adhoc - adhoc_73ce3b83.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: 547.8 s
total steps: 82

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see the blue puzzle piece with its center knob roughly straight ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can line up over the knob.

move_to

right_x0.3800right_y0.0200right_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, 0.6037, -0.3786, -0.0216, -0.0448, 0.9995, -0.017, 0.7914, 0.6094, -0.3752, -0.0216, -0.0154, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.388, 10.3316, 1.8437, -0.0464, 0.1978, -0.0708, -0.7453, -1.1966, 9.7983, 1.7753, -0.0317, -0.0024, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.02, "right_z": 0.1, "right_gripper": 1}, "note": "I see the blue puzzle piece with its center knob roughly straight ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can line up over the knob."})

tool

executing move_to over 7 steps (0.7s)

step 7

assistant

agent noteThe blue disc with its tan knob is visible ahead in right_cam but the gripper isn't in view yet. Moving forward and lower to bring the gripper near the knob so I can judge alignment.

move_to

right_x0.4200right_y0.0200right_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7979, 0.6041, -0.3813, -0.0212, -0.0486, 0.9994, 0.0608, 1.3186, 0.5148, 0.1379, 0.0269, 0.004, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3608 right_y=0.0208 right_z=0.0807 right_yaw=0.0262 right_pitch=-0.1085 right_roll=-0.0129 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.4701, 7.0359, 1.7363, -0.0171, -0.0122, -0.0171, 0.4991, -5.3949, 6.8308, 1.8926, 0.1636, 0.2027, -0.105] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.02, "right_z": 0.05}, "note": "The blue disc with its tan knob is visible ahead in right_cam but the gripper isn't in view yet. Moving forward and lower to bring the gripper near the knob so I can judge alignment."})

tool

executing move_to over 5 steps (0.5s)

step 12

assistant

agent noteThe wrist camera shows the knob nearly centered, slightly ahead. Advancing forward and down toward table level while keeping the gripper level, ready to straddle the knob.

move_to

right_x0.4600right_y0.0200right_z0.0200right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3813, -0.0216, -0.0486, 0.9994, 0.0517, 1.636, 0.6216, 0.2638, 0.0166, -0.0082, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0021 left_pitch=-0.0122 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3975 right_y=0.0212 right_z=0.031 right_yaw=0.0321 right_pitch=-0.1934 right_roll=-0.0178 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.347, 7.0359, 1.707, -0.0611, -0.0708, -0.0073, -0.8957, -6.7624, 7.8154, 1.8144, -0.022, 0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.02, "right_z": 0.02, "right_pitch": 0}, "note": "The wrist camera shows the knob nearly centered, slightly ahead. Advancing forward and down toward table level while keeping the gripper level, ready to straddle the knob."})

tool

executing move_to over 7 steps (0.7s)

step 19

assistant

agent noteThe knob sits just below center in the wrist view; the arm lagged short of my last target. Commanding again to move forward and down so the fingers straddle the knob.

move_to

right_x0.4600right_y0.0200right_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, 0.8032, 0.6041, -0.3805, -0.0216, -0.0486, 0.9994, 0.0521, 1.6581, 0.6399, 0.2993, 0.0139, -0.012, 0.9991] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.0021 left_pitch=-0.0126 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4078 right_y=0.0224 right_z=0.0356 right_yaw=0.0369 right_pitch=-0.1618 right_roll=-0.0183 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.2103, 7.1043, 1.7558, -0.0366, -0.0757, -0.0122, -0.9094, -7.0906, 7.1726, 1.8779, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.02, "right_z": 0.015}, "note": "The knob sits just below center in the wrist view; the arm lagged short of my last target. Commanding again to move forward and down so the fingers straddle the knob."})

tool

executing move_to over 5 steps (0.5s)

step 24

assistant

agent noteThe wrist cam shows the blue disc right under the gripper with the knob at bottom center. Inching forward and down so the open jaws surround the knob before closing.

move_to

right_x0.4650right_y0.0200right_z0.0050

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, 0.804, 0.6041, -0.3817, -0.0216, -0.0486, 0.9994, 0.0456, 1.7775, 0.749, 0.2989, 0.0044, -0.017, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0145 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4355 right_y=0.0227 right_z=0.0272 right_yaw=0.0413 right_pitch=-0.1725 right_roll=-0.0157 right_gripper=0.9991 state[joint_eff]: [-0.1709, -0.9778, 7.2137, 1.707, -0.0415, -0.0464, -0.0073, -0.8, -8.9504, 5.1624, 1.6093, -0.022, -0.1001, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.465, "right_y": 0.02, "right_z": 0.005}, "note": "The wrist cam shows the blue disc right under the gripper with the knob at bottom center. Inching forward and down so the open jaws surround the knob before closing."})

tool

executing move_to over 3 steps (0.3s)

step 27

assistant

agent noteThe disc now appears at the bottom-right of the wrist view, so the gripper is slightly left and short of the knob. Shifting a bit right and forward while lowering to table level to straddle the knob.

move_to

right_x0.4750right_y0.0050right_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, 0.8066, 0.6037, -0.3813, -0.0216, -0.049, 0.9994, 0.0399, 1.9034, 0.8272, 0.334, -0.0021, -0.0227, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4567 right_y=0.0222 right_z=0.0078 right_yaw=0.0442 right_pitch=-0.1851 right_roll=-0.0156 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.759, -7.6376, 6.694, 1.7753, -0.0366, -0.0073, -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": 0.475, "right_y": 0.005, "right_z": -0.005}, "note": "The disc now appears at the bottom-right of the wrist view, so the gripper is slightly left and short of the knob. Shifting a bit right and forward while lowering to table level to straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 29

assistant

agent noteThe disc peeks in at the bottom of the wrist view just right of center; the arm hasn't fully reached my previous target. Continuing forward, slightly right, and down so the open jaws come around the center knob.

