adhoc - adhoc_701665da.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: 395.1 s
total steps: 91

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

Looking at the scene: the blue puzzle piece with a knob sits ahead of the right arm (visible in right_cam), and the board with the circular groove is further left. I'll start by moving the right arm toward the piece.

agent noteThe blue puzzle piece with its knob appears roughly ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can judge alignment.

move_to

right_x0.3600right_y0.0000right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7921, 0.6041, -0.379, -0.0212, -0.0376, 0.9992, -0.0185, 0.791, 0.6098, -0.3752, -0.0174, -0.0128, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0001 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2959 right_y=0.0012 right_z=0.1845 right_yaw=-0.0001 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.4581, -1.4017, 10.4, 1.7949, 0.0024, 0.2369, -0.0952, -0.5812, -1.1419, 9.812, 1.7363, -0.0562, -0.0317, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.1, "right_gripper": 1}, "note": "The blue puzzle piece with its knob appears roughly ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can judge alignment."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

agent noteRight_cam shows the blue piece with its knob centered ahead of the gripper but still some distance forward. Moving forward and lower to get the open gripper around the knob height.

move_to

right_x0.4200right_y0.0000right_z0.0400

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7979, 0.6044, -0.3813, -0.0216, -0.0414, 0.9991, -0.0193, 1.2152, 0.4622, 0.0807, -0.0208, -0.0128, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1789 left_yaw=0.0024 left_pitch=-0.008 left_roll=-0.003 left_gripper=0.9991 right_x=0.3411 right_y=0.0007 right_z=0.0822 right_yaw=0.0022 right_pitch=-0.1155 right_roll=0.0045 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.4427, 7.0632, 1.7167, -0.0366, -0.0269, -0.0171, -0.2667, -4.6701, 5.7504, 1.956, -0.0171, -0.0464, -0.1001] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.0, "right_z": 0.04}, "note": "Right_cam shows the blue piece with its knob centered ahead of the gripper but still some distance forward. Moving forward and lower to get the open gripper around the knob height."})

tool

executing move_to over 7 steps (0.7s)

step 13

assistant

agent noteThe knob is just ahead of the fingertips in right_cam, roughly centered. Moving a bit farther forward and down, and leveling the pitch, so the open jaws straddle the knob.

move_to

right_x0.4400right_y0.0000right_z0.0100right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8047, 0.6037, -0.3817, -0.0216, -0.0418, 0.9991, -0.0193, 1.6669, 0.6174, 0.3019, -0.0242, -0.0132, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1765 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4004 right_y=0.0002 right_z=0.0247 right_yaw=0.0057 right_pitch=-0.1906 right_roll=0.0082 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.7162, 7.1863, 1.707, -0.0562, -0.0366, -0.0073, -0.1162, -6.9949, 6.8991, 1.8486, 0.0171, -0.0464, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.0, "right_z": 0.01, "right_pitch": 0}, "note": "The knob is just ahead of the fingertips in right_cam, roughly centered. Moving a bit farther forward and down, and leveling the pitch, so the open jaws straddle the knob."})

tool

executing move_to over 7 steps (0.7s)

step 20

assistant

agent noteThe knob now sits low-left in the wrist camera, near the left finger, so the gripper is slightly right of it. Shifting a touch left (+y) and lowering so the jaws surround the knob.

move_to

right_x0.4350right_y0.0120right_z-0.0120

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8066, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, -0.0193, 1.8832, 0.6018, 0.6701, -0.0364, -0.0116, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4308 right_y=0.0017 right_z=0.0042 right_yaw=0.0148 right_pitch=-0.0543 right_roll=0.0131 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.3744, 7.0359, 1.6874, -0.0415, -0.0562, -0.0073, -0.335, -6.8034, 4.8205, 1.4774, 0.0659, 0.0024, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.012, "right_z": -0.012}, "note": "The knob now sits low-left in the wrist camera, near the left finger, so the gripper is slightly right of it. Shifting a touch left (+y) and lowering so the jaws surround the knob."})

tool

executing move_to over 2 steps (0.2s)

step 22

assistant

agent noteThe knob is at the lower-left of the wrist camera, close to the left fingertip, so the piece center is slightly left and forward of the grasp point. Nudging forward and left while lowering to bracket the knob between the jaws.

move_to

right_x0.4420right_y0.0150right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, -0.0006, 1.9278, 0.6048, 0.7513, -0.0303, -0.004, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4381 right_y=0.0087 right_z=0.0033 right_yaw=0.0242 right_pitch=-0.0148 right_roll=0.0149 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.3607, 7.0496, 1.6923, -0.0806, -0.0562, -0.0171, 0.6359, -5.5863, 4.9299, 1.1502, 0.1978, 0.0904, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.442, "right_y": 0.015, "right_z": -0.015}, "note": "The knob is at the lower-left of the wrist camera, close to the left fingertip, so the piece center is slightly left and forward of the grasp point. Nudging forward and left while lowering to bracket the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 24

assistant

agent noteThe knob still sits low-left in the wrist view near the left finger, so the grasp point needs to go a bit farther forward and left. Making one more small alignment nudge before closing.

move_to

right_x0.4520right_y0.0220right_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0177, 1.9751, 0.6121, 0.8352, -0.028, 0.0029, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4461 right_y=0.0165 right_z=0.0033 right_yaw=0.037 right_pitch=0.029 right_roll=0.0186 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.3197, 7.0496, 1.6874, -0.0464, -0.0659, -0.0073, 0.1709, -5.7504, 4.506, 0.8816, 0.1197, 0.022, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.452, "right_y": 0.022, "right_z": -0.005}, "note": "The knob still sits low-left in the wrist view near the left finger, so the grasp point needs to go a bit farther forward and left. Making one more small alignment nudge before closing."})

tool

executing move_to over 1 steps (0.1s)

step 25

assistant

agent noteThe knob remains at the lower-left of the wrist view despite small nudges, so the gripper is still offset to the right of the piece center. Making a larger sideways move (+y) to center the knob between the jaws.

