adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6041, -0.3786, -0.0216, -0.0387, 0.9991, -0.0162, 0.7914, 0.6102, -0.3752, -0.0212, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0025 right_z=0.1845 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 10.3863, 1.8339, -0.0415, 0.1734, -0.1001, -0.7179, -1.1556, 9.853, 1.7265, -0.0269, 0.0024, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e795472d2795648fd85531833da1afafe9bf54b694c895bca2c55519fc640957"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:754fb5ddec5e72b56d037f8dbff9a396fba67cc2ab33084e37ab63fab41b4db3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3113dda011bd5faaf227a1d455c328e67db856ad8f7ef291af6fdde004e74e62"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.09, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue round piece with its knob roughly centered and slightly ahead of the gripper. Moving the right arm forward and lower to get above the piece and refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Dy6CUjLLMJMXQ4XLbyJUvA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01Dy6CUjLLMJMXQ4XLbyJUvA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6044, -0.3813, -0.0216, -0.0414, 0.999, -0.02, 1.2488, 0.4335, 0.152, -0.028, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1787 left_yaw=0.0018 left_pitch=-0.0088 left_roll=-0.0021 left_gripper=0.999 right_x=0.3427 right_y=0.0017 right_z=0.0735 right_yaw=0.0025 right_pitch=-0.1063 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4564, 7.0085, 1.7607, -0.0806, -0.022, -0.0171, -0.6085, -4.5607, 6.0786, 2.0098, -0.0464, -0.0855, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4ae01cef3ff2336ae6f508f12e464aab160e49ef9af98593661ac7e9c8b7368"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23d237ae15b3bdc5098b8e93848c43728c234575eb4b6a88d04a6fb987640fa5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ba4c8838f7ebc549763ca68fa6e63de4bddaa0687b0f8c4c859b264bb201a3e1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6041, -0.3786, -0.0216, -0.0387, 0.9991, -0.0162, 0.7914, 0.6102, -0.3752, -0.0212, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1807 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0025 right_z=0.1845 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 10.3863, 1.8339, -0.0415, 0.1734, -0.1001, -0.7179, -1.1556, 9.853, 1.7265, -0.0269, 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\": 0.4, \"right_y\": 0.0, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered laterally in the wrist camera but still a bit ahead of the gripper jaws; the arm undershot in x. Moving further forward and lower toward table height to bring the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LcvzYXaUTbTHDVBeZnpCNn",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01LcvzYXaUTbTHDVBeZnpCNn"
}

{
  "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, -0.3817, -0.0216, -0.0414, 0.999, -0.02, 1.6764, 0.4305, 0.548, -0.0322, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1771 left_yaw=0.0018 left_pitch=-0.0145 left_roll=-0.0019 left_gripper=0.999 right_x=0.3721 right_y=0.0018 right_z=0.0032 right_yaw=0.006 right_pitch=-0.141 right_roll=0.0092 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4291, 7.0769, 1.707, -0.0366, -0.0171, -0.0073, -0.6085, -6.6256, 6.7897, 2.1123, -0.0269, -0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2f4b0c77401e971ad887b75dc84bb773e0b365f63fe1bcf36235659516d2ed61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:841e7f91178674cab661228f013a94fcf3393e72c51b5a4c77ba90401cc5e19b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:835a5c54c5557d2e45e0ac7c7e262d67431da65d892f978d1192a327747fa554"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6044, -0.3813, -0.0216, -0.0414, 0.999, -0.02, 1.2488, 0.4335, 0.152, -0.028, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1787 left_yaw=0.0018 left_pitch=-0.0088 left_roll=-0.0021 left_gripper=0.999 right_x=0.3427 right_y=0.0017 right_z=0.0735 right_yaw=0.0025 right_pitch=-0.1063 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4564, 7.0085, 1.7607, -0.0806, -0.022, -0.0171, -0.6085, -4.5607, 6.0786, 2.0098, -0.0464, -0.0855, -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\": 0.012, \"right_z\": 0.01, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Gripper is at table height but the knob still sits a few cm ahead of the jaws and slightly left in the wrist view. Advancing forward and a bit left so the knob sits between the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Rp6Uo4Sx1CgY5zkML3Sonv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Rp6Uo4Sx1CgY5zkML3Sonv"
