 1.2999, -0.1692, 0.5716, 0.5312, 0.2541] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0332 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.3226 right_z=0.0354 right_yaw=0.1055 right_pitch=-0.1977 right_roll=-0.0851 right_gripper=0.2541 state[joint_eff]: [-0.335, -1.0872, 7.0085, 1.6777, -0.0317, -0.0513, -0.0073, 0.1436, -10.5778, 8.1983, 1.3748, 0.359, 0.1099, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

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 · 12.66 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7918, 0.6037, -0.3782, -0.0216, -0.0399, 0.9995, -0.0151, 0.7906, 0.609, -0.3756, -0.017, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1808 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.3197, 10.3316, 1.8486, -0.0317, 0.2222, -0.0659, -0.8957, -1.1829, 9.894, 1.7802, -0.0611, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:72b9d6ce164912876428369a30feaa277ef458f8e72ee569fe4763afa6db34b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:405a1940951ef948326ecbcb9be50fc0e9f0865084f1a9981321cb339f8db030"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78978936d67de9b25b6eb6824ad4e3e118e09ec016c6b295693a3b37f7e89d38"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 14.65 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with a knob ahead in the right camera and the board with the circular groove to its left in the top view. Moving the right arm forward and down to get closer to the piece and calibrate its position in view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QtK8d92WVEuzKrgxafXcKN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01QtK8d92WVEuzKrgxafXcKN"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6048, -0.3809, -0.0212, -0.0414, 0.9995, -0.0181, 1.3575, 0.5999, 0.0872, -0.0216, -0.0139, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.179 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3768 right_y=0.0006 right_z=0.0921 right_yaw=0.0016 right_pitch=-0.1132 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.6752, 6.9812, 1.7314, 0.0073, -0.0269, -0.0171, -0.212, -5.8325, 9.1692, 1.8974, -0.0122, -0.0757, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47bb526f28b9683c29997b110838ba2d0fd2eefbedb0eeb7fe4d1b9b264781d9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f7cdaa4e1f702a8930f145fa72b4cbb0865fe7ba3806da6272433befdf4433e9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c0cd76690609cecc38440b85975494db8219367d52241182e1b3f53b5036575"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 5.779 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7918, 0.6037, -0.3782, -0.0216, -0.0399, 0.9995, -0.0151, 0.7906, 0.609, -0.3756, -0.017, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1808 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0021 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.3197, 10.3316, 1.8486, -0.0317, 0.2222, -0.0659, -0.8957, -1.1829, 9.894, 1.7802, -0.0611, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.34, \"right_y\": 0.03, \"right_z\": 0.06, \"right_gripper\": 1}, \"note\": \"The blue piece with its knob appears in the lower-left of the right wrist camera, suggesting it's slightly closer and to the left of the gripper. Moving down and adjusting position to hover just above the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_018WgEDUnQ7smZCyNfuR4rC2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_018WgEDUnQ7smZCyNfuR4rC2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3794, -0.0216, -0.0418, 0.9995, 0.1059, 1.3136, 0.4271, 0.1902, 0.0364, 0.0326, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1783 left_yaw=0.001 left_pitch=-0.0095 left_roll=-0.0014 left_gripper=0.9995 right_x=0.3419 right_y=0.0335 right_z=0.0574 right_yaw=0.0511 right_pitch=-0.1388 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1829, 7.1316, 1.7949, -0.0611, -0.0562, -0.0122, -0.8957, -5.6821, 7.5692, 1.9267, 0.3736, 0.1343, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9846f4f8313b07c377e9f2176f8090296d29fa50e64c21a9a44ebaf5eda9d58"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b42d0be80b6879193b56df5ad12be0e2982f360734923556ce3200806b21681f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31eb8c261aeacd3fb2af120600ff39dde155959cb9ed19087db12516829a62e1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 