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, 0.7929, 0.6041, -0.379, -0.0219, -0.0376, 0.9996, -0.0185, 0.7918, 0.6094, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0022 right_z=0.184 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.3744, 10.3726, 1.8388, -0.0611, 0.2173, -0.0611, -0.6222, -1.1692, 9.7983, 1.7607, 0.0073, -0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9efa49f307aac0befabd7e10376d5eb2b08c6abcd24cafb50e4fcbbb7e51085d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:77fe873c347496198d7da45b79b28e43e3cb9ceff75292abf93b94c978f174f4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e5380ebd4b23e6615b1c6936907fade548fdca1dc854dfc387338f2e9cb7304"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "I'll start by moving the right arm toward the blue piece, which appears just ahead of the right gripper, and lower it partway to get a better look.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The blue round piece with its wooden knob sits roughly centered in the right wrist camera, slightly ahead of the gripper; the board with the circular groove lies farther toward the left arm. Moving the right gripper forward and down to hover above the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_019SknhfpQbEWQHaWMEDHhiA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019SknhfpQbEWQHaWMEDHhiA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6048, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.1633, 0.4358, 0.0601, -0.0269, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1788 left_yaw=0.0021 left_pitch=-0.008 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3322 right_y=0.0017 right_z=0.0838 right_yaw=0.0018 right_pitch=-0.1098 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.5385, 7.0085, 1.7314, -0.0171, 0.0073, -0.0171, -0.5675, -3.8906, 6.065, 1.9512, -0.0611, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:045428e76e7edda62c14cf0e4309689c6860c174a574e9a9b44e307f8d18d5ca"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:199408485886f1693c71e964e6c9571a367bdeb33049fb91e7f55b696ae26bed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19bc3af101034e7e4f624382dd6cfb740fa914c70457d2f2d43dcd2df294d04a"
      },
      "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, 0.7929, 0.6041, -0.379, -0.0219, -0.0376, 0.9996, -0.0185, 0.7918, 0.6094, -0.3756, -0.0231, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0022 right_z=0.184 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.3744, 10.3726, 1.8388, -0.0611, 0.2173, -0.0611, -0.6222, -1.1692, 9.7983, 1.7607, 0.0073, -0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.0, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now near the center of the wrist camera, slightly ahead of the open fingers. Lowering the gripper further and nudging forward so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MjgVzwaXh8SqnmJG6kxiEo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01MjgVzwaXh8SqnmJG6kxiEo"
}

{
  "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, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.5326, 0.3077, 0.5049, -0.0311, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1771 left_yaw=0.0021 left_pitch=-0.0137 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3351 right_y=0.0024 right_z=0.0032 right_yaw=0.0054 right_pitch=-0.1624 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4838, 7.1316, 1.707, -0.022, -0.0366, -0.0122, -0.6222, -6.5709, 5.0667, 2.1661, -0.0708, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d269f5802ef3e8035d7d7bbc8331291af90de98bba3b1af98702a0116486e61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7f336d16e68969b266f94498df6a1c603005a1ca4e19469303cbf80ed705df7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47d9ad944fc3d9ee8fef9c273a667ff82036ba40ad75a66c81cae459f35ca23a"
      },
      "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, 0.799, 0.6048, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.1633, 0.4358, 0.0601, -0.0269, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1788 left_yaw=0.0021 left_pitch=-0.008 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3322 right_y=0.0017 right_z=0.0838 right_yaw=0.0018 right_pitch=-0.1098 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.5385, 7.0085, 1.7314, -0.0171, 0.0073, -0.0171, -0.5675, -3.8906, 6.065, 1.9512, -0.0611, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.0, \"right_z\": 0.01, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Gripper is at table height but the knob is still a few centimeters ahead of the fingertips in the wrist view. Sliding forward so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_015mgQk8Qu6GZGNNgxVZoBNp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_015mgQk8Qu6GZGNNgxVZoBNp"