}

{
  "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, 0.8051, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, -0.0174, 1.7409, 0.4053, 0.6998, -0.0349, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0018 left_pitch=-0.0152 left_roll=-0.0019 left_gripper=0.999 right_x=0.3788 right_y=0.0032 right_z=0.0016 right_yaw=0.011 right_pitch=-0.0788 right_roll=0.0088 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4838, 7.0496, 1.7949, -0.0708, 0.0073, -0.0122, 0.1026, -5.8598, 4.0957, 1.8974, -0.0024, -0.0122, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56afd8bfa1a5aee9027cfaf4485598372529571fdfd856c981b001a0ac311e6d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:645508978f3454c9d55797d0e0a3a82a38ac76ac44397611669db53c1067383a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d50ecbbbc2bb90ed879ef30ff6632ab8aeebd3440570f373e9233f0e859778d7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "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, -0.3817, -0.0216, -0.0414, 0.999, -0.02, 1.6764, 0.4305, 0.548, -0.0322, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1771 left_yaw=0.0018 left_pitch=-0.0145 left_roll=-0.0019 left_gripper=0.999 right_x=0.3721 right_y=0.0018 right_z=0.0032 right_yaw=0.006 right_pitch=-0.141 right_roll=0.0092 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4291, 7.0769, 1.707, -0.0366, -0.0171, -0.0073, -0.6085, -6.6256, 6.7897, 2.1123, -0.0269, -0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.012, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still just ahead of the fingertips; the arm only crept forward 7 mm, possibly the fingers are dragging on the table. Lifting slightly to 3 cm and pushing further forward to get the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011LhxtH6Eimyu7kJQdzKXen",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_011LhxtH6Eimyu7kJQdzKXen"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, -0.0174, 1.7412, 0.4038, 0.7113, -0.0349, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.0172 left_roll=-0.0019 left_gripper=0.999 right_x=0.3799 right_y=0.0032 right_z=0.0033 right_yaw=0.0106 right_pitch=-0.0692 right_roll=0.0092 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4427, 7.0632, 1.6972, -0.0269, -0.0122, -0.0122, 0.1162, -5.9966, 4.2872, 1.8242, 0.0366, -0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2acfc7a39bc40c3dbc36628ecd8ab215b5bb5e4cbfbc5641fc388d156aa68d6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5eec9b80c9906b3d7d3c1be287e0661672b9cf4e9ad5f4d772ac01575bb0df2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0670fa8c5f2cc81284fa7209d253f834cfe7ca47d9076e8b066ea9e445ecb370"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "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, 0.8051, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, -0.0174, 1.7409, 0.4053, 0.6998, -0.0349, -0.0162, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0018 left_pitch=-0.0152 left_roll=-0.0019 left_gripper=0.999 right_x=0.3788 right_y=0.0032 right_z=0.0016 right_yaw=0.011 right_pitch=-0.0788 right_roll=0.0088 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4838, 7.0496, 1.7949, -0.0708, 0.0073, -0.0122, 0.1026, -5.8598, 4.0957, 1.8974, -0.0024, -0.0122, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.01, \"right_z\": 0.07, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm is barely moving; the gripper appears to be resting on the table at z\\u22480 and is stuck. Lifting straight up to 7 cm first before advancing forward over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01S2qhMziU8ehTicM92gHrg7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01S2qhMziU8ehTicM92gHrg7"
}

{