move_to

right_x0.4480right_y0.0350right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0212, 1.9919, 0.6151, 0.8677, -0.028, 0.0032, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4493 right_y=0.0181 right_z=0.0041 right_yaw=0.0402 right_pitch=0.0477 right_roll=0.0185 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.4838, 7.0496, 1.7021, -0.0855, -0.0757, -0.0073, -0.294, -6.2427, 4.2735, 1.4286, 0.0708, 0.0122, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.448, "right_y": 0.035, "right_z": 0.0}, "note": "The knob remains at the lower-left of the wrist view despite small nudges, so the gripper is still offset to the right of the piece center. Making a larger sideways move (+y) to center the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 27

assistant

agent noteThe wooden knob shows at the bottom-left of the wrist view, meaning it is nearly under the gripper but slightly left. Shifting a little more left and lowering the jaws around knob height before closing.

move_to

right_x0.4470right_y0.0420right_z-0.0150

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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0574, 2.0026, 0.6224, 0.8795, -0.0097, 0.0143, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4514 right_y=0.0313 right_z=0.0043 right_yaw=0.0551 right_pitch=0.0559 right_roll=0.0193 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.2923, 7.1316, 1.7118, -0.0464, -0.0659, -0.0122, 0.7726, -7.9521, 3.3846, 1.8291, 0.0806, 0.0513, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.447, "right_y": 0.042, "right_z": -0.015}, "note": "The wooden knob shows at the bottom-left of the wrist view, meaning it is nearly under the gripper but slightly left. Shifting a little more left and lowering the jaws around knob height before closing."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteThe knob keeps appearing at the bottom-left edge and my z command isn't tracking, so I may be misjudging alignment. Lifting straight up to get a clearer top-down look at the knob relative to the fingertips.

move_to

right_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0792, 2.0026, 0.6167, 0.8894, 0.0067, 0.0219, 0.9991] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9991 right_x=0.45 right_y=0.0381 right_z=0.0046 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.4974, 7.0222, 1.7216, -0.0708, -0.0708, -0.0073, -0.3897, -7.8838, 3.9043, 1.7509, 0.1099, 0.0415, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.07}, "note": "The knob keeps appearing at the bottom-left edge and my z command isn't tracking, so I may be misjudging alignment. Lifting straight up to get a clearer top-down look at the knob relative to the fingertips."})

tool

executing move_to over 5 steps (0.5s)

step 34

assistant

agent noteThe arm didn't move at all on the last command — it may be near an IK singularity or contacting the table. Pulling back, up, and pitching down to a more comfortable pose to re-approach the knob from above.

move_to

right_x0.4200right_z0.0800right_pitch-0.3000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0792, 2.0026, 0.6155, 0.8906, 0.0067, 0.0219, 0.9991] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4497 right_y=0.0381 right_z=0.0045 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991 state[joint_eff]: [-0.1299, -0.9231, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122, -0.212, -7.6786, 3.959, 1.7607, 0.1343, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.42, "right_z": 0.08, "right_pitch": -0.3}, "note": "The arm didn't move at all on the last command \u2014 it may be near an IK singularity or contacting the table. Pulling back, up, and pitching down to a more comfortable pose to re-approach the knob from above."})

tool

executing move_to over 13 steps (1.3s)

step 47

assistant

agent noteNow the wrist camera shows the knob nicely centered between the fingertips. Descending with the pitched-down gripper so the jaws come down around the knob.

move_to

right_x0.4520right_y0.0370right_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, 0.8127, 0.6037, -0.3805, -0.0216, -0.0414, 0.9991, 0.0795, 1.6501, 0.8978, -0.0841, 0.0021, 0.0181, 0.9991] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0024 left_pitch=-0.0229 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4246 right_y=0.0371 right_z=0.0686 right_yaw=0.0646 right_pitch=-0.2798 right_roll=0.012 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.5248, 7.0222, 1.6972, -0.0757, -0.0269, -0.0171, 0.212, -9.8667, 7.8154, 1.2821, -0.0122, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.452, "right_y": 0.037, "right_z": 0.015}, "note": "Now the wrist camera shows the knob nicely centered between the fingertips. Descending with the pitched-down gripper so the jaws come down around the knob."})

tool

executing move_to over 4 steps (0.4s)

step 51

assistant

agent noteThe knob is now between the fingertips in the wrist camera, slightly toward the left finger. Lowering a bit more and nudging left so the jaws straddle the knob before closing.

move_to

right_x0.4450right_y0.0430right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.078, 1.8561, 0.9058, 0.038, -0.0082, 0.0189, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4349 right_y=0.039 right_z=0.0059 right_yaw=0.0715 right_pitch=-0.3558 right_roll=0.02 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.6889, 7.0359, 1.7216, -0.0562, -0.0562, -0.0073, -0.759, -8.9094, 6.2154, 1.2137, 0.5348, -0.4322, -0.022] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.445, "right_y": 0.043, "right_z": -0.01}, "note": "The knob is now between the fingertips in the wrist camera, slightly toward the left finger. Lowering a bit more and nudging left so the jaws straddle the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 53

assistant

agent noteThe knob sits just left of center between the jaws and slightly below them. One more small nudge left and down to get the fingertips flanking the knob at its base.

