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, 0.7921, 0.6037, -0.3786, -0.0216, -0.0376, 0.9992, -0.0154, 0.7918, 0.6102, -0.3729, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1806 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.2963 right_y=0.002 right_z=0.1849 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.3744, 10.3863, 1.8339, -0.0513, 0.1978, -0.0952, -0.8274, -1.1966, 9.7709, 1.746, -0.0708, -0.0708, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d3ff26bfdb3a157d084f399b25a3c17882a5124a546fe84913146333e73e6d7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:426c13dba60129f6aa2d6aa40ccfd5d8ba9fec18259717e1779f446b9606bd0a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5ca8a122fe20836549abf58e125eb571275a13152e680723420ebfc9d9a4debd"
      },
      "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\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the round blue piece with its knob roughly straight ahead and slightly below image center. I move the right gripper forward and lower toward it to refine the alignment before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FJZ4qMaMwHjFr9BvhbYmVm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01FJZ4qMaMwHjFr9BvhbYmVm"
}

{
  "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, -0.0212, -0.0414, 0.9992, -0.0196, 1.2125, 0.4614, 0.0818, -0.0216, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0021 left_pitch=-0.0084 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3411 right_y=0.0007 right_z=0.083 right_yaw=-0.0006 right_pitch=-0.1148 right_roll=0.0046 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4017, 7.1043, 1.7363, -0.0171, -0.0415, -0.0171, 0.0068, -4.2325, 5.6957, 1.9707, -0.0659, -0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d97eaf466dda15516184a797faae2ab26a5c5a206022a179692fca4b60ab281b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:372697d00fd7db9cbe6941c4b048b53cdb8b5c4533c7d088be05e96a51830b2a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6819289624c6a12c6ecc7b0881b440882cc0ec1f52f5bba56d8723025c045bd0"
      },
      "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, 0.7921, 0.6037, -0.3786, -0.0216, -0.0376, 0.9992, -0.0154, 0.7918, 0.6102, -0.3729, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0014 left_z=0.1806 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9992 right_x=0.2963 right_y=0.002 right_z=0.1849 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.3744, 10.3863, 1.8339, -0.0513, 0.1978, -0.0952, -0.8274, -1.1966, 9.7709, 1.746, -0.0708, -0.0708, -0.0708]",
      "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\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob now sits just below image center between the open fingers in the right wrist camera. I move slightly further forward and lower so the fingertips straddle the knob just above the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TNrsx9CHz8E2GxSurGgn6h",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01TNrsx9CHz8E2GxSurGgn6h"
}

{
  "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, 0.8036, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, -0.0196, 1.5955, 0.3603, 0.5209, -0.025, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1772 left_yaw=0.0024 left_pitch=-0.0137 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3504 right_y=0.0011 right_z=0.0029 right_yaw=0.0023 right_pitch=-0.1597 right_roll=0.008 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5932, 7.2, 1.7021, -0.0757, -0.0464, -0.0171, -0.4171, -7.2, 4.9573, 2.2002, -0.0366, -0.0366, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87e8195b64bf9fcfb1b728bd6bb97645ea2bcf18a2b5cd780ed3e2fba631b6b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b7189c7915403962f6da00626e022bf1c457ee0346197d0fa9bfd606550ab02e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd93c10bc24b15d3f75eada7f17868da69508dff64bcc28b1289eb1f999e3755"
      },
      "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, -0.0212, -0.0414, 0.9992, -0.0196, 1.2125, 0.4614, 0.0818, -0.0216, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1787 left_yaw=0.0021 left_pitch=-0.0084 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3411 right_y=0.0007 right_z=0.083 right_yaw=-0.0006 right_pitch=-0.1148 right_roll=0.0046 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4017, 7.1043, 1.7363, -0.0171, -0.0415, -0.0171, 0.0068, -4.2325, 5.6957, 1.9707, -0.0659, -0.0415, -0.0708]",