move_to

right_x0.4780right_y0.0120right_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, 0.807, 0.6037, -0.3809, -0.0216, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7509, -0.0708, -0.0611, -0.0122, -0.7726, -7.9932, 6.3111, 1.6874, -0.0464, 0.0171, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.478, "right_y": 0.012, "right_z": -0.01}, "note": "The disc peeks in at the bottom of the wrist view just right of center; the arm hasn't fully reached my previous target. Continuing forward, slightly right, and down so the open jaws come around the center knob."})

tool

executing move_to over 2 steps (0.2s)

step 31

assistant

agent noteThe arm didn't advance on the last command and the disc is still at the bottom edge of the wrist view. Re-issuing a slightly farther forward-and-down target to get the jaws around the center knob.

move_to

right_x0.4900right_y0.0120right_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, -0.3813, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0048, -0.0341, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.176 left_yaw=0.0019 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0515 right_pitch=-0.1847 right_roll=-0.0224 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.3333, 7.0769, 1.7607, -0.0366, -0.0366, -0.0073, -0.6632, -7.8154, 6.4068, 1.6972, -0.0366, 0.0269, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.49, "right_y": 0.012, "right_z": -0.015}, "note": "The arm didn't advance on the last command and the disc is still at the bottom edge of the wrist view. Re-issuing a slightly farther forward-and-down target to get the jaws around the center knob."})

tool

executing move_to over 3 steps (0.3s)

step 34

assistant

agent noteThe arm has stopped tracking forward/down targets—likely an awkward IK pose. Lifting back up a few centimeters and pitching the tool downward so the camera and jaws point at the piece, then I'll re-approach from above.

move_to

right_x0.4600right_y0.0200right_z0.0600right_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, 0.807, 0.6037, -0.3809, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0019 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.1966, 7.0222, 1.6923, -0.0317, -0.0611, -0.0122, -0.7863, -7.9932, 6.4205, 1.6874, 0.0024, 0.0317, -0.0171] 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": 0.46, "right_y": 0.02, "right_z": 0.06, "right_pitch": -0.3}, "note": "The arm has stopped tracking forward/down targets\u2014likely an awkward IK pose. Lifting back up a few centimeters and pitching the tool downward so the camera and jaws point at the piece, then I'll re-approach from above."})

tool

executing move_to over 4 steps (0.4s)

step 38

assistant

agent noteThe right arm hasn't moved for several commands—it seems stuck near an awkward IK pose. Retracting back and up to a comfortable pose to free it, then I'll re-approach the knob from directly above.

move_to

right_x0.4000right_y0.0200right_z0.1200right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0486, 0.9994, 0.0387, 1.924, 0.8341, 0.3485, -0.0044, -0.0341, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4594 right_y=0.0222 right_z=0.0038 right_yaw=0.0512 right_pitch=-0.1844 right_roll=-0.0227 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.2239, 7.3778, 1.746, -0.0611, -0.0611, -0.0073, -0.7726, -8.0068, 6.3248, 1.7167, -0.0366, 0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.02, "right_z": 0.12, "right_pitch": 0}, "note": "The right arm hasn't moved for several commands\u2014it seems stuck near an awkward IK pose. Retracting back and up to a comfortable pose to free it, then I'll re-approach the knob from directly above."})

tool

executing move_to over 8 steps (0.8s)

step 46

assistant

agent noteThe arm freed up and the wrist cam now clearly shows the blue disc with its tan knob at bottom center. Descending forward to hover just above the knob before the final drop and grasp.

move_to

right_x0.4400right_y0.0200right_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, 0.8127, 0.6037, -0.3798, -0.0216, -0.0486, 0.9994, 0.0387, 1.4261, 0.6453, 0.2153, -0.0044, -0.0345, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0217 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4062 right_y=0.0201 right_z=0.1114 right_yaw=0.0512 right_pitch=-0.0085 right_roll=-0.0252 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.4564, 7.0906, 1.7753, -0.0855, -0.0562, -0.0073, -0.4171, -6.7077, 6.147, 1.7998, -0.0171, -0.0073, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.02, "right_z": 0.04}, "note": "The arm freed up and the wrist cam now clearly shows the blue disc with its tan knob at bottom center. Descending forward to hover just above the knob before the final drop and grasp."})

tool

executing move_to over 5 steps (0.5s)

step 51

assistant

agent noteThe knob is now large at the bottom center of the wrist view, right between the finger tips. Lowering to table level so the open jaws surround the knob for the grasp.

move_to

right_x0.4500right_y0.0180right_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, 0.8185, 0.6037, -0.3813, -0.0216, -0.049, 0.9994, 0.0387, 1.7554, 0.6262, 0.466, -0.0048, -0.0364, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1728 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4215 right_y=0.0208 right_z=0.0239 right_yaw=0.0526 right_pitch=-0.1062 right_roll=-0.0252 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5795, 7.0496, 1.707, -0.0513, -0.0269, -0.0122, -0.7316, -6.8991, 6.6667, 1.9707, -0.0855, -0.0611, -0.0171] 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": 0.45, "right_y": 0.018, "right_z": -0.005}, "note": "The knob is now large at the bottom center of the wrist view, right between the finger tips. Lowering to table level so the open jaws surround the knob for the grasp."})

tool

executing move_to over 3 steps (0.3s)

step 54

assistant

agent noteThe disc now sits at the bottom-left of the wrist view, so the gripper drifted right of the knob. Shifting a couple centimeters toward +y (arm's left) and slightly down to center the knob between the jaws.

move_to

right_x0.4550right_y0.0450right_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, -0.3817, -0.0212, -0.049, 0.9994, 0.0368, 1.9175, 0.6949, 0.5789, -0.0105, -0.0444, 0.9991] state[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1718 left_yaw=0.0019 left_pitch=-0.0328 left_roll=-0.003 left_gripper=0.9994 right_x=0.4467 right_y=0.0219 right_z=0.0025 right_yaw=0.0598 right_pitch=-0.0867 right_roll=-0.0285 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.6479, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073, -1.1145, -6.9538, 5.559, 1.1746, -0.0415, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.455, "right_y": 0.045, "right_z": -0.01}, "note": "The disc now sits at the bottom-left of the wrist view, so the gripper drifted right of the knob. Shifting a couple centimeters toward +y (arm's left) and slightly down to center the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 56

assistant

agent noteThe disc's knob is just below the bottom edge of the wrist view between the fingers. Moving a bit forward, slightly left, and down to table level so the jaws straddle the knob for the grasp.