move_to

right_x0.4480right_y0.0480right_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, 0.8185, 0.6037, -0.3809, -0.0216, -0.0414, 0.9991, 0.0792, 1.8729, 0.9058, 0.0895, -0.0086, 0.0109, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0024 left_pitch=-0.029 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4429 right_y=0.0403 right_z=0.0068 right_yaw=0.0776 right_pitch=-0.321 right_roll=0.0151 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.4838, 7.2, 1.7558, -0.0659, -0.0317, -0.0073, 0.0479, -7.3778, 5.1624, 1.4921, 0.0122, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.448, "right_y": 0.048, "right_z": -0.005, "right_gripper": 1}, "note": "The knob sits just left of center between the jaws and slightly below them. One more small nudge left and down to get the fingertips flanking the knob at its base."})

tool

executing move_to over 1 steps (0.1s)

step 54

assistant

agent noteThe knob base is right at the left fingertip; I need the grasp point a touch more left and lower so the jaws flank the knob. Final small descent before closing the gripper.

move_to

right_x0.4510right_y0.0520right_z-0.0200

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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.6342, 7.0085, 1.6728, -0.0415, -0.0659, -0.0122, -0.0068, -7.8017, 5.053, 1.4481, 0.0366, 0.0366, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.451, "right_y": 0.052, "right_z": -0.02}, "note": "The knob base is right at the left fingertip; I need the grasp point a touch more left and lower so the jaws flank the knob. Final small descent before closing the gripper."})

tool

executing move_to over 2 steps (0.2s)

step 56

assistant

agent noteThe arm did not move on the last command — it may be jammed against the table or at an IK limit. Lifting slightly and shifting further left to re-center the knob between the jaws.

move_to

right_x0.4470right_y0.0600right_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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0147, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.08 right_pitch=-0.3203 right_roll=0.0208 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.4427, 7.0359, 1.6825, -0.0562, -0.0415, -0.0073, -0.1573, -7.8154, 5.053, 1.4432, 0.0464, 0.0562, -0.0073] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.447, "right_y": 0.06, "right_z": 0.02}, "note": "The arm did not move on the last command \u2014 it may be jammed against the table or at an IK limit. Lifting slightly and shifting further left to re-center the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 58

assistant

agent noteThe arm hasn't moved for two commands — likely stuck at an IK limit in this stretched pose. Retreating up and back with more downward pitch to free it, then I'll descend directly onto the knob.

move_to

right_x0.4000right_y0.0600right_z0.1000right_pitch-0.5000

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, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.4427, 7.2821, 1.6825, -0.0611, -0.0464, -0.0171, -0.1436, -7.8154, 5.0803, 1.453, 0.0269, 0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.06, "right_z": 0.1, "right_pitch": -0.5}, "note": "The arm hasn't moved for two commands \u2014 likely stuck at an IK limit in this stretched pose. Retreating up and back with more downward pitch to free it, then I'll descend directly onto the knob."})

tool

executing move_to over 7 steps (0.7s)

step 65

assistant

agent noteThe knob now appears between the two fingers in the wrist camera, close to centered. Descending straight down over it so the jaws flank the knob, then I'll close.

move_to

right_x0.4650right_y0.0685right_z0.0250

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, -0.3805, -0.0216, -0.0418, 0.9991, 0.1402, 1.7271, 1.1023, -0.16, 0.004, 0.0448, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4645 right_y=0.0685 right_z=0.1039 right_yaw=0.1093 right_pitch=-0.2286 right_roll=0.0308 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7558, -0.0806, -0.0366, -0.0073, -0.1026, -10.9197, 6.9402, 1.3309, 0.2027, 0.1441, -0.0073] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.465, "right_y": 0.0685, "right_z": 0.025}, "note": "The knob now appears between the two fingers in the wrist camera, close to centered. Descending straight down over it so the jaws flank the knob, then I'll close."})

tool

executing move_to over 6 steps (0.6s)

step 71

assistant

agent noteThe knob is now well centered between the jaws in the wrist camera, just a bit low and forward. Descending the last couple of centimeters so the fingers flank the knob base.

move_to

right_x0.4550right_y0.0670right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8219, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.1436, 1.8748, 0.9512, 0.0242, 0.0021, 0.0475, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4431 right_y=0.0673 right_z=0.0116 right_yaw=0.1119 right_pitch=-0.3431 right_roll=0.0304 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.6825, -0.0757, -0.0855, -0.0122, -0.5538, -8.3214, 5.641, 1.7216, -0.0269, -0.0806, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.455, "right_y": 0.067, "right_z": -0.01}, "note": "The knob is now well centered between the jaws in the wrist camera, just a bit low and forward. Descending the last couple of centimeters so the fingers flank the knob base."})

tool

executing move_to over 2 steps (0.2s)

step 73

assistant

agent noteThe knob has dropped below the wrist camera's view between the fingers, suggesting the jaws now flank it. Closing the gripper to grasp the knob.

move_to

right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8219, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.1436, 1.9247, 0.9588, 0.1299, -0.0006, 0.0406, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4603 right_y=0.0703 right_z=0.0093 right_yaw=0.1186 right_pitch=-0.2797 right_roll=0.0298 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.4154, 7.0632, 1.6825, -0.0513, -0.0708, -0.0122, -0.8137, -7.4872, 6.6393, 1.2137, 0.0269, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.1}, "note": "The knob has dropped below the wrist camera's view between the fingers, suggesting the jaws now flank it. Closing the gripper to grasp the knob."})

tool

executing move_to over 9 steps (0.9s)

step 82

assistant

agent noteThe gripper closed to ~0.1, which could match a ~1 cm knob; the piece is no longer visible below the fingers. Lifting to verify whether the piece is grasped.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8242, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.1444, 1.9461, 0.9661, 0.1387, 0.0025, 0.0338, 0.1053] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4622 right_y=0.0704 right_z=0.0038 right_yaw=0.1204 right_pitch=-0.2849 right_roll=0.0225 right_gripper=0.1053 state[joint_eff]: [-0.3487, -1.5248, 7.0222, 1.6825, -0.0659, -0.0513, -0.0073, -0.3761, -11.2615, 5.053, 1.3651, -0.0464, 0.0171, 0.1245] 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_z": 0.12}, "note": "The gripper closed to ~0.1, which could match a ~1 cm knob; the piece is no longer visible below the fingers. Lifting to verify whether the piece is grasped."})

tool

executing move_to over 8 steps (0.8s)

step 90

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8261, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.1444, 1.7679, 1.1683, -0.2646, -0.0013, 0.0292, 0.104] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1709 left_yaw=0.0026 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4626 right_y=0.0711 right_z=0.0946 right_yaw=0.1262 right_pitch=-0.3078 right_roll=0.0219 right_gripper=0.104 state[joint_eff]: [-0.3077, -1.6068, 7.1863, 1.7118, -0.0806, -0.0562, -0.0122, -0.294, -12.0, 8.7863, 1.5458, -0.0366, -0.0122, -0.1392] 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]