8.389 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, 0.7982, 0.6048, -0.3809, -0.0212, -0.0414, 0.9995, -0.0181, 1.3575, 0.5999, 0.0872, -0.0216, -0.0139, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.179 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3768 right_y=0.0006 right_z=0.0921 right_yaw=0.0016 right_pitch=-0.1132 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.6752, 6.9812, 1.7314, 0.0073, -0.0269, -0.0171, -0.212, -5.8325, 9.1692, 1.8974, -0.0122, -0.0757, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.37, \"right_y\": 0.03, \"right_z\": 0.035, \"right_gripper\": 1}, \"note\": \"The knob is now centered horizontally in the wrist camera but still forward of the fingertips. Moving slightly forward and lower so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UPhEXUVXpBiKzqH4uJ3dxM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UPhEXUVXpBiKzqH4uJ3dxM"
}

{
  "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, 0.8043, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0841, 1.5074, 0.4511, 0.2798, 0.0334, 0.0261, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.177 left_yaw=0.001 left_pitch=-0.0149 left_roll=-0.0013 left_gripper=0.9995 right_x=0.351 right_y=0.0273 right_z=0.019 right_yaw=0.0347 right_pitch=-0.2189 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0171, -0.4855, -6.5026, 7.2274, 1.9463, 0.0171, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be23e5e5c8324d18d77ca73f7cffc08d3c2bd7a964ee381b8602f62bb2e91551"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ccb24171493c14d72f69cb66be714c7af768ece44f80ed970d89595b381a5ac2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:469e974551acb69dd952edc9e9b1884286f42746c49611e7c511108026e44af8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 9.098 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, 0.8005, 0.6041, -0.3794, -0.0216, -0.0418, 0.9995, 0.1059, 1.3136, 0.4271, 0.1902, 0.0364, 0.0326, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1783 left_yaw=0.001 left_pitch=-0.0095 left_roll=-0.0014 left_gripper=0.9995 right_x=0.3419 right_y=0.0335 right_z=0.0574 right_yaw=0.0511 right_pitch=-0.1388 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.1829, 7.1316, 1.7949, -0.0611, -0.0562, -0.0122, -0.8957, -5.6821, 7.5692, 1.9267, 0.3736, 0.1343, -0.1148]\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\": 0.03, \"right_z\": 0.015, \"right_gripper\": 1}, \"note\": \"The wooden knob is clearly visible in the wrist camera, centered but still forward of the fingertips. Moving forward and down so the open fingers straddle the knob for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y5gw8E1u9XjVE515FuSg9i",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y5gw8E1u9XjVE515FuSg9i"
}

{
  "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, 0.8062, 0.6041, -0.3805, -0.0216, -0.0414, 0.9995, 0.0799, 1.5299, 0.4526, 0.326, 0.0174, 0.0135, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3573 right_y=0.0291 right_z=0.0202 right_yaw=0.0514 right_pitch=-0.1941 right_roll=-0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4564, 7.0359, 1.7265, -0.0659, -0.0269, -0.0171, -0.4581, -5.9009, 7.1453, 1.8779, -0.0757, -0.0562, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:14affaa91cb468f1677cff6cfed2288d10ac88eb043b94bdd90def5459d7156a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:af90e98a7b270fc9008d16f2cdf645313deada63b160f5dd6e6d1a0593c8238e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6499b066ea271901ea891fa4f613db02fdb9c5de7cdc34e88cc4688c8783869"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 8.384 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, 0.8043, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0841, 1.5074, 0.4511, 0.2798, 0.0334, 0.0261, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.177 left_yaw=0.001 left_pitch=-0.0149 left_roll=-0.0013 left_gripper=0.9995 right_x=0.351 right_y=0.0273 right_z=0.019 right_yaw=0.0347 right_pitch=-0.2189 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.0598, 7.0632, 1.7265, -0.0708, -0.0513, -0.0171, -0.4855, -6.5026, 7.2274, 1.9463, 0.0171, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.03, \"right_z\": 0.01, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The approver clamped my last step so the arm barely advanced; the knob is still just ahead of the open fingers in the wrist view. Repeating the forward-and-down motion with pitch reset to reach over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MicLvBYg8CFgJaLxN7fkge",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01MicLvBYg8CFgJaLxN7fkge"