move_to

right_x0.4650right_y0.0300right_z-0.0180

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8219, 0.6037, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9308, 0.7094, 0.5819, -0.017, -0.0498, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.172 left_yaw=0.0017 left_pitch=-0.032 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4509 right_y=0.0211 right_z=0.0023 right_yaw=0.0636 right_pitch=-0.0825 right_roll=-0.029 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.4564, 7.0496, 1.7216, -0.0464, -0.0806, -0.0122, -0.5812, -7.2684, 5.4085, 1.4872, -0.022, -0.022, -0.0171] 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": 0.465, "right_y": 0.03, "right_z": -0.018}, "note": "The disc's knob is just below the bottom edge of the wrist view between the fingers. Moving a bit forward, slightly left, and down to table level so the jaws straddle the knob for the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 58

assistant

agent noteThe arm stalls around x=0.45 with a level tool—likely a wrist IK limit. Pitching the tool up slightly changes the wrist configuration; commanding farther forward and fully down so the jaws can wrap the knob at the disc center.

move_to

right_x0.4800right_y0.0300right_z-0.0200right_pitch-0.2500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8223, 0.6037, -0.3809, -0.0216, -0.049, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.0204, -0.0502, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.0023 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0667 right_pitch=-0.0809 right_roll=-0.0273 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.4564, 7.0632, 1.7509, -0.0317, -0.0611, -0.0122, -0.7863, -7.2957, 5.4906, 1.4725, 0.0415, 0.0024, -0.0171] 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": 0.48, "right_y": 0.03, "right_z": -0.02, "right_pitch": -0.25}, "note": "The arm stalls around x=0.45 with a level tool\u2014likely a wrist IK limit. Pitching the tool up slightly changes the wrist configuration; commanding farther forward and fully down so the jaws can wrap the knob at the disc center."})

tool

executing move_to over 6 steps (0.6s)

step 64

assistant

agent noteThe arm refuses to extend past x≈0.45 with the tool level or pitched up—likely a wrist limit. Tipping the tool forward/down instead (positive pitch) to extend the grasp point over the knob at the disc center.

move_to

right_x0.4700right_y0.0300right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8223, 0.6033, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.02, -0.0502, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.1717 left_yaw=0.0017 left_pitch=-0.0328 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0664 right_pitch=-0.0809 right_roll=-0.0275 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.4154, 7.0222, 1.6777, -0.022, -0.0024, -0.0122, -0.8, -7.2957, 5.4222, 1.4676, 0.0024, -0.0073, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.03, "right_z": -0.01, "right_pitch": 0.25}, "note": "The arm refuses to extend past x\u22480.45 with the tool level or pitched up\u2014likely a wrist limit. Tipping the tool forward/down instead (positive pitch) to extend the grasp point over the knob at the disc center."})

tool

executing move_to over 12 steps (1.2s)

step 76

assistant

agent notePitching the tool forward finally let the arm extend past its earlier stall point. The disc's knob should be a few centimeters ahead of the fingertips, so I'm descending to knob height at the estimated disc center for the grasp.

move_to

right_x0.4950right_y0.0300right_z-0.0100right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8265, 0.6033, -0.3817, -0.0216, -0.049, 0.9994, 0.0483, 2.2326, 0.6476, 1.317, -0.0116, -0.0498, 0.9991] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1704 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4761 right_y=0.0286 right_z=0.0093 right_yaw=0.0761 right_pitch=0.2889 right_roll=-0.0423 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.6479, 7.0632, 1.6825, -0.0562, -0.0562, -0.0073, 0.4171, -6.147, 2.6735, 1.2674, 0.0513, 0.105, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.495, "right_y": 0.03, "right_z": -0.01, "right_pitch": 0.3, "right_gripper": 1}, "note": "Pitching the tool forward finally let the arm extend past its earlier stall point. The disc's knob should be a few centimeters ahead of the fingertips, so I'm descending to knob height at the estimated disc center for the grasp."})

tool

executing move_to over 2 steps (0.2s)

step 78

assistant

agent noteThe disc slipped just below the wrist camera's view, meaning it is right at the fingertips. Pushing a couple centimeters farther forward and down so the open jaws drop around the center knob.

move_to

right_x0.5200right_y0.0300right_z-0.0150right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0212, -0.049, 0.9994, 0.0479, 2.3005, 0.7151, 1.3914, -0.0128, -0.054, 0.9991] state[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1704 left_yaw=0.0019 left_pitch=-0.0374 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4939 right_y=0.0295 right_z=0.0156 right_yaw=0.0799 right_pitch=0.3628 right_roll=-0.0487 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4017, 7.0496, 1.6825, 0.022, -0.0464, -0.0073, -0.1983, -7.2274, 2.0581, 1.2967, 0.0024, 0.0171, -0.1099] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.52, "right_y": 0.03, "right_z": -0.015, "right_pitch": 0.3, "right_gripper": 1}, "note": "The disc slipped just below the wrist camera's view, meaning it is right at the fingertips. Pushing a couple centimeters farther forward and down so the open jaws drop around the center knob."})

tool

executing move_to over 3 steps (0.3s)

step 81

assistant

agent noteI ran out of my call budget before achieving a grasp. The right arm repeatedly stalled around x≈0.45 with a level tool due to an apparent wrist/IK limit, and only extended after pitching the tool forward, by which time the piece was below the wrist camera's field of view and I could no longer verify alignment. With only this final call remaining, a grasp and placement is not feasible.

give_up

hindsightOn this yam_arms rig: (1) The right arm's IK stalls silently around right_x≈0.45 at low z with the tool level (commands accepted but no motion, no error); adding positive right_pitch (~0.3, tool tipped forward) frees it and allows extension to x≈0.52. Plan the approach with forward pitch from the start. (2) The puzzle piece sits roughly at right_x≈0.5, right_y≈0.03 at table level (z≈-0.01), and the board with the circular groove is far to the arm's left (visible center-left in top_cam). (3) The wrist camera loses sight of the object once the gripper is within a few cm—establish precise x/y alignment from higher up (z≈0.1) using top_cam and the wrist view before the final vertical descent, then descend blind straight down. (4) Small position deltas (<1 cm) are often clamped/ignored; use ~2-3 cm steps. (5) Budget is only 20 calls—avoid the many small corrective nudges I made; a top-down approach (hover above the knob, drop, close) would cost ~6 calls total.