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 · 14.92 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, 0.7921, 0.6041, -0.379, -0.0212, -0.0376, 0.9992, -0.0185, 0.791, 0.6098, -0.3752, -0.0174, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0001 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2959 right_y=0.0012 right_z=0.1845 right_yaw=-0.0001 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.4017, 10.4, 1.7949, 0.0024, 0.2369, -0.0952, -0.5812, -1.1419, 9.812, 1.7363, -0.0562, -0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7cff406a24fcdef0bf2365da21f38352507f82a1ec60a0c9bbc6139803327e67"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:818d7297fb1080934948cf10e5384792b7fbe794e5c4cf730884ccad5d3e689d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26a3b984afbc75656acb2407533cede8c911ec174ae4c907c28e0b243829f563"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 14.53 s

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

{
  "content": "Looking at the scene: the blue puzzle piece with a knob sits ahead of the right arm (visible in right_cam), and the board with the circular groove is further left. I'll start by moving the right arm toward the piece.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1}, \"note\": \"The blue puzzle piece with its knob appears roughly ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can judge alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RHtKRrmAh5iyqnfMixPEFP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01RHtKRrmAh5iyqnfMixPEFP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6044, -0.3813, -0.0216, -0.0414, 0.9991, -0.0193, 1.2152, 0.4622, 0.0807, -0.0208, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1789 left_yaw=0.0024 left_pitch=-0.008 left_roll=-0.003 left_gripper=0.9991 right_x=0.3411 right_y=0.0007 right_z=0.0822 right_yaw=0.0022 right_pitch=-0.1155 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.4427, 7.0632, 1.7167, -0.0366, -0.0269, -0.0171, -0.2667, -4.6701, 5.7504, 1.956, -0.0171, -0.0464, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:104f55ad0325dd9177098af45911af54edcb606405cf3cb5a238b065b8cd6343"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b89eaef652d13a3639bda23b9c16c6466f0e05741600a9d579dd12b0c823f3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f7be4771b6dbf8223a28a685b025eb6f05a023ef96bd5ea834a2a0452cfea5bf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 9.651 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, 0.7921, 0.6041, -0.379, -0.0212, -0.0376, 0.9992, -0.0185, 0.791, 0.6098, -0.3752, -0.0174, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1807 left_yaw=0.0001 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2959 right_y=0.0012 right_z=0.1845 right_yaw=-0.0001 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.4017, 10.4, 1.7949, 0.0024, 0.2369, -0.0952, -0.5812, -1.1419, 9.812, 1.7363, -0.0562, -0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": 0.04}, \"note\": \"Right_cam shows the blue piece with its knob centered ahead of the gripper but still some distance forward. Moving forward and lower to get the open gripper around the knob height.\"}",
        "name": "move_to"
      },
      "id": "toolu_015yMmXycXyD6vyur2KVkLZ1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_015yMmXycXyD6vyur2KVkLZ1"
}