}

{
  "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, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.7226, 0.3237, 0.7868, -0.0353, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9995 right_x=0.363 right_y=0.0025 right_z=0.0003 right_yaw=0.0153 right_pitch=-0.0543 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.7021, -0.0611, -0.0317, -0.0122, -0.7726, -4.7932, 5.3812, 1.7265, -0.1099, 0.0611, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a6e596cfe52affcd8cd8a72842b054b5abdec0d4bccd2a56936ada600b515a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fec2314814767e782c9379b9cbfbc72d912388882211858fef2f8a17d21448f4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d187f28b181ea3d47d4453df75f378a10183365757f1f2761f327bbac204a048"
      },
      "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, 0.804, 0.6041, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.5326, 0.3077, 0.5049, -0.0311, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1771 left_yaw=0.0021 left_pitch=-0.0137 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3351 right_y=0.0024 right_z=0.0032 right_yaw=0.0054 right_pitch=-0.1624 right_roll=0.0087 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.4838, 7.1316, 1.707, -0.022, -0.0366, -0.0122, -0.6222, -6.5709, 5.0667, 2.1661, -0.0708, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.405, \"right_y\": 0.0, \"right_z\": 0.01, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still a few centimeters in front of the fingertips in the wrist camera; the gripper is essentially at table level. Advancing forward another 4 cm to bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WJ93WjcVRd1XA48apy6oF7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01WJ93WjcVRd1XA48apy6oF7"
}

{
  "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, -0.0418, 0.9995, -0.02, 1.7386, 0.3275, 0.82, -0.0452, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3673 right_y=0.0042 right_z=0.0027 right_yaw=0.0233 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3333, 7.0769, 1.6923, -0.0855, -0.0562, -0.0122, -0.8684, -5.4085, 4.8068, 1.956, -0.0122, 0.0806, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9325a9b8eb0cd3a9a7b2e9476683d55c48fac1791b23263210ce91683164cb26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:96493b4702595b221738802de7e44c9825c734caebdb3a28e08a66304e545878"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f48c3bf976e5927ebe7973e1540ab18ade0b1aea06dbe4323d86212ab18e174f"
      },
      "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, 0.807, 0.6041, -0.3809, -0.0216, -0.0414, 0.9995, -0.02, 1.7226, 0.3237, 0.7868, -0.0353, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9995 right_x=0.363 right_y=0.0025 right_z=0.0003 right_yaw=0.0153 right_pitch=-0.0543 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.4154, 7.0632, 1.7021, -0.0611, -0.0317, -0.0122, -0.7726, -4.7932, 5.3812, 1.7265, -0.1099, 0.0611, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm barely advanced last time (x only reached 0.367) and the knob is still ahead of the fingertips in the wrist view. Lifting slightly off the table and commanding a bigger forward step to get the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Xty6rjN3Dkn1rC7wm2ccKC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Xty6rjN3Dkn1rC7wm2ccKC"
}

{
  "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, 0.9995, -0.02, 1.7386, 0.3275, 0.82, -0.0452, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0021 left_pitch=-0.0164 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3673 right_y=0.0042 right_z=0.0027 right_yaw=0.0233 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.306, 7.0769, 1.7558, -0.0611, -0.0659, -0.0122, -0.8274, -5.3675, 4.9026, 2.0049, -0.0317, 0.022, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:db6cc476bdeb189f709d10262f13b4a48e4860894c2df25d354b875af3e089bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:076245f7a212835c8ee63b1726254075a9c071e7930e3db32a8454af3281d36a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:539931c4850aedd81417f5e4b8d34076871b8e9361e3d661bf1728336ffbcf51"