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, 0.8318, 0.6029, -0.3809, -0.0216, -0.049, 0.9994, 0.0475, 2.3611, 0.8417, 1.3712, -0.0208, -0.0601, 0.9991] state[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1689 left_yaw=0.0023 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9994 right_x=0.5234 right_y=0.0321 right_z=0.02 right_yaw=0.091 right_pitch=0.4085 right_roll=-0.0556 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.7846, 7.2957, 1.7265, -0.0611, -0.0757, -0.0073, -0.4718, -7.8291, 2.8376, 1.2625, 0.0708, -0.0073, -0.1099] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I ran out of my call budget before achieving a grasp. The right arm repeatedly stalled around x\u22480.45 with a level tool due to an apparent wrist/IK limit, and only extended after pitching the tool forward, by which time the piece was below the wrist camera's field of view and I could no longer verify alignment. With only this final call remaining, a grasp and placement is not feasible.", "hindsight": "On this yam_arms rig: (1) The right arm's IK stalls silently around right_x\u22480.45 at low z with the tool level (commands accepted but no motion, no error); adding positive right_pitch (~0.3, tool tipped forward) frees it and allows extension to x\u22480.52. Plan the approach with forward pitch from the start. (2) The puzzle piece sits roughly at right_x\u22480.5, right_y\u22480.03 at table level (z\u2248-0.01), and the board with the circular groove is far to the arm's left (visible center-left in top_cam). (3) The wrist camera loses sight of the object once the gripper is within a few cm\u2014establish precise x/y alignment from higher up (z\u22480.1) using top_cam and the wrist view before the final vertical descent, then descend blind straight down. (4) Small position deltas (<1 cm) are often clamped/ignored; use ~2-3 cm steps. (5) Budget is only 20 calls\u2014avoid the many small corrective nudges I made; a top-down approach (hover above the knob, drop, close) would cost ~6 calls total."})

tool

give_up: I ran out of my call budget before achieving a grasp. The right arm repeatedly stalled around x≈0.45 with a level tool due to an apparent wrist/IK limit, and only extended after pitching the tool forward, by which time the piece was below the wrist camera's field of view and I could no longer verify alignment. With only this final call remaining, a grasp and placement is not feasible.

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 · 19.88 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, 0.6037, -0.3786, -0.0216, -0.0448, 0.9995, -0.017, 0.7914, 0.6094, -0.3752, -0.0216, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.388, 10.3316, 1.8437, -0.0464, 0.1978, -0.0708, -0.7453, -1.1966, 9.7983, 1.7753, -0.0317, -0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb9afe3cea67db6b27d9e618a45768362c475990e38f26fcc71abf3d72a0dff6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8dd53f9618474ce442e157666e4a3ba9f08c35e015cdd41eea0f8a84d99b9fa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8c7bc0b04379f452c6ba39012241e2e09e76135e13e5e8ecd8c3a10dc9b28cc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 9.031 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.02, \"right_z\": 0.1, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with its center knob roughly straight ahead of the right arm in right_cam. Moving the right gripper forward and down to hover near the piece so I can line up over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GSx6q6XeuyWYvRN3qMN2Hz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01GSx6q6XeuyWYvRN3qMN2Hz"
}

{
  "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, 0.6041, -0.3813, -0.0212, -0.0486, 0.9994, 0.0608, 1.3186, 0.5148, 0.1379, 0.0269, 0.004, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3608 right_y=0.0208 right_z=0.0807 right_yaw=0.0262 right_pitch=-0.1085 right_roll=-0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.4701, 7.0359, 1.7363, -0.0171, -0.0122, -0.0171, 0.4991, -5.3949, 6.8308, 1.8926, 0.1636, 0.2027, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:112c44d23e595ca642b9ba741c96a42bfab6af0da46964d9d1e5edd55162bad4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:81c693036692ac83803afaac1b92ef33ff52fb22c71a22af073ba1dedb698fab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a17c26053f2dc62b97ccb2b612d1b2e267955b64381978b9a2b991d76c07d257"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 8.15 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, 0.6037, -0.3786, -0.0216, -0.0448, 0.9995, -0.017, 0.7914, 0.6094, -0.3752, -0.0216, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.388, 10.3316, 1.8437, -0.0464, 0.1978, -0.0708, -0.7453, -1.1966, 9.7983, 1.7753, -0.0317, -0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.02, \"right_z\": 0.05}, \"note\": \"The blue disc with its tan knob is visible ahead in right_cam but the gripper isn't in view yet. Moving forward and lower to bring the gripper near the knob so I can judge alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_013xfYCjks8Yd6EMNeCzw4oM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_013xfYCjks8Yd6EMNeCzw4oM"
}

{
  "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, 0.8021, 0.6041, -0.3813, -0.0216, -0.0486, 0.9994, 0.0517, 1.636, 0.6216, 0.2638, 0.0166, -0.0082, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0021 left_pitch=-0.0122 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3975 right_y=0.0212 right_z=0.031 right_yaw=0.0321 right_pitch=-0.1934 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.347, 7.0359, 1.707, -0.0611, -0.0708, -0.0073, -0.8957, -6.7624, 7.8154, 1.8144, -0.022, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a5c8d8f9697bfcadac075a244f4cc00925f6ae5196769d2791999c8e5787f83"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:13a957f06d64338027bfa60832d504142a35b28021c1939a9c785303238d7b83"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0555b715a092c65cb97229b638c1a9bdd7b341d0c5899609129af03e31925ca1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 8.485 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, 0.6041, -0.3813, -0.0212, -0.0486, 0.9994, 0.0608, 1.3186, 0.5148, 0.1379, 0.0269, 0.004, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0032 left_gripper=0.9994 right_x=0.3608 right_y=0.0208 right_z=0.0807 right_yaw=0.0262 right_pitch=-0.1085 right_roll=-0.0129 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.4701, 7.0359, 1.7363, -0.0171, -0.0122, -0.0171, 0.4991, -5.3949, 6.8308, 1.8926, 0.1636, 0.2027, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.02, \"right_z\": 0.02, \"right_pitch\": 0}, \"note\": \"The wrist camera shows the knob nearly centered, slightly ahead. Advancing forward and down toward table level while keeping the gripper level, ready to straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EfwyTUtEvKQNsqQvgexKsP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01EfwyTUtEvKQNsqQvgexKsP"
}