{
  "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, 0.8047, 0.6037, -0.3817, -0.0216, -0.0418, 0.9991, -0.0193, 1.6669, 0.6174, 0.3019, -0.0242, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1765 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4004 right_y=0.0002 right_z=0.0247 right_yaw=0.0057 right_pitch=-0.1906 right_roll=0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.7162, 7.1863, 1.707, -0.0562, -0.0366, -0.0073, -0.1162, -6.9949, 6.8991, 1.8486, 0.0171, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b4b69220d22dc4d87cd4d910d74add40789687f3bd53f9e6360bad82c591ca1f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48dfe89431c6b738d89b1710f5cabce98326960502227bc5f36185c14252af93"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:97d801a5149e87d0e36ff9b6fb0535f9251517f25c145b7ac4fd1ac7ca7fe786"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 11.8 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, 0.7979, 0.6044, -0.3813, -0.0216, -0.0414, 0.9991, -0.0193, 1.2152, 0.4622, 0.0807, -0.0208, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1789 left_yaw=0.0024 left_pitch=-0.008 left_roll=-0.003 left_gripper=0.9991 right_x=0.3411 right_y=0.0007 right_z=0.0822 right_yaw=0.0022 right_pitch=-0.1155 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.4427, 7.0632, 1.7167, -0.0366, -0.0269, -0.0171, -0.2667, -4.6701, 5.7504, 1.956, -0.0171, -0.0464, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.0, \"right_z\": 0.01, \"right_pitch\": 0}, \"note\": \"The knob is just ahead of the fingertips in right_cam, roughly centered. Moving a bit farther forward and down, and leveling the pitch, so the open jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EZ46BSPdNQNEPo2gGuG7Zx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01EZ46BSPdNQNEPo2gGuG7Zx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, -0.0193, 1.8832, 0.6018, 0.6701, -0.0364, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4308 right_y=0.0017 right_z=0.0042 right_yaw=0.0148 right_pitch=-0.0543 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3744, 7.0359, 1.6874, -0.0415, -0.0562, -0.0073, -0.335, -6.8034, 4.8205, 1.4774, 0.0659, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2f28e1b75be5526e5a0f178b7281065095c6bacfc1851044b54fb9498e04d5f5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:38f94b82089247f56dbb5cb36dd87b79fc7abb37f77134a5c9a66a1d29de1438"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a752ae3ede24d7c76180c398cba925bd648792cf255bc0991040141bc108e3be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 20.31 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, 0.8047, 0.6037, -0.3817, -0.0216, -0.0418, 0.9991, -0.0193, 1.6669, 0.6174, 0.3019, -0.0242, -0.0132, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1765 left_yaw=0.0026 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4004 right_y=0.0002 right_z=0.0247 right_yaw=0.0057 right_pitch=-0.1906 right_roll=0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.7162, 7.1863, 1.707, -0.0562, -0.0366, -0.0073, -0.1162, -6.9949, 6.8991, 1.8486, 0.0171, -0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.012, \"right_z\": -0.012}, \"note\": \"The knob now sits low-left in the wrist camera, near the left finger, so the gripper is slightly right of it. Shifting a touch left (+y) and lowering so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_019xJ4ccPCwLjaJTSJxX46wp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_019xJ4ccPCwLjaJTSJxX46wp"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, -0.0006, 1.9278, 0.6048, 0.7513, -0.0303, -0.004, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4381 right_y=0.0087 right_z=0.0033 right_yaw=0.0242 right_pitch=-0.0148 right_roll=0.0149 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.3607, 7.0496, 1.6923, -0.0806, -0.0562, -0.0171, 0.6359, -5.5863, 4.9299, 1.1502, 0.1978, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d73b36fdb55d8bfd221036e057b5345e598946c937ad72b3d3125bd65d69b40"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e9dcc53fc58361fe73aaedd06255675def5008bd7ca3d1ddabb35bedb6f7c947"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:193a3f73d9b685960b6411dcd678a89b936a65815575e82de1416d04ca6f48e5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 27.14 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, 0.8066, 0.6037, -0.3813, -0.0216, -0.0418, 0.9992, -0.0193, 1.8832, 0.6018, 0.6701, -0.0364, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4308 right_y=0.0017 right_z=0.0042 right_yaw=0.0148 right_pitch=-0.0543 right_roll=0.0131 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.3744, 7.0359, 1.6874, -0.0415, -0.0562, -0.0073, -0.335, -6.8034, 4.8205, 1.4774, 0.0659, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.442, \"right_y\": 0.015, \"right_z\": -0.015}, \"note\": \"The knob is at the lower-left of the wrist camera, close to the left fingertip, so the piece center is slightly left and forward of the grasp point. Nudging forward and left while lowering to bracket the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Xu2rfdwNQNWkudN6ZY7JUq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Xu2rfdwNQNWkudN6ZY7JUq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0177, 1.9751, 0.6121, 0.8352, -0.028, 0.0029, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4461 right_y=0.0165 right_z=0.0033 right_yaw=0.037 right_pitch=0.029 right_roll=0.0186 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.0496, 1.6874, -0.0464, -0.0659, -0.0073, 0.1709, -5.7504, 4.506, 0.8816, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc1ced846efeb6dc966e1c26bfc3d97a85194d16a106ec01709f0cd4c9ae46a5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20bd426ac2dcb508c2bd703342514ff7866459e3c52cda3b4851ff6833d2adf4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4d83a1ae6ed579deee19f8b068888d7cb2c0beed5e1113c3a346d8b5033ea8b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 16.62 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, -0.0006, 1.9278, 0.6048, 0.7513, -0.0303, -0.004, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4381 right_y=0.0087 right_z=0.0033 right_yaw=0.0242 right_pitch=-0.0148 right_roll=0.0149 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.3607, 7.0496, 1.6923, -0.0806, -0.0562, -0.0171, 0.6359, -5.5863, 4.9299, 1.1502, 0.1978, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.452, \"right_y\": 0.022, \"right_z\": -0.005}, \"note\": \"The knob still sits low-left in the wrist view near the left finger, so the grasp point needs to go a bit farther forward and left. Making one more small alignment nudge before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LPCsEfX733YAe7BkmQL1K2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01LPCsEfX733YAe7BkmQL1K2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0212, 1.9919, 0.6151, 0.8677, -0.028, 0.0032, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4493 right_y=0.0181 right_z=0.0041 right_yaw=0.0402 right_pitch=0.0477 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4838, 7.0496, 1.7021, -0.0855, -0.0757, -0.0073, -0.294, -6.2427, 4.2735, 1.4286, 0.0708, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bf54163de430cf6c54bcf4ffd9f59dfa329f9914afaed3f135b04d47ba0266b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:556798ab684965385db7b948d997e006461146a93280ac752b62ee84105f52c5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7a0738053ff05a39d5bee005603dcfb14675c273476c3e122ec447e4cde92d4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 15.48 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0177, 1.9751, 0.6121, 0.8352, -0.028, 0.0029, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4461 right_y=0.0165 right_z=0.0033 right_yaw=0.037 right_pitch=0.029 right_roll=0.0186 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.0496, 1.6874, -0.0464, -0.0659, -0.0073, 0.1709, -5.7504, 4.506, 0.8816, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.448, \"right_y\": 0.035, \"right_z\": 0.0}, \"note\": \"The knob remains at the lower-left of the wrist view despite small nudges, so the gripper is still offset to the right of the piece center. Making a larger sideways move (+y) to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DUnHu65RT2kzdGtCh24NDc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DUnHu65RT2kzdGtCh24NDc"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0574, 2.0026, 0.6224, 0.8795, -0.0097, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4514 right_y=0.0313 right_z=0.0043 right_yaw=0.0551 right_pitch=0.0559 right_roll=0.0193 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.1316, 1.7118, -0.0464, -0.0659, -0.0122, 0.7726, -7.9521, 3.3846, 1.8291, 0.0806, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9659021c7f588cc14f536d9374e40c0b0f1654c30cf0ed059749cba56f6e8eef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e688dc28ac3f753b38c47dc43539269bc29068e9ace2b01a789f3353eb8a040"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4577ec58a8a0787b177702288ff553cb0fe9e26301ed73e6a393bcdfd05d149a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 33.77 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0212, 1.9919, 0.6151, 0.8677, -0.028, 0.0032, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4493 right_y=0.0181 right_z=0.0041 right_yaw=0.0402 right_pitch=0.0477 right_roll=0.0185 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4838, 7.0496, 1.7021, -0.0855, -0.0757, -0.0073, -0.294, -6.2427, 4.2735, 1.4286, 0.0708, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.447, \"right_y\": 0.042, \"right_z\": -0.015}, \"note\": \"The wooden knob shows at the bottom-left of the wrist view, meaning it is nearly under the gripper but slightly left. Shifting a little more left and lowering the jaws around knob height before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WzW2EexFHD4M3cooCkpdCH",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01WzW2EexFHD4M3cooCkpdCH"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0792, 2.0026, 0.6167, 0.8894, 0.0067, 0.0219, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9991 right_x=0.45 right_y=0.0381 right_z=0.0046 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4974, 7.0222, 1.7216, -0.0708, -0.0708, -0.0073, -0.3897, -7.8838, 3.9043, 1.7509, 0.1099, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6239da1bcc50223a5ebd318fe5f77d71f5ee9d9ede4d89e7bf9b1a47ce895d63"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88d9fa1ac59801c054641e04fa464f14cce2e042538d110ac5913becd3d70536"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8c0fe6e7dda08a04d4aa744a01418e8d6787e42f352f62a42ce0e9fefd1d99b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 10.91 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0574, 2.0026, 0.6224, 0.8795, -0.0097, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4514 right_y=0.0313 right_z=0.0043 right_yaw=0.0551 right_pitch=0.0559 right_roll=0.0193 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.1316, 1.7118, -0.0464, -0.0659, -0.0122, 0.7726, -7.9521, 3.3846, 1.8291, 0.0806, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.07}, \"note\": \"The knob keeps appearing at the bottom-left edge and my z command isn't tracking, so I may be misjudging alignment. Lifting straight up to get a clearer top-down look at the knob relative to the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LkK72BKcjgBaRE78jBpxQw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01LkK72BKcjgBaRE78jBpxQw"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0792, 2.0026, 0.6155, 0.8906, 0.0067, 0.0219, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4497 right_y=0.0381 right_z=0.0045 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -0.9231, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122, -0.212, -7.6786, 3.959, 1.7607, 0.1343, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8634b01dc585363e3ef7168220e330893504885f696a67172a8a7cc922008d1a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e22884bef65514edca8861f2cef97a19ad02d2fc0f55a602ba4bb333e5be89a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:03da76ff1ca0ce94d0f0f53142ebba236c0bdfab6f5a85d016b1025d66f5de6c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 16.73 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, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0792, 2.0026, 0.6167, 0.8894, 0.0067, 0.0219, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9991 right_x=0.45 right_y=0.0381 right_z=0.0046 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4974, 7.0222, 1.7216, -0.0708, -0.0708, -0.0073, -0.3897, -7.8838, 3.9043, 1.7509, 0.1099, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_z\": 0.08, \"right_pitch\": -0.3}, \"note\": \"The arm didn't move at all on the last command \\u2014 it may be near an IK singularity or contacting the table. Pulling back, up, and pitching down to a more comfortable pose to re-approach the knob from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_015UEdoJC3Gc9AwsrNyhzGHM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_015UEdoJC3Gc9AwsrNyhzGHM"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.3805, -0.0216, -0.0414, 0.9991, 0.0795, 1.6501, 0.8978, -0.0841, 0.0021, 0.0181, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0024 left_pitch=-0.0229 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4246 right_y=0.0371 right_z=0.0686 right_yaw=0.0646 right_pitch=-0.2798 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.5248, 7.0222, 1.6972, -0.0757, -0.0269, -0.0171, 0.212, -9.8667, 7.8154, 1.2821, -0.0122, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdd67eb62419b6bfc08479693c6c47329de5a287dfe4a1e2e601e3354c8ac030"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d7bf0526cd5917469408c0c5a2f38d73b0f874458dc4427ca3a93c01ac78328"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0341ef0fc0a679dfade7f141c248f491bec6cebf7ba2aa169e55d1130f1292db"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 8.942 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, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0792, 2.0026, 0.6155, 0.8906, 0.0067, 0.0219, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0026 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4497 right_y=0.0381 right_z=0.0045 right_yaw=0.0588 right_pitch=0.0601 right_roll=0.0182 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -0.9231, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122, -0.212, -7.6786, 3.959, 1.7607, 0.1343, 0.0855, -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\": 0.452, \"right_y\": 0.037, \"right_z\": 0.015}, \"note\": \"Now the wrist camera shows the knob nicely centered between the fingertips. Descending with the pitched-down gripper so the jaws come down around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01652pGwDaxvAhXZAm6vyeEj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01652pGwDaxvAhXZAm6vyeEj"
}