      },
      "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, -0.0418, 0.9995, -0.02, 1.7386, 0.3275, 0.82, -0.0452, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3673 right_y=0.0042 right_z=0.0027 right_yaw=0.0233 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3333, 7.0769, 1.6923, -0.0855, -0.0562, -0.0122, -0.8684, -5.4085, 4.8068, 1.956, -0.0122, 0.0806, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.0, \"right_z\": 0.06, \"right_pitch\": 0.25, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command\\u2014the pose appears stuck at x\\u22480.367 near the table. Raising the gripper higher and tipping the tool forward to give the IK an easier path to reach the knob, which is still ahead of the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Lo9aycsXXVDVufQK9FsqV1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Lo9aycsXXVDVufQK9FsqV1"
}

{
  "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, -0.3809, -0.0216, -0.0414, 0.9995, -0.0269, 1.821, 0.3897, 1.0416, -0.065, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4072 right_y=0.0041 right_z=0.0401 right_yaw=0.0378 right_pitch=0.1686 right_roll=-0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2513, 7.1453, 1.7167, -0.0757, -0.0513, -0.0122, -1.0325, -5.9145, 5.7641, 2.293, -0.1001, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e6a1508026111c91796b6f37ee0e607793c6ab7381a0923790d1c7244cd5c023"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31605681c47b03800d12661253dd62b0c40de532f2dd2cf332b8181f8efa0fff"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:999ccd1bafe4533628e2f84318c70155d3273d30e9194e7d1249fc4affb2ca6f"
      },
      "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, 0.807, 0.6041, -0.3805, -0.0216, -0.0414, 0.9995, -0.02, 1.7386, 0.3275, 0.82, -0.0452, -0.0265, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.0021 left_pitch=-0.0164 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3673 right_y=0.0042 right_z=0.0027 right_yaw=0.0233 right_pitch=-0.0331 right_roll=0.0034 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.306, 7.0769, 1.7558, -0.0611, -0.0659, -0.0122, -0.8274, -5.3675, 4.9026, 2.0049, -0.0317, 0.022, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.0, \"right_z\": 0.01, \"right_pitch\": 0.17, \"right_gripper\": 1.0}, \"note\": \"Now the knob appears between the two fingertips at the bottom of the wrist camera, with the gripper hovering about 4 cm above. Lowering straight down so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BeyQ6kmeJTsJHpwv929tXS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01BeyQ6kmeJTsJHpwv929tXS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8055, 0.6041, -0.3809, -0.0216, -0.0414, 0.9995, -0.0315, 1.9385, 0.4038, 1.1767, -0.0803, -0.0368, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1767 left_yaw=0.0021 left_pitch=-0.0152 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4148 right_y=0.0047 right_z=0.0296 right_yaw=0.0487 right_pitch=0.2006 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.0188, 7.0359, 1.7021, -0.0269, -0.0513, -0.0122, -1.1009, -7.3504, 2.5915, 2.0147, -0.0171, -0.0562, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ae49ddddf2bbfba11257a2b30dcdcdb4398005bcfb307862178ed713f7092cc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19ec686c265a8f1c51137c4436b49fa74cf400c031f4cb19f47316047861418a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a63977aec13911048f4ca8bad43e1891fe6a356d59c5e4055f1bed604d029018"
      },
      "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, 0.807, 0.6041, -0.3809, -0.0216, -0.0414, 0.9995, -0.0269, 1.821, 0.3897, 1.0416, -0.065, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0021 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4072 right_y=0.0041 right_z=0.0401 right_yaw=0.0378 right_pitch=0.1686 right_roll=-0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2513, 7.1453, 1.7167, -0.0757, -0.0513, -0.0122, -1.0325, -5.9145, 5.7641, 2.293, -0.1001, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.0, \"right_z\": -0.01, \"right_pitch\": 0.2, \"right_gripper\": 1.0}, \"note\": \"The knob is centered between the jaws in the wrist view but the gripper only descended to z\\u22480.03. Lowering further to table level so the fingers can close around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VMtVGBQxU4xgmYC3YUxJdZ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01VMtVGBQxU4xgmYC3YUxJdZ"