}

{
  "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, 0.8062, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0799, 1.5299, 0.4526, 0.3256, 0.0174, 0.0139, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3572 right_y=0.0291 right_z=0.0201 right_yaw=0.0512 right_pitch=-0.1945 right_roll=-0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.306, 7.0769, 1.7363, -0.0855, -0.0611, -0.0171, -0.3487, -5.9009, 7.1316, 1.8388, -0.0562, -0.0269, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f90657a1f6c55fc8fd4995a5f41b9f0e4bcd5a9e52a8e841e81a933c8e250e41"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:38760356b679de9301773898a8a28c5d48f7065d45b39cc87b4df74c95eb271b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1033be2b532922c19bf7b005b0c770965396aad5a3605017d23aa5843394a527"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 7.413 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, 0.8062, 0.6041, -0.3805, -0.0216, -0.0414, 0.9995, 0.0799, 1.5299, 0.4526, 0.326, 0.0174, 0.0135, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3573 right_y=0.0291 right_z=0.0202 right_yaw=0.0514 right_pitch=-0.1941 right_roll=-0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4564, 7.0359, 1.7265, -0.0659, -0.0269, -0.0171, -0.4581, -5.9009, 7.1453, 1.8779, -0.0757, -0.0562, -0.1148]\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\": 0.38, \"right_z\": 0.012, \"right_gripper\": 1}, \"note\": \"The arm barely moved last step (clamped), knob still ahead of the fingertips in the wrist view. Trying a smaller forward-down step without changing pitch to slide the fingers around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01E6Z4Rf1QKFG7avtfdpbYwR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01E6Z4Rf1QKFG7avtfdpbYwR"
}

{
  "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, 0.8055, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0788, 1.6203, 0.4568, 0.4278, 0.0158, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1767 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0013 left_gripper=0.9995 right_x=0.367 right_y=0.0298 right_z=0.0091 right_yaw=0.0533 right_pitch=-0.1785 right_roll=-0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.0598, 7.0359, 1.7216, -0.022, -0.0366, -0.0122, -0.7453, -6.3932, 5.2308, 1.6288, -0.0659, -0.0562, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3361e0ebfc9082b21c05b972d0fa15b9d23763f9d433a8d4199f7e49d44e0900"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:780e6c57d48b2046f1ccf0a1010683d2470fd0177388d7895f8ec1434d2f3f96"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa2cbf1ae1eb16cebcf6400efd703ca3da8e60acfe13d048cdcbc1985672e27a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 6.479 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, 0.8062, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0799, 1.5299, 0.4526, 0.3256, 0.0174, 0.0139, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3572 right_y=0.0291 right_z=0.0201 right_yaw=0.0512 right_pitch=-0.1945 right_roll=-0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.306, 7.0769, 1.7363, -0.0855, -0.0611, -0.0171, -0.3487, -5.9009, 7.1316, 1.8388, -0.0562, -0.0269, -0.1099]\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_z\": 0.005, \"right_gripper\": 1}, \"note\": \"The knob sits centered but still above the fingertips in the wrist view, meaning it's a bit further forward. Advancing ~3 cm forward and slightly down so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AczFDu6rNJajGxXQkYNiVR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01AczFDu6rNJajGxXQkYNiVR"
}

{