  "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, 0.8093, 0.6041, -0.3801, -0.0216, -0.0418, 0.999, 0.0074, 1.5017, 0.4175, 0.524, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1758 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0022 left_gripper=0.999 right_x=0.3784 right_y=0.0113 right_z=0.056 right_yaw=0.0275 right_pitch=-0.0034 right_roll=0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.0598, 7.0359, 1.7998, -0.0415, -0.0366, -0.0073, 0.0615, -4.3966, 7.5966, 1.6288, 0.1441, 0.0952, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8116acb48f5c7542e927e210cbd751866493dcd7d624ff2dc5001abec210f24"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0d2c4efef1b2ca5ee3881b12e3d066402c7d5772cc4da2b8f146709bd347644"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b39bda08e1511e28eeeb27c75a1c03b903619c6be6cc6482cb109e50c6e3276"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.999, -0.0174, 1.7412, 0.4038, 0.7113, -0.0349, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.0172 left_roll=-0.0019 left_gripper=0.999 right_x=0.3799 right_y=0.0032 right_z=0.0033 right_yaw=0.0106 right_pitch=-0.0692 right_roll=0.0092 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4427, 7.0632, 1.6972, -0.0269, -0.0122, -0.0122, 0.1162, -5.9966, 4.2872, 1.8242, 0.0366, -0.0024, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.01, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Now hovering 5.6 cm up; the knob appears lower-center in the wrist view, between the finger tips but still a little ahead. Moving forward 3 cm and down to 3 cm so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012jixma6rEHLPLgmdQz9662",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_012jixma6rEHLPLgmdQz9662"
}

{
  "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, 0.8116, 0.6037, -0.3817, -0.0212, -0.0418, 0.999, 0.0078, 1.7168, 0.4747, 0.5877, -0.0315, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.999 right_x=0.39 right_y=0.0122 right_z=0.0107 right_yaw=0.0327 right_pitch=-0.0975 right_roll=0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.0872, 7.0359, 1.7265, -0.0366, -0.0513, -0.0122, -0.7043, -8.1983, 7.0906, 2.5568, -0.0562, -0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2d38611f962af0c7ca0d7b192bffdab591ce68a45b2ca86e7c32e4ca577a9d3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19c6d90dec8134c90129b139ce71da14c37086bebf21edd2524a7fa1cce7537a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea16bb6384ac47142f344f56e8a9d677c6e77c9372bf930c0b642510764f8d7f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "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, 0.8093, 0.6041, -0.3801, -0.0216, -0.0418, 0.999, 0.0074, 1.5017, 0.4175, 0.524, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1758 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0022 left_gripper=0.999 right_x=0.3784 right_y=0.0113 right_z=0.056 right_yaw=0.0275 right_pitch=-0.0034 right_roll=0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.0598, 7.0359, 1.7998, -0.0415, -0.0366, -0.0073, 0.0615, -4.3966, 7.5966, 1.6288, 0.1441, 0.0952, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.43, \"right_y\": 0.012, \"right_z\": 0.02, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm reached x=0.39 (undershooting the 0.41 target) and the knob still appears just ahead of the fingertips. Pushing the target forward another 2 cm at 2 cm height so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0126VAoqxDwR72XWDuQWAnSK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_0126VAoqxDwR72XWDuQWAnSK"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0063, 1.7443, 0.4793, 0.6441, -0.0353, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.999 right_x=0.3972 right_y=0.0123 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0638 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4564, 7.0222, 1.6825, -0.0415, -0.0464, -0.0073, -0.7316, -7.2, 6.0923, 2.0391, -0.0513, 0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe3acb40c3e861e5480f4c7481b4b7f1ad7cb033bad672c04a86beb6a224942e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f869e298d841bbcd0abce9a2a5f6379d30a493cb40ab8e1502e1819ef3b2c13"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7eac9d2e3c3a921ea85fc0ff178ab51bedc04dd706c9d0de7d383fbbbba283c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "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, 0.8116, 