}

{
  "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, 0.8104, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, -0.0422, 2.1345, 0.4179, 1.3663, -0.0872, -0.0578, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1753 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4166 right_y=0.0014 right_z=-0.0002 right_yaw=0.0554 right_pitch=0.2084 right_roll=-0.0225 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.6068, 7.0632, 1.7118, -0.0806, -0.0659, -0.0122, -0.9231, -6.2154, 2.1538, 0.9744, -0.2173, 0.4127, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cff89536f5e75ddfbd015240aa70eb07ed8cc2572952dd98d7d2f40e9178922f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:578ac2bf4382727e209afbf43cb1694a089f585b0dfced08378ce7b9b5059c67"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de83c1c613124fef6bf3f16f76aae2e7f0e6a173db057e810ce0d4ad1144fa2e"
      },
      "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, 0.8055, 0.6041, -0.3809, -0.0216, -0.0414, 0.9995, -0.0315, 1.9385, 0.4038, 1.1767, -0.0803, -0.0368, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1767 left_yaw=0.0021 left_pitch=-0.0152 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4148 right_y=0.0047 right_z=0.0296 right_yaw=0.0487 right_pitch=0.2006 right_roll=-0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.0188, 7.0359, 1.7021, -0.0269, -0.0513, -0.0122, -1.1009, -7.3504, 2.5915, 2.0147, -0.0171, -0.0562, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The gripper is at table level with the wooden knob sitting between the two open fingers in the wrist camera. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_014b5ADiC4bT9vzNkv9EyKRd",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014b5ADiC4bT9vzNkv9EyKRd"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.1635, 0.4232, 1.4174, -0.0906, -0.0566, 0.9248]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4193 right_y=0.0009 right_z=0.0015 right_yaw=0.0561 right_pitch=0.2359 right_roll=-0.023 right_gripper=0.9248\nstate[joint_eff]: [-0.1026, -1.1966, 7.1043, 1.7509, -0.0562, -0.0659, -0.0122, -0.7316, -6.4205, 1.894, 1.7314, -0.1343, 0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d91d67f17f9ed990c666b2a769a67f14e898d134e31535e773d637127de1be7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5466ec3379056ae40439b941ff0276e62571f1c9bbe8f7844dd8ca9e005e6130"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:831cc684ddaa4cc51cd675371bea1539a5b8b37f596b125c71b514d2bdb24218"
      },
      "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, 0.8104, 0.6041, -0.3809, -0.0216, -0.0418, 0.9995, -0.0422, 2.1345, 0.4179, 1.3663, -0.0872, -0.0578, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1753 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4166 right_y=0.0014 right_z=-0.0002 right_yaw=0.0554 right_pitch=0.2084 right_roll=-0.0225 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.6068, 7.0632, 1.7118, -0.0806, -0.0659, -0.0122, -0.9231, -6.2154, 2.1538, 0.9744, -0.2173, 0.4127, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The gripper only closed slightly (0.92) because its speed is clamped; the knob is still between the fingers. Continuing to close the gripper on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XFR8eKuoMwNHZiJUckCvRR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XFR8eKuoMwNHZiJUckCvRR"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8112, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.1635, 0.4232, 1.4181, -0.0902, -0.0601, 0.9249]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4193 right_y=0.0009 right_z=0.0017 right_yaw=0.0577 right_pitch=0.2366 right_roll=-0.0265 right_gripper=0.9249\nstate[joint_eff]: [-0.1162, -1.3607, 7.0496, 1.6874, -0.0562, -0.0562, -0.0122, -0.2803, -7.9248, 2.0171, 1.8535, -0.0464, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8bea23639ed7c1eb15884beee596866b3fd524aa9d57aab39f22029ce443aadc"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b340ffa375713cc62b27b77a7be455d602427d6d87b4b7bb8df7d3eb78c1cf8b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d9fb29703d70445a169dc98db0c717327b6b4ba20791d91a0fe368da43bc359d"