  "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, 0.8085, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0769, 1.729, 0.548, 0.4438, 0.0097, 0.0021, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1758 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0012 left_gripper=0.9995 right_x=0.3916 right_y=0.032 right_z=0.0032 right_yaw=0.0611 right_pitch=-0.1801 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 7.0496, 1.6923, -0.0513, -0.0659, -0.0171, -0.9368, -6.2974, 5.9829, 1.4628, -0.0269, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8f5ffa1cb0dd3ea3375444daf040b39b43fcd5a9cc963d50635592a5c9d088a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2bce927defd7245cc34a2a62aa92e9191ddbb2ea3f434849b517b121b929eb6e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61b2a5fa9a24ebf502eed79cf79f275285747414bb87359bedf5e8824e947d40"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 7.757 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, 0.8055, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0788, 1.6203, 0.4568, 0.4278, 0.0158, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1767 left_yaw=0.001 left_pitch=-0.016 left_roll=-0.0013 left_gripper=0.9995 right_x=0.367 right_y=0.0298 right_z=0.0091 right_yaw=0.0533 right_pitch=-0.1785 right_roll=-0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.0598, 7.0359, 1.7216, -0.022, -0.0366, -0.0122, -0.7453, -6.3932, 5.2308, 1.6288, -0.0659, -0.0562, -0.1148]\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\": 0.42, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The knob is closer now but still just beyond the fingertips in the wrist view. Advancing another ~3 cm forward and down to table height so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BeWeLSJTUktysKKr4bZtoJ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BeWeLSJTUktysKKr4bZtoJ"
}

{
  "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, 0.9995, 0.0734, 1.8015, 0.6338, 0.4305, 0.0055, -0.0097, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.001 left_pitch=-0.0213 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4131 right_y=0.033 right_z=0.0015 right_yaw=0.0677 right_pitch=-0.1801 right_roll=-0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.347, 7.0359, 1.6825, -0.0513, -0.0464, -0.0122, -0.3761, -6.4342, 5.7231, 1.6093, -0.0659, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f68e2e5c5c2930c77db2be884b283458719ad4d5f7be16fec86c5fc5aedeafd0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56d4e89f01b7bb85e69d8e3c48ae9adccc2d620f982c48d7ad53421cb2af7351"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4ddec82dc6c54eda26ea91ca306b4c90308df136492be83c3689e661a3031b70"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 8.555 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, 0.8085, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0769, 1.729, 0.548, 0.4438, 0.0097, 0.0021, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1758 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0012 left_gripper=0.9995 right_x=0.3916 right_y=0.032 right_z=0.0032 right_yaw=0.0611 right_pitch=-0.1801 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5521, 7.0496, 1.6923, -0.0513, -0.0659, -0.0171, -0.9368, -6.2974, 5.9829, 1.4628, -0.0269, -0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob is nearly between the fingertips at the bottom of the wrist view. One more small forward-down step to center the jaws around the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BJiQq9Xh3FimK8BQbpwruQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BJiQq9Xh3FimK8BQbpwruQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8112, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0731, 1.8511, 0.6899, 0.4385, 0.0032, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.001 left_pitch=-0.0217 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4294 right_y=0.0344 right_z=0.0018 right_yaw=0.0746 right_pitch=-0.1657 right_roll=-0.0163 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.3607, 7.2274, 1.663, -0.0611, -0.0611, -0.0171, -0.6496, -6.6803, 5.2444, 1.5165, -0.0659, 0.0269, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e11fd6d9b52cc499c2220acd860b8cde066e69514c63388afbddebc0557b206"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5bc76baffd996b3e683cfb5abbd7de18b7a9b80152f973ecdca3618d75aaf64e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79428d7d0fdcdf04589fcb0dfdbc8d7357495db19636acbfe8bb245f774c946b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 