0.6037, -0.3817, -0.0212, -0.0418, 0.999, 0.0078, 1.7168, 0.4747, 0.5877, -0.0315, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0233 left_roll=-0.0023 left_gripper=0.999 right_x=0.39 right_y=0.0122 right_z=0.0107 right_yaw=0.0327 right_pitch=-0.0975 right_roll=0.0082 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.0872, 7.0359, 1.7265, -0.0366, -0.0513, -0.0122, -0.7043, -8.1983, 7.0906, 2.5568, -0.0562, -0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.012, \"right_z\": 0.015, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm keeps undershooting forward targets by ~3 cm (reached 0.397 for 0.43) and the knob is still ~3 cm ahead of the fingertips in the wrist view. Commanding a larger forward target of 0.46 to actually get the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JPj92kiovFz65LhP6hdrkz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JPj92kiovFz65LhP6hdrkz"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.0063, 1.7443, 0.4797, 0.6445, -0.0357, -0.02, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.024 left_roll=-0.0017 left_gripper=0.999 right_x=0.3974 right_y=0.0124 right_z=0.0134 right_yaw=0.0373 right_pitch=-0.0631 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.2923, 7.3641, 1.7167, -0.0757, -0.0317, -0.0122, -0.7043, -7.1863, 5.9829, 2.1465, -0.0562, -0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9828846bf015b825ea0d462db4f2583dbeb4b1d0dea486b9436d50f12a155808"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:565fb436f6e3b126222da1ff0f4b8901da6a33a1deb0fc641119820c0d5b0bf8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:64f2d7eb7387194004bb37c98604f7040f32944c1141b459d130c21fb669e616"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0063, 1.7443, 0.4793, 0.6441, -0.0353, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.002 left_pitch=-0.0233 left_roll=-0.0021 left_gripper=0.999 right_x=0.3972 right_y=0.0123 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0638 right_roll=0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4564, 7.0222, 1.6825, -0.0415, -0.0464, -0.0073, -0.7316, -7.2, 6.0923, 2.0391, -0.0513, 0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.012, \"right_z\": 0.02, \"right_pitch\": 0.35, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all this time\\u2014joint 2 seems to be at a limit (1.744 rad), so the arm can't extend further at this pose. Tipping the tool forward (positive pitch) to shift the fingertips forward toward the knob instead.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Qmu62BmmxFvwMdtd5jMYLo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Qmu62BmmxFvwMdtd5jMYLo"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8173, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0063, 2.1979, 0.4698, 1.4487, -0.046, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.002 left_pitch=-0.0282 left_roll=-0.002 left_gripper=0.999 right_x=0.4329 right_y=0.0144 right_z=0.0066 right_yaw=0.0446 right_pitch=0.2775 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4427, 7.0769, 1.6777, -0.0855, -0.0513, -0.0122, -0.7043, -7.241, 3.412, 1.8974, -0.022, 0.0513, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bb5ba778f21cb676477cce9971832f9d7994d08da16747cf9a82b138eae4d316"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79672645b2b8a767fb228058ca015c598617ba1a02c0e9a88759b43ad2b490f1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7dd7ec2b616f9d1649339f6ff0d30ce81f16fe09c1b7068f22f5b6e35c70544d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6041, -0.3809, -0.0216, -0.0414, 0.999, 0.0063, 1.7443, 0.4797, 0.6445, -0.0357, -0.02, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0018 left_pitch=-0.024 left_roll=-0.0017 left_gripper=0.999 right_x=0.3974 right_y=0.0124 right_z=0.0134 right_yaw=0.0373 right_pitch=-0.0631 right_roll=0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.2923, 7.3641, 1.7167, -0.0757, -0.0317, -0.0122, -0.7043, -7.1863, 5.9829, 2.1465, -0.0562, -0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"With the tool pitched forward, the knob now sits between the two fingertips at the bottom of the wrist view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GgaCTTHUdYA4hpdzRi5WNP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01GgaCTTHUdYA4hpdzRi5WNP"