      },
      "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, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.1635, 0.4232, 1.4174, -0.0906, -0.0566, 0.9248]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4193 right_y=0.0009 right_z=0.0015 right_yaw=0.0561 right_pitch=0.2359 right_roll=-0.023 right_gripper=0.9248\nstate[joint_eff]: [-0.1026, -1.1966, 7.1043, 1.7509, -0.0562, -0.0659, -0.0122, -0.7316, -6.4205, 1.894, 1.7314, -0.1343, 0.0513, 1.0281]\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_z\": 0.025, \"right_gripper\": 0.0}, \"note\": \"The gripper is stalled at 0.92 with rising effort, likely because the fingertips are pressing on the blue disc/table at z\\u22480. Raising the gripper about 2 cm so the jaws clear the disc surface while closing on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EWhq1Xxst4oqDB3fQhoYPw",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01EWhq1Xxst4oqDB3fQhoYPw"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.0529, 0.4103, 1.2892, -0.0902, -0.0601, 0.9249]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4161 right_y=0.001 right_z=0.0123 right_yaw=0.0569 right_pitch=0.2055 right_roll=-0.0233 right_gripper=0.9249\nstate[joint_eff]: [-0.1299, -1.4017, 7.1179, 1.7021, -0.0366, -0.0562, -0.0122, -0.335, -9.4291, 2.6872, 1.9316, -0.0659, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7330bc06444306f1de7f3e9157275805488f52c21d5163deb9bb85623f551a2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:85c4aec0b2be4cfea80a2e6f492b44fec4759246c50af024b7e5b24637341816"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b8b48f1fd8ae61f7a8be05d1383a1c9c20603b4f2bc6bd0eaa6cd14fc4e6c9f8"
      },
      "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, 0.8112, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.1635, 0.4232, 1.4181, -0.0902, -0.0601, 0.9249]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4193 right_y=0.0009 right_z=0.0017 right_yaw=0.0577 right_pitch=0.2366 right_roll=-0.0265 right_gripper=0.9249\nstate[joint_eff]: [-0.1162, -1.3607, 7.0496, 1.6874, -0.0562, -0.0562, -0.0122, -0.2803, -7.9248, 2.0171, 1.8535, -0.0464, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.03, \"right_gripper\": 0.0}, \"note\": \"Gripper still reads 0.92 and won't close; the knob appears between the fingers in the wrist camera. Lifting a little more so the fingertips are fully above the blue disc and commanding the gripper closed again.\"}",
        "name": "move_to"
      },
      "id": "toolu_011hSzCdEfWTetxF5c7hCggK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011hSzCdEfWTetxF5c7hCggK"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.9728, 0.4053, 1.1831, -0.0906, -0.0605, 0.9248]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4128 right_y=0.0012 right_z=0.0181 right_yaw=0.0569 right_pitch=0.1747 right_roll=-0.0203 right_gripper=0.9248\nstate[joint_eff]: [-0.212, -1.388, 7.2, 1.6923, -0.0415, -0.0708, -0.0122, -0.1026, -9.0872, 3.3162, 1.9267, -0.0513, -0.0366, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d931805a9f9fc83c9dd667f2ce33f47a2812bde1fd26935e5a31d43c914fb5a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:55411ddc45152714f67cb426ec76184b91688013b7a126317dc25e2008a26c0a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c21072982dccc2bca7b3039376e1a99f7a13dc8b47b92851c1133e40490a965d"
      },
      "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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 2.0529, 0.4103, 1.2892, -0.0902, -0.0601, 0.9249]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4161 right_y=0.001 right_z=0.0123 right_yaw=0.0569 right_pitch=0.2055 right_roll=-0.0233 right_gripper=0.9249\nstate[joint_eff]: [-0.1299, -1.4017, 7.1179, 1.7021, -0.0366, -0.0562, -0.0122, -0.335, -9.4291, 2.6872, 1.9316, -0.0659, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 1.0}, \"note\": \"The gripper appears stuck at 0.92 with elevated effort despite repeated close commands, while the knob sits between the fingertips in the wrist view. Briefly re-opening the gripper to reset it before attempting to close again.\"}",
        "name": "move_to"
      },