{
  "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, 0.8032, 0.6041, -0.3805, -0.0216, -0.0486, 0.9994, 0.0521, 1.6581, 0.6399, 0.2993, 0.0139, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.0021 left_pitch=-0.0126 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4078 right_y=0.0224 right_z=0.0356 right_yaw=0.0369 right_pitch=-0.1618 right_roll=-0.0183 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2103, 7.1043, 1.7558, -0.0366, -0.0757, -0.0122, -0.9094, -7.0906, 7.1726, 1.8779, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d1436cd56e827e1528c91cd756695fe06e2c26fe715dafe972fc446a5574142c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1341e1fc5125f1613829ab3e438f32c2e5a08514954d60703316729f1760f4aa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60e3c35f94b3cb62a78b35a9c2adc8477d35165bc3fafac15fd72ee50b99c829"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 8.382 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, 0.8021, 0.6041, -0.3813, -0.0216, -0.0486, 0.9994, 0.0517, 1.636, 0.6216, 0.2638, 0.0166, -0.0082, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0021 left_pitch=-0.0122 left_roll=-0.0029 left_gripper=0.9994 right_x=0.3975 right_y=0.0212 right_z=0.031 right_yaw=0.0321 right_pitch=-0.1934 right_roll=-0.0178 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.347, 7.0359, 1.707, -0.0611, -0.0708, -0.0073, -0.8957, -6.7624, 7.8154, 1.8144, -0.022, 0.0562, -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\": 0.46, \"right_y\": 0.02, \"right_z\": 0.015}, \"note\": \"The knob sits just below center in the wrist view; the arm lagged short of my last target. Commanding again to move forward and down so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Pz7dFbQqJegrP7acH9XQfT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Pz7dFbQqJegrP7acH9XQfT"
}

{
  "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, 0.804, 0.6041, -0.3817, -0.0216, -0.0486, 0.9994, 0.0456, 1.7775, 0.749, 0.2989, 0.0044, -0.017, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0145 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4355 right_y=0.0227 right_z=0.0272 right_yaw=0.0413 right_pitch=-0.1725 right_roll=-0.0157 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -0.9778, 7.2137, 1.707, -0.0415, -0.0464, -0.0073, -0.8, -8.9504, 5.1624, 1.6093, -0.022, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:45d9a72b535749aad690cab226b344c2bcd01539b75eac1cae977f72ef60ea76"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7b666205d27c3fc50cc0b394990f0fed9f910c0517f53ed71168a453a6d35192"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:91c125ee353c8a2aa2d2eaf135789bc7bf1118b38b2ba65579be6da54bc08ffb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 21.36 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, 0.8032, 0.6041, -0.3805, -0.0216, -0.0486, 0.9994, 0.0521, 1.6581, 0.6399, 0.2993, 0.0139, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1774 left_yaw=0.0021 left_pitch=-0.0126 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4078 right_y=0.0224 right_z=0.0356 right_yaw=0.0369 right_pitch=-0.1618 right_roll=-0.0183 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2103, 7.1043, 1.7558, -0.0366, -0.0757, -0.0122, -0.9094, -7.0906, 7.1726, 1.8779, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.465, \"right_y\": 0.02, \"right_z\": 0.005}, \"note\": \"The wrist cam shows the blue disc right under the gripper with the knob at bottom center. Inching forward and down so the open jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TQvhRRN2Dn4sSNuPsq2j7P",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01TQvhRRN2Dn4sSNuPsq2j7P"
}

{
  "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, -0.049, 0.9994, 0.0399, 1.9034, 0.8272, 0.334, -0.0021, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4567 right_y=0.0222 right_z=0.0078 right_yaw=0.0442 right_pitch=-0.1851 right_roll=-0.0156 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.759, -7.6376, 6.694, 1.7753, -0.0366, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d18a13f765f6d8c942ac75370cefd9f5bd2c16d80b52124e89bf63acc4f83fef"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8dee252410d1b1c63a12d3d9c63aad3ac1818542b71504dc4e1b479f24b8dd0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65bf7d2b91ef235f3f510e37aa5069578d142d4f61873aa3cccf4eb84fb97158"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 29.86 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, 0.804, 0.6041, -0.3817, -0.0216, -0.0486, 0.9994, 0.0456, 1.7775, 0.749, 0.2989, 0.0044, -0.017, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1769 left_yaw=0.0021 left_pitch=-0.0145 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4355 right_y=0.0227 right_z=0.0272 right_yaw=0.0413 right_pitch=-0.1725 right_roll=-0.0157 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -0.9778, 7.2137, 1.707, -0.0415, -0.0464, -0.0073, -0.8, -8.9504, 5.1624, 1.6093, -0.022, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.475, \"right_y\": 0.005, \"right_z\": -0.005}, \"note\": \"The disc now appears at the bottom-right of the wrist view, so the gripper is slightly left and short of the knob. Shifting a bit right and forward while lowering to table level to straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Lq7C83dxMcuZzSUoDgW2vs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01Lq7C83dxMcuZzSUoDgW2vs"
}

{
  "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, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7509, -0.0708, -0.0611, -0.0122, -0.7726, -7.9932, 6.3111, 1.6874, -0.0464, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9640f87d8935250780f3629d7406250058a215547824340d550394af4541fa91"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:698a994466694ed0353a4e55c83cdd4ec1de74359b07eae4d461d3ac8ed711ee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:150a4279ada87ddab362f2cd0160c632ac8dcdaed1f6fb0394d4f842d4e040c9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 15.75 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, 0.8066, 0.6037, -0.3813, -0.0216, -0.049, 0.9994, 0.0399, 1.9034, 0.8272, 0.334, -0.0021, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4567 right_y=0.0222 right_z=0.0078 right_yaw=0.0442 right_pitch=-0.1851 right_roll=-0.0156 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.759, -7.6376, 6.694, 1.7753, -0.0366, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.478, \"right_y\": 0.012, \"right_z\": -0.01}, \"note\": \"The disc peeks in at the bottom of the wrist view just right of center; the arm hasn't fully reached my previous target. Continuing forward, slightly right, and down so the open jaws come around the center knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_011mX7dfte4yTN6gqizJWssq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_011mX7dfte4yTN6gqizJWssq"
}