7.962 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, 0.8108, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0734, 1.8015, 0.6338, 0.4305, 0.0055, -0.0097, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.001 left_pitch=-0.0213 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4131 right_y=0.033 right_z=0.0015 right_yaw=0.0677 right_pitch=-0.1801 right_roll=-0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.347, 7.0359, 1.6825, -0.0513, -0.0464, -0.0122, -0.3761, -6.4342, 5.7231, 1.6093, -0.0659, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.443, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob is now right at the bottom edge of the wrist view between the jaws, just slightly short. Tiny forward nudge to center it between the fingertips before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_019ghPifYSkdSqFtBfYkQDnk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_019ghPifYSkdSqFtBfYkQDnk"
}

{
  "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, 0.9995, 0.0731, 1.8862, 0.7235, 0.4564, 0.0029, -0.028, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4406 right_y=0.0353 right_z=0.0019 right_yaw=0.0794 right_pitch=-0.1493 right_roll=-0.0225 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5658, 7.0359, 1.6825, -0.0757, -0.0611, -0.0122, -0.6359, -6.3658, 6.147, 1.4432, -0.0659, 0.0855, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e63752535884b7900a8abcb849bd187d97e04c0fcf61eaeddf8f2740e16dedae"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9cfc2a42ae98da8cbe396d9485d7f8d2e2dc245631759b6cb712689aa00c8f4c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1fca1064773bf44657efbce5f17dd764a8a5f5ad3f1998f96964d1f667b76177"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 11.05 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, 0.8112, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, 0.0731, 1.8511, 0.6899, 0.4385, 0.0032, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.001 left_pitch=-0.0217 left_roll=-0.0012 left_gripper=0.9995 right_x=0.4294 right_y=0.0344 right_z=0.0018 right_yaw=0.0746 right_pitch=-0.1657 right_roll=-0.0163 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.3607, 7.2274, 1.663, -0.0611, -0.0611, -0.0171, -0.6496, -6.6803, 5.2444, 1.5165, -0.0659, 0.0269, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.25}, \"note\": \"The knob has disappeared below the wrist camera view, indicating it is now between the fingertips. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BYJ4KV7QseYJUxB5AugJ64",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01BYJ4KV7QseYJUxB5AugJ64"
}

{
  "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, 0.9995, 0.0734, 1.8957, 0.733, 0.4625, -0.0029, -0.0307, 0.2556]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4439 right_y=0.0368 right_z=0.0023 right_yaw=0.0861 right_pitch=-0.1432 right_roll=-0.0209 right_gripper=0.2556\nstate[joint_eff]: [-0.3487, -1.388, 7.0359, 1.7216, -0.022, -0.0611, -0.0171, -0.1709, -7.0769, 5.5453, 1.5018, 0.0366, 0.0708, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51698ad67b34f4faf661cbc9e33446518bca6217d376f0cafddc06877e553bba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c96b26dcd5c2bf083a6be51c51df48a88ce274821dcd0f48dad3a388523bdcab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c0b80322efa0880a68a9eee483d1ab75dcaf5e8731fd5dc8ee71c4e30056c44"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 22.34 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, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0731, 1.8862, 0.7235, 0.4564, 0.0029, -0.028, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4406 right_y=0.0353 right_z=0.0019 right_yaw=0.0794 right_pitch=-0.1493 right_roll=-0.0225 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5658, 7.0359, 1.6825, -0.0757, -0.0611, -0.0122, -0.6359, -6.3658, 6.147, 1.4432, -0.0659, 0.0855, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.08}, \"note\": \"The gripper closed to 0.26; the blue piece is no longer visible under the wrist camera, so it may be in the jaws. Lifting to verify whether the piece was grasped.\"}",
        "name": "move_to"
      },