}

{
  "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, 0.8196, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0071, 2.2093, 0.4721, 1.4754, -0.0498, -0.0162, 0.2364]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.002 left_pitch=-0.0305 left_roll=-0.0019 left_gripper=0.999 right_x=0.4342 right_y=0.0154 right_z=0.0088 right_yaw=0.0498 right_pitch=0.2951 right_roll=0.002 right_gripper=0.2364\nstate[joint_eff]: [-0.335, -1.5658, 7.0359, 1.6923, -0.0464, -0.0562, -0.0122, -0.1983, -9.0872, 1.8667, 1.619, -0.0171, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b8f855829a26217b2f56ae9e4714f3e29af600097469975011be8f92131104e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:074eb299dda6c8fe1c94f46215a44c904f6643936a4263deb6cf81c1a6ce8124"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:70bc599a0a46dbefe700582ae5443fd9d28474c8946bad99f418a9393e5307c7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8173, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0063, 2.1979, 0.4698, 1.4487, -0.046, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1732 left_yaw=0.002 left_pitch=-0.0282 left_roll=-0.002 left_gripper=0.999 right_x=0.4329 right_y=0.0144 right_z=0.0066 right_yaw=0.0446 right_pitch=0.2775 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4427, 7.0769, 1.6777, -0.0855, -0.0513, -0.0122, -0.7043, -7.241, 3.412, 1.8974, -0.022, 0.0513, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.08, \"right_pitch\": 0.1}, \"note\": \"The gripper closed to 0.24 with rising gripper effort, so the knob is grasped between the fingers. Lifting the piece up to 8 cm and leveling the tool before carrying it toward the board, which the top camera shows farther ahead (+x) of the right arm.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MXoKbvEky6Zo3bTBzhJoS8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01MXoKbvEky6Zo3bTBzhJoS8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8261, 0.6037, -0.3798, -0.0216, -0.0418, 0.999, 0.0082, 1.705, 0.5491, 0.7464, -0.0544, -0.0277, 0.2406]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.171 left_yaw=0.002 left_pitch=-0.0358 left_roll=-0.0018 left_gripper=0.999 right_x=0.4352 right_y=0.0168 right_z=0.0757 right_yaw=0.0596 right_pitch=0.1478 right_roll=-0.0004 right_gripper=0.2406\nstate[joint_eff]: [-0.0205, -1.5248, 7.0085, 1.7998, -0.0659, -0.0806, -0.0122, -0.3077, -8.5538, 7.4051, 1.8877, 0.0122, 0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa63f01cd5505c1428c001ac3f27f0c634f1ff809163affe42f0a94912054481"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1fb666efd8618d85e247511e930b4417237a716a58958c2bc7febb74b3999111"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb5035b669eea6b805b9782e83f55d843f755ffa1cd4ce940a091e7d5715adfd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "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, 0.8196, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.0071, 2.2093, 0.4721, 1.4754, -0.0498, -0.0162, 0.2364]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1726 left_yaw=0.002 left_pitch=-0.0305 left_roll=-0.0019 left_gripper=0.999 right_x=0.4342 right_y=0.0154 right_z=0.0088 right_yaw=0.0498 right_pitch=0.2951 right_roll=0.002 right_gripper=0.2364\nstate[joint_eff]: [-0.335, -1.5658, 7.0359, 1.6923, -0.0464, -0.0562, -0.0122, -0.1983, -9.0872, 1.8667, 1.619, -0.0171, -0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.53, \"right_y\": 0.017, \"right_z\": 0.08, \"right_pitch\": 0.1}, \"note\": \"The blue piece is lifted in the gripper; the top camera shows the white board with the circular groove further along the right arm's +x direction, roughly aligned in y. Carrying the piece forward toward the board at 8 cm height.