{
  "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, -0.3813, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0048, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.176 left_yaw=0.0019 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0515 right_pitch=-0.1847 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.3333, 7.0769, 1.7607, -0.0366, -0.0366, -0.0073, -0.6632, -7.8154, 6.4068, 1.6972, -0.0366, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2b7b81f8dd936130f143ba706b136030e77203b4b9fbb8ad180b2c6ba0942ad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:65431649bae93d3edfb86290549ce19765dc061842e44134fc0f9953a91ef2b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d3af293c17e77af9d6329a2a2689182e73ac3e9e81fe5ea846b25989bb8c6d36"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 25.48 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, 0.807, 0.6037, -0.3809, -0.0216, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0023 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 7.0222, 1.7509, -0.0708, -0.0611, -0.0122, -0.7726, -7.9932, 6.3111, 1.6874, -0.0464, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.49, \"right_y\": 0.012, \"right_z\": -0.015}, \"note\": \"The arm didn't advance on the last command and the disc is still at the bottom edge of the wrist view. Re-issuing a slightly farther forward-and-down target to get the jaws around the center knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UYHnnb9FBXBaKzZ8ZaCJMy",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UYHnnb9FBXBaKzZ8ZaCJMy"
}

{
  "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, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0019 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.1966, 7.0222, 1.6923, -0.0317, -0.0611, -0.0122, -0.7863, -7.9932, 6.4205, 1.6874, 0.0024, 0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:26d4831447913e6d6330abc27fc1abd132e4c0c5c2f9f982a53510ce41392b12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6cb5074b2415360398ff76902ca743659f4edb4775ca230ccd588bbd6b1e9a43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b95a8531f0543239462b6125675b06931b007bfe93659e911dad3bfe8c18fca"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 16.14 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3813, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0048, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.176 left_yaw=0.0019 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0515 right_pitch=-0.1847 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.3333, 7.0769, 1.7607, -0.0366, -0.0366, -0.0073, -0.6632, -7.8154, 6.4068, 1.6972, -0.0366, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.02, \"right_z\": 0.06, \"right_pitch\": -0.3}, \"note\": \"The arm has stopped tracking forward/down targets\\u2014likely an awkward IK pose. Lifting back up a few centimeters and pitching the tool downward so the camera and jaws point at the piece, then I'll re-approach from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_0195zDZPZ6cPFmjMgWfTFJ5u",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_0195zDZPZ6cPFmjMgWfTFJ5u"
}

{
  "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, -0.0486, 0.9994, 0.0387, 1.924, 0.8341, 0.3485, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4594 right_y=0.0222 right_z=0.0038 right_yaw=0.0512 right_pitch=-0.1844 right_roll=-0.0227 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2239, 7.3778, 1.746, -0.0611, -0.0611, -0.0073, -0.7726, -8.0068, 6.3248, 1.7167, -0.0366, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a6add5b7895012876eb96a9ebd6abd288d8fae6b6c2021cbb6a9e0c7cf0e675"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d18549f5556a7951e3f49bb0f13ddaeffafccdc799805cfe0eb79c0884e31a68"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc5d4704f778206310ac6485a6af9996bf9a770ef622174b94a742f7f0e24951"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 25.62 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0212, -0.049, 0.9994, 0.0387, 1.924, 0.8341, 0.3481, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0019 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9994 right_x=0.4593 right_y=0.0222 right_z=0.0037 right_yaw=0.0512 right_pitch=-0.1847 right_roll=-0.0226 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.1966, 7.0222, 1.6923, -0.0317, -0.0611, -0.0122, -0.7863, -7.9932, 6.4205, 1.6874, 0.0024, 0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.02, \"right_z\": 0.12, \"right_pitch\": 0}, \"note\": \"The right arm hasn't moved for several commands\\u2014it seems stuck near an awkward IK pose. Retracting back and up to a comfortable pose to free it, then I'll re-approach the knob from directly above.\"}",
        "name": "move_to"
      },
      "id": "toolu_013LXE1FJ69DpiVT544KXbaE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_013LXE1FJ69DpiVT544KXbaE"
}

{
  "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, -0.3798, -0.0216, -0.0486, 0.9994, 0.0387, 1.4261, 0.6453, 0.2153, -0.0044, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0217 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4062 right_y=0.0201 right_z=0.1114 right_yaw=0.0512 right_pitch=-0.0085 right_roll=-0.0252 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4564, 7.0906, 1.7753, -0.0855, -0.0562, -0.0073, -0.4171, -6.7077, 6.147, 1.7998, -0.0171, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ecca8ec15a4ad1f2f56bfaf633428702fc89d220177efe5b306a2421a495178c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f7b8a965c91eeb56ebc139caeed7002d7efb10abbae77209561ed0f1bc9e1e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6eafbad365714afbbe9100fd3ac7b1defd5f224a6ceddc2e25bf7d7a92543929"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 8.24 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0486, 0.9994, 0.0387, 1.924, 0.8341, 0.3485, -0.0044, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4594 right_y=0.0222 right_z=0.0038 right_yaw=0.0512 right_pitch=-0.1844 right_roll=-0.0227 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2239, 7.3778, 1.746, -0.0611, -0.0611, -0.0073, -0.7726, -8.0068, 6.3248, 1.7167, -0.0366, 0.0464, -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\": 0.44, \"right_y\": 0.02, \"right_z\": 0.04}, \"note\": \"The arm freed up and the wrist cam now clearly shows the blue disc with its tan knob at bottom center. Descending forward to hover just above the knob before the final drop and grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Fi6oGcuc5TbhMEvrfwkxMT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Fi6oGcuc5TbhMEvrfwkxMT"
}