{
  "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, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.078, 1.8561, 0.9058, 0.038, -0.0082, 0.0189, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4349 right_y=0.039 right_z=0.0059 right_yaw=0.0715 right_pitch=-0.3558 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.6889, 7.0359, 1.7216, -0.0562, -0.0562, -0.0073, -0.759, -8.9094, 6.2154, 1.2137, 0.5348, -0.4322, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07e63808167311f5c7aea5b525b8b8fe4675a1486721b863b3091f7f79046121"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80a627d4eb157bf0e4d09fa61ade7e83d38444779aa379ab430b35a86f886d37"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c612f6875bf2daa7b3afbc3b61acef6aa403fe0928743c12d0678cacae2a62e3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 11.4 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, 0.8127, 0.6037, -0.3805, -0.0216, -0.0414, 0.9991, 0.0795, 1.6501, 0.8978, -0.0841, 0.0021, 0.0181, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1746 left_yaw=0.0024 left_pitch=-0.0229 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4246 right_y=0.0371 right_z=0.0686 right_yaw=0.0646 right_pitch=-0.2798 right_roll=0.012 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.5248, 7.0222, 1.6972, -0.0757, -0.0269, -0.0171, 0.212, -9.8667, 7.8154, 1.2821, -0.0122, 0.0952, -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\": 0.445, \"right_y\": 0.043, \"right_z\": -0.01}, \"note\": \"The knob is now between the fingertips in the wrist camera, slightly toward the left finger. Lowering a bit more and nudging left so the jaws straddle the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_013E3dHQJB2nB2XCCw3JbHKk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_013E3dHQJB2nB2XCCw3JbHKk"
}