      "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\": 0.012, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob appears above image center and slightly left of it in the right wrist camera, so it is a bit further forward than the fingertips. I advance ~3 cm forward and slightly left so the knob is between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UwN58DmHo4u9ZR2LREJsVT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UwN58DmHo4u9ZR2LREJsVT"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, 0.02, 1.7153, 0.4438, 0.59, -0.0082, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3791 right_y=0.0126 right_z=0.0016 right_yaw=0.0251 right_pitch=-0.1271 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5385, 7.3778, 1.6972, -0.0757, -0.0415, -0.0171, 0.1162, -5.4359, 5.9419, 1.917, 0.0806, 0.1343, -0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c6b135090cbbf13cb20d47dc4c9094df895b36c234a2a28584b5a010a9efbfac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b8c2bd08b760c844255902f43e70715caf8f2bdeb3ad0f10055c9f2651829efb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40d60885da94c178e69bc4f275877704e7d464ef31c2205f930f03bd45abd4a1"
      },
      "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, 0.8036, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, -0.0196, 1.5955, 0.3603, 0.5209, -0.025, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1772 left_yaw=0.0024 left_pitch=-0.0137 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3504 right_y=0.0011 right_z=0.0029 right_yaw=0.0023 right_pitch=-0.1597 right_roll=0.008 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5932, 7.2, 1.7021, -0.0757, -0.0464, -0.0171, -0.4171, -7.2, 4.9573, 2.2002, -0.0366, -0.0366, -0.0708]\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\": 0.012, \"right_z\": -0.01, \"right_gripper\": 1.0}, \"note\": \"The knob is still above the fingertips in the wrist view (fingertips are the dark shapes at bottom corners), meaning it's a few cm further forward. Advancing ~3 cm and lowering slightly so the knob ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SA4oLCwUg1UvC6TUvhG6QT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01SA4oLCwUg1UvC6TUvhG6QT"
}

{
  "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, 0.9991, 0.0242, 1.75, 0.4824, 0.588, -0.0048, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0024 left_pitch=-0.0171 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3893 right_y=0.0139 right_z=0.0009 right_yaw=0.03 right_pitch=-0.1252 right_roll=-0.0073 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3607, 7.2274, 1.7314, -0.0611, -0.0024, -0.0171, -0.7863, -5.0393, 4.3009, 1.7265, -0.0855, 0.0073, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f20d4403419b27bb55ecaabd95c76cd1946cc5956fe01d352a06c4beecb3f84c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4fb8508d48df92100cfa3d592d629e11d053647d3e94d0383ed537b466b3876c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d71d89192b2b7414830aa7d564d4a4442fd5fecb49be413397bf07532ab6786a"
      },
      "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, 0.8066, 0.6041, -0.3809, -0.0216, -0.0414, 0.9992, 0.02, 1.7153, 0.4438, 0.59, -0.0082, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3791 right_y=0.0126 right_z=0.0016 right_yaw=0.0251 right_pitch=-0.1271 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5385, 7.3778, 1.6972, -0.0757, -0.0415, -0.0171, 0.1162, -5.4359, 5.9419, 1.917, 0.0806, 0.1343, -0.0708]\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\": 0.425, \"right_y\": 0.014, \"right_z\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm only advanced ~1 cm last step and the knob still sits slightly ahead of the fingertips in the wrist view. Commanding a further ~3.5 cm forward to bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011RGf5JcnXhRX47QnS2tr4g",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_011RGf5JcnXhRX47QnS2tr4g"
}

{
  "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, -0.0418, 0.9991, 0.0238, 1.7535, 0.4824, 0.5961, -0.0048, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3901 right_y=0.0137 right_z=0.0012 right_yaw=0.0302 right_pitch=-0.1206 right_roll=-0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.1043, 1.7314, -0.0464, -0.0513, -0.0073, -0.7179, -5.7641, 4.3966, 1.6825, -0.105, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07564fb158d9d89bee770203d9afd7fe8badd0154ca2938f19d12b1530967ae3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f47524eebeeb6762217eebe384565b5bdb5713a90e9e5a2f70fe40f09592b56f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ab960e9262d3c4944980309a9e74589ee1bccae89a21839c98cea087429c6e7a"