{
  "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, -0.3813, -0.0216, -0.049, 0.9994, 0.0387, 1.7554, 0.6262, 0.466, -0.0048, -0.0364, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1728 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4215 right_y=0.0208 right_z=0.0239 right_yaw=0.0526 right_pitch=-0.1062 right_roll=-0.0252 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5795, 7.0496, 1.707, -0.0513, -0.0269, -0.0122, -0.7316, -6.8991, 6.6667, 1.9707, -0.0855, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:408f5be25b328c1f727f485f9ae3531bdae1212e9bf4480ad59d088d12784db4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:229bfa6a255403a4140307dc9cc4dcc027777a46add05beb7bc89d785e38653a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ac6beaccb234f704397df17e76ae8f863ddf9bd3f97d1bf0a0c335ae8c366e89"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 15.19 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, -0.3798, -0.0216, -0.0486, 0.9994, 0.0387, 1.4261, 0.6453, 0.2153, -0.0044, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1747 left_yaw=0.0021 left_pitch=-0.0217 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4062 right_y=0.0201 right_z=0.1114 right_yaw=0.0512 right_pitch=-0.0085 right_roll=-0.0252 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4564, 7.0906, 1.7753, -0.0855, -0.0562, -0.0073, -0.4171, -6.7077, 6.147, 1.7998, -0.0171, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.018, \"right_z\": -0.005}, \"note\": \"The knob is now large at the bottom center of the wrist view, right between the finger tips. Lowering to table level so the open jaws surround the knob for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01T3dsqNi9ykKapEr6TmDVw6",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01T3dsqNi9ykKapEr6TmDVw6"
}