      "id": "toolu_019oJagkpE1LT71UXHKFy8QG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019oJagkpE1LT71UXHKFy8QG"
}

{
  "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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0734, 1.6882, 0.8314, 0.2001, -0.0048, -0.0357, 0.2544]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4507 right_y=0.0376 right_z=0.0778 right_yaw=0.0903 right_pitch=-0.0997 right_roll=-0.0242 right_gripper=0.2544\nstate[joint_eff]: [-0.1026, -1.4701, 7.1863, 1.7705, -0.0464, -0.0708, -0.0171, -0.1709, -8.3077, 6.8308, 1.3407, 0.0171, -0.0171, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb66f2a334fbd3befb6a1bdfaa768760de38dfe89a35a758a33476f8e4a41b5a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c813c6f14571cd5775640d1c822c788e751c23273bcc34cbe1f4b52e7f08870"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc3a9e33ee09044a1fab5a68c0de925a070f74b3840531db929762f24868108c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 33.22 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, 0.8135, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0734, 1.8957, 0.733, 0.4625, -0.0029, -0.0307, 0.2556]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1745 left_yaw=0.001 left_pitch=-0.0236 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4439 right_y=0.0368 right_z=0.0023 right_yaw=0.0861 right_pitch=-0.1432 right_roll=-0.0209 right_gripper=0.2556\nstate[joint_eff]: [-0.3487, -1.388, 7.0359, 1.7216, -0.022, -0.0611, -0.0171, -0.1709, -7.0769, 5.5453, 1.5018, 0.0366, 0.0708, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.2, \"right_z\": 0.12}, \"note\": \"The gripper held at 0.25 after lifting, and a blue blob moved with the arm in the top view, so the piece is grasped. Moving left (toward the board seen in the center of the top camera) at a safe height to line up over the circular groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GP9wNn3B7YXgXa9XAPEJdu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01GP9wNn3B7YXgXa9XAPEJdu"
}

{
  "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, 0.8185, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5259, 1.7752, 1.1183, -0.0612, 0.3134, 0.2188, 0.2542]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0294 left_roll=-0.001 left_gripper=0.9994 right_x=0.4438 right_y=0.1988 right_z=0.1119 right_yaw=0.1369 right_pitch=-0.1195 right_roll=-0.0337 right_gripper=0.2542\nstate[joint_eff]: [-0.1983, -1.6752, 7.0222, 1.6825, -0.0611, -0.0757, -0.0171, 0.2667, -7.9658, 8.7316, 1.5897, 0.2662, 0.188, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fcd6e2c99e35d224f0e191a0219616c4725b07b4629b596ac871ef4ea024119d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6f1796545b675ae61442d271299de659a9625edd290535afcdf33cd245553cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:afb1acc4c5688cd98cb3c123291b1dc3583a22b64a904a3d72c02e3979ca936a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 10.29 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, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.9995, 0.0734, 1.6882, 0.8314, 0.2001, -0.0048, -0.0357, 0.2544]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4507 right_y=0.0376 right_z=0.0778 right_yaw=0.0903 right_pitch=-0.0997 right_roll=-0.0242 right_gripper=0.2544\nstate[joint_eff]: [-0.1026, -1.4701, 7.1863, 1.7705, -0.0464, -0.0708, -0.0171, -0.1709, -8.3077, 6.8308, 1.3407, 0.0171, -0.0171, -0.1441]",
      "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\": 0.25, \"right_z\": 0.1}, \"note\": \"The board with the circular groove appears at the bottom-left of the wrist camera, so it is slightly closer and further left than the gripper. Shifting left and slightly back to center over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HL765AttBB8qigWtn4HiFB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01HL765AttBB8qigWtn4HiFB"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6689, 1.8221, 1.1294, -0.0784, 0.3889, 0.2943, 0.2542]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4159 right_y=0.248 right_z=0.0948 right_yaw=0.175 right_pitch=-0.1443 right_roll=-0.0444 right_gripper=0.2542\nstate[joint_eff]: [-0.3077, -1.3607, 7.1179, 1.6874, -0.0659, -0.0562, -0.0073, 0.1573, -8.7316, 7.9385, 