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LhMwpQhg9A6RtFEeH67UnA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01LhMwpQhg9A6RtFEeH67UnA"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.999, 0.0086, 1.943, 0.952, 0.5301, -0.0578, -0.0349, 0.2406]\nstate[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.1691 left_yaw=0.002 left_pitch=-0.0431 left_roll=-0.0016 left_gripper=0.999 right_x=0.5212 right_y=0.0183 right_z=0.0764 right_yaw=0.0664 right_pitch=0.0965 right_roll=-0.0027 right_gripper=0.2406\nstate[joint_eff]: [-0.3624, -1.6479, 7.0632, 1.6874, -0.0464, -0.0708, -0.0122, -0.3624, -8.9915, 7.3641, 1.9072, -0.0024, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:430afbcf26c86abb73a446e9a7fe58ee6d20b109be1ab615737b36620fa4a3cd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be2948d883cd6d08b3a354771a6241c84e67db284988e95a075901b1b04b3a8a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a8d70e682e6853f47227235201aa7424836a67eb96829ad8854f921c85aee6f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8261, 0.6037, -0.3798, -0.0216, -0.0418, 0.999, 0.0082, 1.705, 0.5491, 0.7464, -0.0544, -0.0277, 0.2406]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.171 left_yaw=0.002 left_pitch=-0.0358 left_roll=-0.0018 left_gripper=0.999 right_x=0.4352 right_y=0.0168 right_z=0.0757 right_yaw=0.0596 right_pitch=0.1478 right_roll=-0.0004 right_gripper=0.2406\nstate[joint_eff]: [-0.0205, -1.5248, 7.0085, 1.7998, -0.0659, -0.0806, -0.0122, -0.3077, -8.5538, 7.4051, 1.8877, 0.0122, 0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_y\": 0.12, \"right_z\": 0.08, \"right_pitch\": 0.1}, \"note\": \"The top camera shows the board is actually to the left of the right arm (the arm's +y direction) and slightly behind the gripper's current position, not straight ahead. Moving the piece sideways in +y and back a bit to hover over the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_011F9nqwGGi16t7VZeDzV4n4",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_011F9nqwGGi16t7VZeDzV4n4"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.3164, 1.8446, 0.7769, 0.5381, 0.1833, 0.0799, 0.2406]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.458 right_y=0.1199 right_z=0.0574 right_yaw=0.1089 right_pitch=0.0368 right_roll=-0.0206 right_gripper=0.2406\nstate[joint_eff]: [-0.3761, -1.4154, 7.0359, 1.7265, -0.0024, -0.0562, -0.0122, 0.1846, -11.7128, 5.4085, 2.0293, 0.1734, 0.1587, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04fc23fe4be621b129377128f1f2fb7a52619b3dd325e7cc8a5a422e887d3587"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:22431b343c0986efc5af2911a8f24621640ef6010e42d0e26a7bc7818005450c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d27264af11154da20aaf5ec3746af277341ed6ad23ed32ecca2e2ecefa0f8ec8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.999, 0.0086, 1.943, 0.952, 0.5301, -0.0578, -0.0349, 0.2406]\nstate[eef_state]: left_x=0.2969 left_y=0.0014 left_z=0.1691 left_yaw=0.002 left_pitch=-0.0431 left_roll=-0.0016 left_gripper=0.999 right_x=0.5212 right_y=0.0183 right_z=0.0764 right_yaw=0.0664 right_pitch=0.0965 right_roll=-0.0027 right_gripper=0.2406\nstate[joint_eff]: [-0.3624, -1.6479, 7.0632, 1.6874, -0.0464, -0.0708, -0.0122, -0.3624, -8.9915, 7.3641, 1.9072, -0.0024, 0.022, 1.033]",
      "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\": 0.24, \"right_z\": 0.08, \"right_pitch\": 0.1}, \"note\": \"From the top camera, the right arm's +y maps to image-left and +x to image-up; the board is still ~50 px left and slightly below the held piece. Moving the piece further in +y (~12 cm) and slightly back to hover over the circular groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DazbxuaYCjXCPsZFDL9JaD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01DazbxuaYCjXCPsZFDL9JaD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.68, 1.8557, 0.8585, 0.4576, 0.4728, 0.2329, 0.2435]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.4159 right_y=0.2375 right_z=0.0755 right_yaw=0.15 right_pitch=0.0815 right_roll=-0.027 right_gripper=0.2435\nstate[joint_eff]: [-0.2667, -1.4974, 7.0359, 1.6777, -0.0757, -0.0806, -0.0122, 0.3214, -7.7197, 7.6239, 1.6825, 0.398, 0.1245, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b353110bb9749f10b60a3aa731b58fc961f0501c806712512ce86e9943a3ee59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:857343b23f62b8b6efbaddf88fb3d3f4d32b31fc431788ab54f058ee8459a5a2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e1ad39984d46cc3d4101ebf0fad70db0b8fba056008caafe1869ae2963f076c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.3164, 1.8446, 0.7769, 0.5381, 0.1833, 0.0799, 0.2406]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.458 right_y=0.1199 right_z=0.0574 right_yaw=0.1089 right_pitch=0.0368 right_roll=-0.0206 right_gripper=0.2406\nstate[joint_eff]: [-0.3761, -1.4154, 7.0359, 1.7265, -0.0024, -0.0562, -0.0122, 0.1846, -11.7128, 5.4085, 2.0293, 0.1734, 0.1587, 1.033]",