{
  "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, -0.0414, 0.9991, 0.0792, 1.8729, 0.9058, 0.0895, -0.0086, 0.0109, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0024 left_pitch=-0.029 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4429 right_y=0.0403 right_z=0.0068 right_yaw=0.0776 right_pitch=-0.321 right_roll=0.0151 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4838, 7.2, 1.7558, -0.0659, -0.0317, -0.0073, 0.0479, -7.3778, 5.1624, 1.4921, 0.0122, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65902e0e1c39902aa20e325b3ed7399db956abd50567a03d986261e79fbb7e27"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a891411c38f734e23971888500bd746bb5842d7d7366771368705188b3796b02"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:90b2ced74a66f1acd8fffbd5eca55116d50a1b7421a7b2d92e2f5bb0ecae4078"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 26.07 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, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.078, 1.8561, 0.9058, 0.038, -0.0082, 0.0189, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4349 right_y=0.039 right_z=0.0059 right_yaw=0.0715 right_pitch=-0.3558 right_roll=0.02 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.6889, 7.0359, 1.7216, -0.0562, -0.0562, -0.0073, -0.759, -8.9094, 6.2154, 1.2137, 0.5348, -0.4322, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.448, \"right_y\": 0.048, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob sits just left of center between the jaws and slightly below them. One more small nudge left and down to get the fingertips flanking the knob at its base.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WudqFqWAJKfikfCUjbGSDC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01WudqFqWAJKfikfCUjbGSDC"
}

{
  "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, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6342, 7.0085, 1.6728, -0.0415, -0.0659, -0.0122, -0.0068, -7.8017, 5.053, 1.4481, 0.0366, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:059a6e3cc88792985cf1785342ec93ee2a7dbfa413fa1ab65656b764973a10e4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:908c35e8be414d28c1ae144d60db955fc542d4ee2efe2fed25bdb8163fa40ad1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:646b0031a8067493169f29636f5f9c310e47a60b2862c095eae78c5a2bbc1424"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 38.99 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, 0.8185, 0.6037, -0.3809, -0.0216, -0.0414, 0.9991, 0.0792, 1.8729, 0.9058, 0.0895, -0.0086, 0.0109, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1729 left_yaw=0.0024 left_pitch=-0.029 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4429 right_y=0.0403 right_z=0.0068 right_yaw=0.0776 right_pitch=-0.321 right_roll=0.0151 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4838, 7.2, 1.7558, -0.0659, -0.0317, -0.0073, 0.0479, -7.3778, 5.1624, 1.4921, 0.0122, 0.0415, -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\": 0.451, \"right_y\": 0.052, \"right_z\": -0.02}, \"note\": \"The knob base is right at the left fingertip; I need the grasp point a touch more left and lower so the jaws flank the knob. Final small descent before closing the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_016W6ejHbe9NnXLUsCCSEX3f",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_016W6ejHbe9NnXLUsCCSEX3f"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9992, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0147, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.08 right_pitch=-0.3203 right_roll=0.0208 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4427, 7.0359, 1.6825, -0.0562, -0.0415, -0.0073, -0.1573, -7.8154, 5.053, 1.4432, 0.0464, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11ead87a7bc629cbc890ad1bfe0dc83ef12ded6cf2c99e99c8dc60b8fe81393a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8129c16189b693795354bd1492fcfc2077a7538e3a68a1a6fb3c913ea1041e7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b3a147c75735b6759485d6c3c71d3931de387a4baae7bc17ad27ab12733d9b8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 32.91 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, 0.82, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6342, 7.0085, 1.6728, -0.0415, -0.0659, -0.0122, -0.0068, -7.8017, 5.053, 1.4481, 0.0366, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.447, \"right_y\": 0.06, \"right_z\": 0.02}, \"note\": \"The arm did not move on the last command \\u2014 it may be jammed against the table or at an IK limit. Lifting slightly and shifting further left to re-center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_014P9eFR5CnKc8Ytf3dyvLp2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_014P9eFR5CnKc8Ytf3dyvLp2"
}