1.5995, 0.3639, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3aac887aae2e6596c5a142425784c7b895cfe425961c246821ac2a0641456464"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9621b85db5f1aa31bc8c25c2741a207d35e52a621da3bd1374987bdc02ebade8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ddd62065ab86b37c9afd66b510a132424aa0867bc48b24ef645c08ac73b0c5e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 19.65 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, 0.8185, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.5259, 1.7752, 1.1183, -0.0612, 0.3134, 0.2188, 0.2542]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0294 left_roll=-0.001 left_gripper=0.9994 right_x=0.4438 right_y=0.1988 right_z=0.1119 right_yaw=0.1369 right_pitch=-0.1195 right_roll=-0.0337 right_gripper=0.2542\nstate[joint_eff]: [-0.1983, -1.6752, 7.0222, 1.6825, -0.0611, -0.0757, -0.0171, 0.2667, -7.9658, 8.7316, 1.5897, 0.2662, 0.188, -0.0269]",
      "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\": 0.31, \"right_z\": 0.09}, \"note\": \"The board's blue circular groove is at the bottom-left of the wrist camera, still left of the fingers. Shifting the arm further left to center the grasped piece over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VPxq1UGcsCNMrLHpENQwfp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01VPxq1UGcsCNMrLHpENQwfp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7118, -0.0855, -0.0513, -0.0171, -0.3077, -9.0872, 7.9521, 1.5263, 0.2466, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03a4ce21588150541d413c0b75031c79f305052e7f1d482f22f2740da740be28"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df6e44804347f51a0fa3590300df84eda954c12d73716ccaf538dbb4a52caa99"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a72a9976f395baf3a54c107127592325988b9fe4b329960cc2b2b41737cfaf1d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 38.79 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6689, 1.8221, 1.1294, -0.0784, 0.3889, 0.2943, 0.2542]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4159 right_y=0.248 right_z=0.0948 right_yaw=0.175 right_pitch=-0.1443 right_roll=-0.0444 right_gripper=0.2542\nstate[joint_eff]: [-0.3077, -1.3607, 7.1179, 1.6874, -0.0659, -0.0562, -0.0073, 0.1573, -8.7316, 7.9385, 1.5995, 0.3639, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.3, \"right_z\": 0.08}, \"note\": \"The arm barely moved last step; the board's circular groove is still to the left of the gripper in the wrist camera. Trying again with a slightly closer target to shift left over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01M1BcwWPvcgYeLVvgh8bZ1y",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01M1BcwWPvcgYeLVvgh8bZ1y"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.001 left_pitch=-0.0313 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541\nstate[joint_eff]: [-0.1573, -1.4017, 7.1726, 1.6923, -0.0806, -0.0415, -0.0171, -0.2256, -9.0462, 7.8701, 1.5116, 0.2466, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ffcbaaade7a95e5746b081f522ebc69d01536c6d5f023cfbffc1c9911a151f2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1d809efd2521611273941a1df82b48f1e3dbeb0afc8b85fd15dfb3664d2fa47a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7891daae6969036625d2c4e0c6b8bd72df7f600f3b049ded8ccfbadd1904d7cb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 10.39 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7118, -0.0855, -0.0513, -0.0171, -0.3077, -9.0872, 7.9521, 1.5263, 0.2466, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.28, \"right_z\": 0.07, \"right_yaw\": 0.0}, \"note\": \"The arm didn't move last command; the board's blue circular groove sits at the bottom-left of the wrist camera, just left of the gripper. Commanding a slightly different pose with yaw reset to break the IK stall and center over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_018mGu1eimBvKtahEWQPEsJi",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_018mGu1eimBvKtahEWQPEsJi"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.8146, 1.9018, 1.1564, -0.131, 0.5426, 0.4789, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.385 right_y=0.2805 right_z=0.0696 right_yaw=0.0935 right_pitch=-0.162 right_roll=-0.0572 