      "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\": 0.275, \"right_z\": 0.06, \"right_pitch\": 0.1}, \"note\": \"The wrist camera now shows the circular groove just left and slightly below the held piece, and the top camera confirms the board is a few cm further in +y. Shifting ~4 cm in +y and ~1.5 cm back, and lowering to 6 cm to line up over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y75W2iaGe4DYq3fBebP6FC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y75W2iaGe4DYq3fBebP6FC"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7792, 1.9335, 0.8707, 0.4629, 0.5369, 0.2665, 0.2436]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3943 right_y=0.2675 right_z=0.0489 right_yaw=0.1815 right_pitch=0.0496 right_roll=-0.0589 right_gripper=0.2436\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.7021, -0.0366, -0.0415, -0.0122, 0.253, -8.5538, 7.6376, 2.0098, 0.3492, 0.2027, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:378545ac03db440b785a32e90a6818f98a09ef3369874c8295751f365c04e238"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:618effa44c98407cd2ae0d823c028299d711baeb39c0cdcb183a0d1ba75fb9fe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5225f400694da4cafe51c843a02264e26050245122d9edee5c84d19eed154be8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.68, 1.8557, 0.8585, 0.4576, 0.4728, 0.2329, 0.2435]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.4159 right_y=0.2375 right_z=0.0755 right_yaw=0.15 right_pitch=0.0815 right_roll=-0.027 right_gripper=0.2435\nstate[joint_eff]: [-0.2667, -1.4974, 7.0359, 1.6777, -0.0757, -0.0806, -0.0122, 0.3214, -7.7197, 7.6239, 1.6825, 0.398, 0.1245, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.32, \"right_z\": 0.03, \"right_pitch\": 0.1}, \"note\": \"The wrist camera shows the groove still ~5 cm to the image-left (which is +y for this arm) and a bit ahead of the held piece. Moving 5 cm further in +y, 1.5 cm forward, and lowering to 3 cm to bring the piece just above the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WhgpyiXroiswz3uk84UxMX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01WhgpyiXroiswz3uk84UxMX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7971, 1.9434, 0.873, 0.4633, 0.5499, 0.2806, 0.2448]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3903 right_y=0.2725 right_z=0.046 right_yaw=0.1818 right_pitch=0.0482 right_roll=-0.0568 right_gripper=0.2448\nstate[joint_eff]: [-0.1709, -1.4974, 7.1863, 1.6777, -0.0611, -0.0415, -0.0122, -0.4444, -9.0462, 7.3231, 1.9414, 0.3834, 0.0415, 0.9353]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdaad71133fd13cad1fbda7da382a7f952c3764aa0ad0b4668e2f12fd59a7055"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0ffdaf1ad794c8976b434c4f0e3434a3c5d0d684865e76a04310568e52d689b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3af528a2a016372fdc4d2861b40adbb68c545d21273d0fc17fe4b0b1c85380e3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7792, 1.9335, 0.8707, 0.4629, 0.5369, 0.2665, 0.2436]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3943 right_y=0.2675 right_z=0.0489 right_yaw=0.1815 right_pitch=0.0496 right_roll=-0.0589 right_gripper=0.2436\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.7021, -0.0366, -0.0415, -0.0122, 0.253, -8.5538, 7.6376, 2.0098, 0.3492, 0.2027, 0.9597]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.3, \"right_z\": 0.03, \"right_yaw\": 0.2, \"right_pitch\": 0.05}, \"note\": \"The arm barely moved toward the last target (IK seems to be struggling holding yaw=0 with the base rotated); the groove is still ~4 cm to the +y side in the wrist view. Trying a smaller step with yaw relaxed to its current value to slide the piece over the groove and lower it.\"}",
        "name": "move_to"
      },