      "id": "toolu_0155cdMFpqjC5HTXxDJ2sunL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_0155cdMFpqjC5HTXxDJ2sunL"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.9678, 0.4053, 1.174, -0.0902, -0.0605, 0.9248]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4125 right_y=0.0012 right_z=0.018 right_yaw=0.0565 right_pitch=0.1705 right_roll=-0.02 right_gripper=0.9248\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.7607, -0.0513, -0.0659, -0.0122, -0.0342, -9.1692, 3.4393, 1.9805, -0.0366, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4213e39e574538cecd96c694b4245a8ad231e47c7a9723e9e86fd308a4bea85d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3fedba9c9beda9be7ceebf0248daeab54f7f0c93b74a6d2438bec8138a252656"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5e3d72bb1cf02638da83117bd075c89711a27eec34abca2e9ab5af689726daf4"
      },
      "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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.9728, 0.4053, 1.1831, -0.0906, -0.0605, 0.9248]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4128 right_y=0.0012 right_z=0.0181 right_yaw=0.0569 right_pitch=0.1747 right_roll=-0.0203 right_gripper=0.9248\nstate[joint_eff]: [-0.212, -1.388, 7.2, 1.6923, -0.0415, -0.0708, -0.0122, -0.1026, -9.0872, 3.3162, 1.9267, -0.0513, -0.0366, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.5}, \"note\": \"The gripper has not moved from 0.92 in either direction over several commands, though the knob is visibly between the fingertips in the wrist camera. Trying an intermediate close target of 0.5 in case the full-close command was being rejected.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JvjjjesUa3Erc7mzNECg1e",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01JvjjjesUa3Erc7mzNECg1e"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.9682, 0.4042, 1.1591, -0.0906, -0.0605, 0.9249]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4106 right_y=0.0013 right_z=0.0141 right_yaw=0.0565 right_pitch=0.1542 right_roll=-0.0182 right_gripper=0.9249\nstate[joint_eff]: [-0.253, -1.2376, 7.0222, 1.707, -0.0611, -0.0659, -0.0122, -0.2256, -7.1863, 3.0974, 1.9707, -0.0855, -0.0562, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c2f42fe93123f551a9a3eed82e6f23e80649a5f951f651961c754fa9aac20db"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6de451bf55ae3ee15685c4a43a17b633e80700efe814428aa1df7851a02ee3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:763683b7c417389826e70371dc92f4c1e94ae185062fb40cdf026103a1b4f8ea"
      },
      "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, 0.8116, 0.6037, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.9678, 0.4053, 1.174, -0.0902, -0.0605, 0.9248]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1748 left_yaw=0.0023 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4125 right_y=0.0012 right_z=0.018 right_yaw=0.0565 right_pitch=0.1705 right_roll=-0.02 right_gripper=0.9248\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.7607, -0.0513, -0.0659, -0.0122, -0.0342, -9.1692, 3.4393, 1.9805, -0.0366, -0.0757, 1.0281]\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_z\": 0.06, \"right_gripper\": 0.0}, \"note\": \"Gripper remains frozen at 0.92 with sustained effort, suggesting the fingers are jammed against the disc. Lifting the gripper well clear (6 cm) and commanding close to check whether the jaws move freely at all.\"}",
        "name": "move_to"
      },
      "id": "toolu_011DTXbEhufEXm4XG14ALFKB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011DTXbEhufEXm4XG14ALFKB"
}

{
  "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, -0.3809, -0.0216, -0.0418, 0.9995, -0.0444, 1.7374, 0.4057, 0.8856, -0.091, -0.0643, 0.9249]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1745 left_yaw=0.0023 left_pitch=-0.0229 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4027 right_y=0.0017 right_z=0.0426 right_yaw=0.0583 right_pitch=0.1133 right_roll=-0.0173 right_gripper=0.9249\nstate[joint_eff]: [-0.2256, -1.3607, 7.2137, 1.7216, -0.0562, -0.0806, -0.0122, -0.294, -8.1299, 6.5846, 1.8828, -0.0366, -0.022, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:47f8c0a1a4743c44fd7cc413520619bba795b971df58c20ea72dc2fa79aec95f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d4131884f83a65b75c70a41d005d6774468eb1be3a8e693e56bc8ab77094adc1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32ac4dcd328aa4edac57dfa3effe3cbac3237d1ad7a5583dfef78242aa515d0b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}