right_gripper=0.2541\nstate[joint_eff]: [-0.3624, -1.4154, 7.241, 1.6874, -0.0562, -0.0659, -0.0171, 0.0205, -9.894, 8.1573, 1.0379, 0.4811, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f4bad2aec4fd7eb2091a68a74af946b06a2f8500e8955cfb6bb99a6473304aa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:78fcc2a591760bd4d6eb616151dcdcd57c311fd28ac37178b2b94b60caf9993d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b121b2576645f2258b4c5db9d2ec7c726dd3e781edf5b946aaf894470608d18"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 9.111 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, 0.8204, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.6811, 1.8301, 1.1294, -0.0792, 0.4114, 0.3103, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1724 left_yaw=0.001 left_pitch=-0.0313 left_roll=-0.001 left_gripper=0.9995 right_x=0.4141 right_y=0.2493 right_z=0.0921 right_yaw=0.16 right_pitch=-0.144 right_roll=-0.0503 right_gripper=0.2541\nstate[joint_eff]: [-0.1573, -1.4017, 7.1726, 1.6923, -0.0806, -0.0415, -0.0171, -0.2256, -9.0462, 7.8701, 1.5116, 0.2466, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.33, \"right_z\": 0.045}, \"note\": \"The wrist camera shows the blue circular groove to the left of the fingertips. Shifting about 5 cm left and slightly forward-down to center the held piece over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UAbpfYWqY8AaiC8gZZWEyG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01UAbpfYWqY8AaiC8gZZWEyG"
}

{
  "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, 0.8219, 0.6037, -0.3809, -0.0212, -0.0418, 0.9995, 0.8734, 2.0682, 1.2934, -0.1684, 0.5709, 0.5282, 0.2541]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.172 left_yaw=0.0007 left_pitch=-0.0328 left_roll=-0.0011 left_gripper=0.9995 right_x=0.386 right_y=0.3177 right_z=0.0386 right_yaw=0.0974 right_pitch=-0.1942 right_roll=-0.0829 right_gripper=0.2541\nstate[joint_eff]: [-0.0752, -1.5385, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.8821, -10.3179, 8.0205, 1.3993, 0.3736, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3401f10049400b0c482f451138f20e0fe825c480e7e63e304d489a54f7110e76"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:341fe7a132a7be99cda5dc0644fb299d22b7a4502ad368de002a18fc9877e7d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e672f224478bc6d32a06ef9e224d33fdf0d682c9ae4e061b841e131b551fc30a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 7.769 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, 0.8146, 1.9018, 1.1564, -0.131, 0.5426, 0.4789, 0.2541]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.001 left_pitch=-0.0309 left_roll=-0.001 left_gripper=0.9995 right_x=0.385 right_y=0.2805 right_z=0.0696 right_yaw=0.0935 right_pitch=-0.162 right_roll=-0.0572 right_gripper=0.2541\nstate[joint_eff]: [-0.3624, -1.4154, 7.241, 1.6874, -0.0562, -0.0659, -0.0171, 0.0205, -9.894, 8.1573, 1.0379, 0.4811, 0.1294, -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\": 0.405, \"right_y\": 0.355, \"right_z\": 0.02}, \"note\": \"The wrist camera shows the groove slightly forward and left of the held piece. Moving a bit forward, left, and down to align the piece over the circular groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Jfu7heJCjThDyRAk9xoepo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Jfu7heJCjThDyRAk9xoepo"
}

{
  "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, 0.8223, 0.6037, -0.3809, -0.0216, -0.0418, 0.9994, 0.8845, 2.0796, 1.2999, -0.1692, 0.5716, 0.5312, 0.2541]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0332 left_roll=-0.0009 left_gripper=0.9994 right_x=0.3832 right_y=0.3226 right_z=0.0354 right_yaw=0.1055 right_pitch=-0.1977 right_roll=-0.0851 right_gripper=0.2541\nstate[joint_eff]: [-0.3624, -1.4154, 7.0222, 1.6777, -0.0562, -0.0659, -0.0171, 0.3077, -10.3726, 8.4034, 1.3748, 0.3883, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:395ff428e33ea4951c5fc1452524eecd42b2e4011ea43a9bae495c315d337664"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:22fc271df6ce6b8511000b0ec076ae3dcdd8a87c7ae234d5426ed2aa02664954"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a545e45d3eea65d16cbb9d04aecee776fd542500cfd7a56a4ddba830cb7a3b5f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}