      "id": "toolu_011iH3AneEsh7r9rrF274Vaq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011iH3AneEsh7r9rrF274Vaq"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7971, 1.9434, 0.8734, 0.4633, 0.5499, 0.2806, 0.2455]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3904 right_y=0.2726 right_z=0.0461 right_yaw=0.1818 right_pitch=0.0485 right_roll=-0.0565 right_gripper=0.2455\nstate[joint_eff]: [-0.1846, -1.4291, 7.0085, 1.707, -0.022, -0.0757, -0.0122, -0.294, -8.9094, 7.0496, 1.9658, 0.3785, 0.0904, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:71b81a0348be8aef52c0e11ee9bd3d7c70dc7f5275c7f40930cddc7c9980952d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87633f3920a0862453859c6ddaae68cb13963183138fdc3452d8cfaee48ba8e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4235bf6ba58408ed9e0ac2a72df1eec423f210c299342d6e032cba58f6d307fd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7971, 1.9434, 0.873, 0.4633, 0.5499, 0.2806, 0.2448]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3903 right_y=0.2725 right_z=0.046 right_yaw=0.1818 right_pitch=0.0482 right_roll=-0.0568 right_gripper=0.2448\nstate[joint_eff]: [-0.1709, -1.4974, 7.1863, 1.6777, -0.0611, -0.0415, -0.0122, -0.4444, -9.0462, 7.3231, 1.9414, 0.3834, 0.0415, 0.9353]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.31, \"right_z\": 0.09, \"right_yaw\": 0.3, \"right_pitch\": 0.0}, \"note\": \"The arm is not moving at all toward low targets here\\u2014likely an IK/joint-limit stall at this reach and height. Lifting back up to 9 cm with more yaw to get a reachable configuration, then shifting the piece 4 cm in +y over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_018WEnANwRDisEvTqBos2AWo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_018WEnANwRDisEvTqBos2AWo"
}

{
  "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, 0.8391, 0.6029, -0.382, -0.0212, -0.0418, 0.999, 0.8131, 1.9316, 0.9375, 0.3691, 0.5224, 0.2726, 0.2489]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1666 left_yaw=0.0017 left_pitch=-0.0519 left_roll=-0.0017 left_gripper=0.999 right_x=0.3901 right_y=0.2893 right_z=0.0559 right_yaw=0.2243 right_pitch=0.0242 right_roll=-0.0608 right_gripper=0.2489\nstate[joint_eff]: [-0.2803, -1.935, 7.0906, 1.7363, -0.0171, -0.0366, -0.0122, 1.4701, -15.241, 9.1556, 2.1954, 0.1099, -0.1392, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fdf0994cfb7af9c6a1e1ffd3287f45e55bdfb8c03a9460f98dcc3d1643f86c8b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21dee0ff3564cf7673637c0f5d24bd87d9ef0c396533142f83a8fcadbf70339b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c31f9e44561efd1143b9b91541f7e5583f1c6918430a42f7cb2c0829497b88a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7971, 1.9434, 0.8734, 0.4633, 0.5499, 0.2806, 0.2455]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.999 right_x=0.3904 right_y=0.2726 right_z=0.0461 right_yaw=0.1818 right_pitch=0.0485 right_roll=-0.0565 right_gripper=0.2455\nstate[joint_eff]: [-0.1846, -1.4291, 7.0085, 1.707, -0.022, -0.0757, -0.0122, -0.294, -8.9094, 7.0496, 1.9658, 0.3785, 0.0904, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.33, \"right_z\": 0.02, \"right_yaw\": 0.3, \"right_pitch\": 0.0, \"right_gripper\": 0.25}, \"note\": \"Piece is still ~4 cm short of the groove in +y and the arm tracks slowly here with high shoulder effort. Making a final attempt to slide the piece over the groove and lower it to 2 cm.\"}",
        "name": "move_to"
      },
      "id": "toolu_013KciWoqaSvQsphBDiiZQxG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_013KciWoqaSvQsphBDiiZQxG"
}

{
  "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, 0.8417, 0.6018, -0.3817, -0.0216, -0.0422, 0.999, 0.8547, 2.067, 1.0027, 0.4068, 0.4999, 0.2619, 0.2513]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1654 left_yaw=0.0023 left_pitch=-0.0553 left_roll=-0.0017 left_gripper=0.999 right_x=0.3863 right_y=0.3204 right_z=0.0216 right_yaw=0.2896 right_pitch=-0.0106 right_roll=-0.0763 right_gripper=0.2513\nstate[joint_eff]: [-0.1299, -1.5385, 7.2957, 1.6679, -0.0562, -0.0464, -0.0122, 0.9915, -8.3761, 6.4068, 1.6874, 0.2662, 0.0366, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7d05117f6ba81fe497ec50e8f703393a552825084da2495e3c07e686dcf4d2f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:15e33b0d2155d5d298bce782dd8efc0ef71cff1e4216715a94d8403fd2f2f718"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:36c63a33da81aac65dc7b781ac0119ec6d00d8fbb3a1bbc002ab24586744d5b9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}