      },
      "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, -0.3809, -0.0216, -0.0414, 0.9991, 0.0242, 1.75, 0.4824, 0.588, -0.0048, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0024 left_pitch=-0.0171 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3893 right_y=0.0139 right_z=0.0009 right_yaw=0.03 right_pitch=-0.1252 right_roll=-0.0073 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3607, 7.2274, 1.7314, -0.0611, -0.0024, -0.0171, -0.7863, -5.0393, 4.3009, 1.7265, -0.0855, 0.0073, -0.0708]",
      "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\": 0.014, \"right_z\": 0.05, \"right_pitch\": 0.2, \"right_gripper\": 1.0}, \"note\": \"The arm is not advancing in x at this low height (stuck at x\\u22480.39), and the top camera shows the piece still well ahead of the gripper. I lift slightly and pitch the tool forward to reach further along x toward the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TrV2SrQooH5zj8LKRaFek5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01TrV2SrQooH5zj8LKRaFek5"
}

{
  "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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0238, 1.8633, 0.4942, 0.9333, -0.0059, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=0.0026 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4276 right_y=0.0148 right_z=0.0328 right_yaw=0.0314 right_pitch=0.1186 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.4017, 7.0496, 1.7118, -0.0464, -0.022, -0.0073, -0.6906, -6.4752, 5.5043, 2.1709, -0.0952, -0.0513, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:67d656634195f1032b928272c21f728c5875c4c4a7e3aaa5a62cff5d65db3c71"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e834c173b9d66014930b158f60d2c64c3405d5275a898952b0825e5435ca714"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:45d97190a33033b638a61ca5619a837cf111d59e3f428f4342f48a23bf062fe5"
      },
      "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, -0.3809, -0.0216, -0.0418, 0.9991, 0.0238, 1.7535, 0.4824, 0.5961, -0.0048, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0171 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3901 right_y=0.0137 right_z=0.0012 right_yaw=0.0302 right_pitch=-0.1206 right_roll=-0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 7.1043, 1.7314, -0.0464, -0.0513, -0.0073, -0.7179, -5.7641, 4.3966, 1.6825, -0.105, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.014, \"right_z\": -0.005, \"right_pitch\": 0.12, \"right_gripper\": 1.0}, \"note\": \"The knob now sits at bottom center of the wrist view, directly between the two fingertips. I descend ~4 cm so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BQh7Ru9YAXxcsT38UmroFs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BQh7Ru9YAXxcsT38UmroFs"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0212, -0.0418, 0.9992, 0.0242, 2.0445, 0.5117, 1.0992, -0.0044, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1757 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4336 right_y=0.0149 right_z=0.0009 right_yaw=0.0395 right_pitch=0.1208 right_roll=-0.026 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.388, 7.0359, 1.6972, -0.0513, -0.0611, -0.0073, -0.1299, -6.8581, 3.3436, 0.8571, -0.3297, 0.6227, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fc1ead912ae2b2494c441ea7251b4da32116c46d7827a053d1492176d5269c3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0071ee1cc4c10f9deb0f96d395578872547cfa04bc2b85433ce01b6750870045"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1cd775c44f4aeef409b943034ea0bd996fed9d391e6719ed368eb365e27afa0c"
      },
      "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, 0.8078, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0238, 1.8633, 0.4942, 0.9333, -0.0059, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.176 left_yaw=0.0026 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4276 right_y=0.0148 right_z=0.0328 right_yaw=0.0314 right_pitch=0.1186 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.4017, 7.0496, 1.7118, -0.0464, -0.022, -0.0073, -0.6906, -6.4752, 5.5043, 2.1709, -0.0952, -0.0513, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.435, \"right_y\": 0.014, \"right_z\": -0.015, \"right_gripper\": 0.0}, \"note\": \"The knob is centered between the fingertips at the bottom of the wrist view. I lower a further 1.5 cm and close