{
  "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, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.2821, 1.6825, -0.0611, -0.0464, -0.0171, -0.1436, -7.8154, 5.0803, 1.453, 0.0269, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1d7124e6be793d0323ec59877ec46b1588f48233a33f46797d05e2a766c7b91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:284f3f8375f13f3c671555c932bed11c7d52d6eae1523eb8fee15f68eedc2f21"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85815c37c0e33ab41512344c579cb3575534842dcf37370a53160bcbb39f2f85"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 15.82 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, 0.9992, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0147, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.08 right_pitch=-0.3203 right_roll=0.0208 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4427, 7.0359, 1.6825, -0.0562, -0.0415, -0.0073, -0.1573, -7.8154, 5.053, 1.4432, 0.0464, 0.0562, -0.0073]",
      "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\": 0.06, \"right_z\": 0.1, \"right_pitch\": -0.5}, \"note\": \"The arm hasn't moved for two commands \\u2014 likely stuck at an IK limit in this stretched pose. Retreating up and back with more downward pitch to free it, then I'll descend directly onto the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DkAdMSQDz6wA8VcyveEvYK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01DkAdMSQDz6wA8VcyveEvYK"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9991, 0.1402, 1.7271, 1.1023, -0.16, 0.004, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4645 right_y=0.0685 right_z=0.1039 right_yaw=0.1093 right_pitch=-0.2286 right_roll=0.0308 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7558, -0.0806, -0.0366, -0.0073, -0.1026, -10.9197, 6.9402, 1.3309, 0.2027, 0.1441, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2af69ddc1a9e381c0e6c183ff0f09c9b13f8b35434c93326af7e40acbaaa1ca4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de6e1472aaeaf92b4984efaad0e302641f8157b7f123cbef4141697e6d48e433"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3bcb8b5322054dcb6ae3ab00db24a437167456178b10e55beedc6cf6c5d8b45e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 10.21 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, 0.9991, 0.0803, 1.8771, 0.9054, 0.0948, -0.0124, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0305 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4433 right_y=0.0415 right_z=0.0057 right_yaw=0.0802 right_pitch=-0.3203 right_roll=0.0206 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4427, 7.2821, 1.6825, -0.0611, -0.0464, -0.0171, -0.1436, -7.8154, 5.0803, 1.453, 0.0269, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.465, \"right_y\": 0.0685, \"right_z\": 0.025}, \"note\": \"The knob now appears between the two fingers in the wrist camera, close to centered. Descending straight down over it so the jaws flank the knob, then I'll close.\"}",
        "name": "move_to"
      },
      "id": "toolu_017L9fqThCCWcR4AeJo55jYN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_017L9fqThCCWcR4AeJo55jYN"
}

{
  "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, -0.0216, -0.0418, 0.9991, 0.1436, 1.8748, 0.9512, 0.0242, 0.0021, 0.0475, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4431 right_y=0.0673 right_z=0.0116 right_yaw=0.1119 right_pitch=-0.3431 right_roll=0.0304 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.6825, -0.0757, -0.0855, -0.0122, -0.5538, -8.3214, 5.641, 1.7216, -0.0269, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1210340696516f50b6102ddcc48a28b948fdd76349b6638126bfe48afdd94652"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c72b9a4193f5088a1914e5ef8367fe38c2c120dd7a678bb5e28ad24d50a03909"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be96c32eadb1f9e020f3732efc841d83f6026ecccae09837a0e930e548f7c4be"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 9.286 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, 0.82, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.1402, 1.7271, 1.1023, -0.16, 0.004, 0.0448, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4645 right_y=0.0685 right_z=0.1039 right_yaw=0.1093 right_pitch=-0.2286 right_roll=0.0308 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.1009, 7.0632, 1.7558, -0.0806, -0.0366, -0.0073, -0.1026, -10.9197, 6.9402, 1.3309, 0.2027, 0.1441, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.455, \"right_y\": 0.067, \"right_z\": -0.01}, \"note\": \"The knob is now well centered between the jaws in the wrist camera, just a bit low and forward. Descending the last couple of centimeters so the fingers flank the knob base.\"}",
        "name": "move_to"
      },
      "id": "toolu_0195RtRCEX46APpZ3R2uYnMk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0195RtRCEX46APpZ3R2uYnMk"
}

{
  "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, -0.0216, -0.0418, 0.9991, 0.1436, 1.9247, 0.9588, 0.1299, -0.0006, 0.0406, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4603 right_y=0.0703 right_z=0.0093 right_yaw=0.1186 right_pitch=-0.2797 right_roll=0.0298 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4154, 7.0632, 1.6825, -0.0513, -0.0708, -0.0122, -0.8137, -7.4872, 6.6393, 1.2137, 0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca9b06a25012321215c96c77189692daf9f933e40539b6ffb41ac6e6a7f13b46"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4f93b503ae5169af1d81d454bc2b48833d984b33437eb23a9f565a62ae2b6906"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8c9f4a4a397e8a966447a4caa444e6e460d8b86ebfafd9a5723fb3035b8f4979"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 18.12 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, 0.8219, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.1436, 1.8748, 0.9512, 0.0242, 0.0021, 0.0475, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4431 right_y=0.0673 right_z=0.0116 right_yaw=0.1119 right_pitch=-0.3431 right_roll=0.0304 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.5658, 7.0359, 1.6825, -0.0757, -0.0855, -0.0122, -0.5538, -8.3214, 5.641, 1.7216, -0.0269, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.1}, \"note\": \"The knob has dropped below the wrist camera's view between the fingers, suggesting the jaws now flank it. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0183gZjb3SEDBUATiBeuzwip",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_0183gZjb3SEDBUATiBeuzwip"
}

{
  "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, 0.8242, 0.6037, -0.3809, -0.0216, -0.0418, 0.9991, 0.1444, 1.9461, 0.9661, 0.1387, 0.0025, 0.0338, 0.1053]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4622 right_y=0.0704 right_z=0.0038 right_yaw=0.1204 right_pitch=-0.2849 right_roll=0.0225 right_gripper=0.1053\nstate[joint_eff]: [-0.3487, -1.5248, 7.0222, 1.6825, -0.0659, -0.0513, -0.0073, -0.3761, -11.2615, 5.053, 1.3651, -0.0464, 0.0171, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:653424ad40e3d7a82dd84a973327e059dbd0ba3c7c94c2ad10d43348a85cf091"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2a0b43b7a9c36b60177caf7e41b2538963a867507ba71f7bfcf444d27e65c9e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3123973312a3e474b0128a7dee71c05103b8eca21b91c542beeeab5ac17323c2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}