{
  "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, -0.3817, -0.0212, -0.049, 0.9994, 0.0368, 1.9175, 0.6949, 0.5789, -0.0105, -0.0444, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1718 left_yaw=0.0019 left_pitch=-0.0328 left_roll=-0.003 left_gripper=0.9994 right_x=0.4467 right_y=0.0219 right_z=0.0025 right_yaw=0.0598 right_pitch=-0.0867 right_roll=-0.0285 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.6479, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073, -1.1145, -6.9538, 5.559, 1.1746, -0.0415, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ee860bd04b436328bcf7a3cb4f37b249ab3193a552d29ffb5cbb9e2de484edf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:06c07007004d1addfb5a7eae221f3d8bd8d16f13e51defb4f4a2ed5d89d1ad88"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9c555c85a46e2a27e1801804fdfbe1e704a540c658f405897735eb46b591b420"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 21.62 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, 0.8185, 0.6037, -0.3813, -0.0216, -0.049, 0.9994, 0.0387, 1.7554, 0.6262, 0.466, -0.0048, -0.0364, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1728 left_yaw=0.0023 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4215 right_y=0.0208 right_z=0.0239 right_yaw=0.0526 right_pitch=-0.1062 right_roll=-0.0252 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5795, 7.0496, 1.707, -0.0513, -0.0269, -0.0122, -0.7316, -6.8991, 6.6667, 1.9707, -0.0855, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.455, \"right_y\": 0.045, \"right_z\": -0.01}, \"note\": \"The disc now sits at the bottom-left of the wrist view, so the gripper drifted right of the knob. Shifting a couple centimeters toward +y (arm's left) and slightly down to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BfVidHKJu4tMDVdUF5GNMx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BfVidHKJu4tMDVdUF5GNMx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8219, 0.6037, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9308, 0.7094, 0.5819, -0.017, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.172 left_yaw=0.0017 left_pitch=-0.032 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4509 right_y=0.0211 right_z=0.0023 right_yaw=0.0636 right_pitch=-0.0825 right_roll=-0.029 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4564, 7.0496, 1.7216, -0.0464, -0.0806, -0.0122, -0.5812, -7.2684, 5.4085, 1.4872, -0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b0ed57889fdcaa16c63363f92bcd33ca0d1bb5fe9c0593d3f2202727736ae382"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2d78fe93ddbccb5b66c0cd59148cbe9ab821720f666b775759bd709d3b978ac1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:06f99ec9dcb9ec3b9eba6211335f2c614afe6cfb8a9d56ed7e0b7b6f6c5b15b3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 26.7 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, 0.8219, 0.6037, -0.3817, -0.0212, -0.049, 0.9994, 0.0368, 1.9175, 0.6949, 0.5789, -0.0105, -0.0444, 0.9991]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1718 left_yaw=0.0019 left_pitch=-0.0328 left_roll=-0.003 left_gripper=0.9994 right_x=0.4467 right_y=0.0219 right_z=0.0025 right_yaw=0.0598 right_pitch=-0.0867 right_roll=-0.0285 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.6479, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073, -1.1145, -6.9538, 5.559, 1.1746, -0.0415, 0.0024, -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\": 0.465, \"right_y\": 0.03, \"right_z\": -0.018}, \"note\": \"The disc's knob is just below the bottom edge of the wrist view between the fingers. Moving a bit forward, slightly left, and down to table level so the jaws straddle the knob for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DU74cUurUTDa3SE88hH1jC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DU74cUurUTDa3SE88hH1jC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8223, 0.6037, -0.3809, -0.0216, -0.049, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.0204, -0.0502, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.0023 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0667 right_pitch=-0.0809 right_roll=-0.0273 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4564, 7.0632, 1.7509, -0.0317, -0.0611, -0.0122, -0.7863, -7.2957, 5.4906, 1.4725, 0.0415, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2266ff37bf8c6d329f0f81cc53c7be5416b49f1f11be18a6efaea847e9e9d9f0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a18cbb1619519b1879ada4565a9d1587c202fe88d4a17e41b0cd968704701b70"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a20945dcce4783a92f7332c1146953abec481255ddbb9dfa10ce435f1d671ea3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 51.45 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, 0.8219, 0.6037, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9308, 0.7094, 0.5819, -0.017, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.172 left_yaw=0.0017 left_pitch=-0.032 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4509 right_y=0.0211 right_z=0.0023 right_yaw=0.0636 right_pitch=-0.0825 right_roll=-0.029 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4564, 7.0496, 1.7216, -0.0464, -0.0806, -0.0122, -0.5812, -7.2684, 5.4085, 1.4872, -0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.48, \"right_y\": 0.03, \"right_z\": -0.02, \"right_pitch\": -0.25}, \"note\": \"The arm stalls around x=0.45 with a level tool\\u2014likely a wrist IK limit. Pitching the tool up slightly changes the wrist configuration; commanding farther forward and fully down so the jaws can wrap the knob at the disc center.\"}",
        "name": "move_to"
      },
      "id": "toolu_01X6LkLtA38feb5zjUCu9YgQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01X6LkLtA38feb5zjUCu9YgQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8223, 0.6033, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.02, -0.0502, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.1717 left_yaw=0.0017 left_pitch=-0.0328 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0664 right_pitch=-0.0809 right_roll=-0.0275 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4154, 7.0222, 1.6777, -0.022, -0.0024, -0.0122, -0.8, -7.2957, 5.4222, 1.4676, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6f33222c772b50ab895b9f764d5134e108bff45276b24b0765cad25e3e98d59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:698461f58e84a924e3c21c02791cd2db571411bb7708844fc9ea22146e7d6426"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:117ab317009b71b441314ecca82f1f54324bb1965f90467846999703f22d36c2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 91.37 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, 0.8223, 0.6037, -0.3809, -0.0216, -0.049, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.0204, -0.0502, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.0023 left_pitch=-0.0324 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0667 right_pitch=-0.0809 right_roll=-0.0273 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4564, 7.0632, 1.7509, -0.0317, -0.0611, -0.0122, -0.7863, -7.2957, 5.4906, 1.4725, 0.0415, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.47, \"right_y\": 0.03, \"right_z\": -0.01, \"right_pitch\": 0.25}, \"note\": \"The arm refuses to extend past x\\u22480.45 with the tool level or pitched up\\u2014likely a wrist limit. Tipping the tool forward/down instead (positive pitch) to extend the grasp point over the knob at the disc center.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WtFfe7EUSA6gyeeyAnGwfn",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01WtFfe7EUSA6gyeeyAnGwfn"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8265, 0.6033, -0.3817, -0.0216, -0.049, 0.9994, 0.0483, 2.2326, 0.6476, 1.317, -0.0116, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1704 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4761 right_y=0.0286 right_z=0.0093 right_yaw=0.0761 right_pitch=0.2889 right_roll=-0.0423 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6479, 7.0632, 1.6825, -0.0562, -0.0562, -0.0073, 0.4171, -6.147, 2.6735, 1.2674, 0.0513, 0.105, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3513a32651738dc479679189fa379d7741eaaa966d912e216dc748745d033e7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:995a44bf82638479310caec67f9a4c8713e5d9b81a0be9031facd33be2c24353"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07550e9aa52e5ce31a670fb285599b68eeaa1a8b0b1fd2be4211f7bdff5ba8af"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 63.27 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, 0.8223, 0.6033, -0.3809, -0.0212, -0.0486, 0.9994, 0.0322, 1.9312, 0.7094, 0.5838, -0.02, -0.0502, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0014 left_z=0.1717 left_yaw=0.0017 left_pitch=-0.0328 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4511 right_y=0.0217 right_z=0.0025 right_yaw=0.0664 right_pitch=-0.0809 right_roll=-0.0275 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4154, 7.0222, 1.6777, -0.022, -0.0024, -0.0122, -0.8, -7.2957, 5.4222, 1.4676, 0.0024, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.495, \"right_y\": 0.03, \"right_z\": -0.01, \"right_pitch\": 0.3, \"right_gripper\": 1}, \"note\": \"Pitching the tool forward finally let the arm extend past its earlier stall point. The disc's knob should be a few centimeters ahead of the fingertips, so I'm descending to knob height at the estimated disc center for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_011XtrA2uWoiJ795hSEXr4K4",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_011XtrA2uWoiJ795hSEXr4K4"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8261, 0.6029, -0.3813, -0.0212, -0.049, 0.9994, 0.0479, 2.3005, 0.7151, 1.3914, -0.0128, -0.054, 0.9991]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1704 left_yaw=0.0019 left_pitch=-0.0374 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4939 right_y=0.0295 right_z=0.0156 right_yaw=0.0799 right_pitch=0.3628 right_roll=-0.0487 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4017, 7.0496, 1.6825, 0.022, -0.0464, -0.0073, -0.1983, -7.2274, 2.0581, 1.2967, 0.0024, 0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4bf2c175140717837018dadac0bef858a1f4d48bf6023c343d60c18398a33e11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:971e2d0f03e23953418507de61351e860ce32f72110b9a6401e585ca4e681962"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f1f2ba8d7dee2aa730a447ec4e493cd00e855e80a2f853f17277927a0ff4edc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 29.53 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, 0.8265, 0.6033, -0.3817, -0.0216, -0.049, 0.9994, 0.0483, 2.2326, 0.6476, 1.317, -0.0116, -0.0498, 0.9991]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1704 left_yaw=0.0023 left_pitch=-0.0377 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4761 right_y=0.0286 right_z=0.0093 right_yaw=0.0761 right_pitch=0.2889 right_roll=-0.0423 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.6479, 7.0632, 1.6825, -0.0562, -0.0562, -0.0073, 0.4171, -6.147, 2.6735, 1.2674, 0.0513, 0.105, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.52, \"right_y\": 0.03, \"right_z\": -0.015, \"right_pitch\": 0.3, \"right_gripper\": 1}, \"note\": \"The disc slipped just below the wrist camera's view, meaning it is right at the fingertips. Pushing a couple centimeters farther forward and down so the open jaws drop around the center knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VJW5NBsLJBFQ8HpvoNL5bf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01VJW5NBsLJBFQ8HpvoNL5bf"
}

{
  "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, 0.8318, 0.6029, -0.3809, -0.0216, -0.049, 0.9994, 0.0475, 2.3611, 0.8417, 1.3712, -0.0208, -0.0601, 0.9991]\nstate[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1689 left_yaw=0.0023 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9994 right_x=0.5234 right_y=0.0321 right_z=0.02 right_yaw=0.091 right_pitch=0.4085 right_roll=-0.0556 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.7846, 7.2957, 1.7265, -0.0611, -0.0757, -0.0073, -0.4718, -7.8291, 2.8376, 1.2625, 0.0708, -0.0073, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8268288e8894ef39dac1e7408c86473c329737e3a6872f2594f46909d825175b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8dba9fdf851820632607b6344ab236dc4fc5ac3fa7a59f2e29a396cc51b68c89"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d45a6ecb222162f32b4a3eecfcb8ef42fa8328476d9caff9b226247a910c771e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}