the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KfV9jyqHKoYNiWkGmNU6tW",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01KfV9jyqHKoYNiWkGmNU6tW"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9992, 0.0219, 2.0647, 0.5217, 1.1461, -0.0116, -0.0265, 0.012]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4394 right_y=0.0153 right_z=0.006 right_yaw=0.0399 right_pitch=0.1575 right_roll=-0.0173 right_gripper=0.012\nstate[joint_eff]: [-0.3487, -1.3333, 7.0769, 1.7216, -0.0611, -0.0366, -0.0171, -0.1162, -7.2274, 2.9607, 1.6728, -0.0024, 0.0611, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c476c3b5d4791694d9c35c7f82ebd329d2236f276dda0c5d0ce74962f895f5c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf90e14adcf23c1ec00f982230b37eab9cb7ab258dbf4133b955f02558000592"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6473e12201ce18e9c56f9920f8089364a2b601256ba7fe9f64678917eca89d39"
      },
      "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, 0.8089, 0.6041, -0.3809, -0.0212, -0.0418, 0.9992, 0.0242, 2.0445, 0.5117, 1.0992, -0.0044, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1757 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4336 right_y=0.0149 right_z=0.0009 right_yaw=0.0395 right_pitch=0.1208 right_roll=-0.026 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.388, 7.0359, 1.6972, -0.0513, -0.0611, -0.0073, -0.1299, -6.8581, 3.3436, 0.8571, -0.3297, 0.6227, -0.0659]\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\": 0.47, \"right_y\": 0.015, \"right_z\": 0.04, \"right_pitch\": 0.15, \"right_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.012) without catching anything; the wrist camera shows the knob still ~3-4 cm ahead of the closed fingertips. I reopen, lift, and move forward about 3 cm to get over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QYDrRxEMThLV8bCvvmZ1hY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01QYDrRxEMThLV8bCvvmZ1hY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0219, 1.9945, 0.6331, 0.9104, -0.0235, -0.0357, 0.995]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4601 right_y=0.0178 right_z=0.0181 right_yaw=0.0547 right_pitch=0.1034 right_roll=-0.0194 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.3607, 7.1316, 1.7314, -0.0269, -0.0611, -0.0171, -0.5949, -11.2752, 6.065, 1.8339, 0.0855, 0.0904, -0.0757]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e7a0b56f7202d5bdeb502598813da69b38f1faa46295fa8033b3a534807682b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e54de2ca1de91a219b9cabb0746388f82e810486e35adb28e62c2977461ae360"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:40d12edcf2d6233da79b464a60147525f6e1b7ffe5052a56471da6215edc689b"
      },
      "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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9992, 0.0219, 2.0647, 0.5217, 1.1461, -0.0116, -0.0265, 0.012]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4394 right_y=0.0153 right_z=0.006 right_yaw=0.0399 right_pitch=0.1575 right_roll=-0.0173 right_gripper=0.012\nstate[joint_eff]: [-0.3487, -1.3333, 7.0769, 1.7216, -0.0611, -0.0366, -0.0171, -0.1162, -7.2274, 2.9607, 1.6728, -0.0024, 0.0611, 1.0134]\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\": 0.478, \"right_y\": 0.018, \"right_z\": -0.012, \"right_pitch\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The knob now appears at the very bottom center of the wrist view between both fingertips, closer than last attempt. I descend to table height with a small extra forward offset so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FRQ6VTE4rQMjnPJHvTcapj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01FRQ6VTE4rQMjnPJHvTcapj"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8085, 0.6041, -0.3817, -0.0216, -0.0418, 0.9991, 0.0219, 2.0796, 0.6907, 0.9524, -0.028, -0.0376, 0.9987]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4753 right_y=0.019 right_z=0.0083 right_yaw=0.0597 right_pitch=0.1179 right_roll=-0.0197 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.1009, 7.0496, 1.6777, -0.0855, -0.0708, -0.0073, -0.3897, -8.4718, 3.0838, 1.7265, -0.022, -0.0122, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:530e81442805478aec1dc598b0802d6a54e30c237fc28bec2824b6a6895626e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:66d9ff2f973f030bdee37d905d8191ed294b5aeeb224aa450577e0ab5729e187"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:07fcad310541aa5fba995ae2b616dec48833e114988e6f60ce3f52ba85d1be9c"
      },
      "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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0219, 1.9945, 0.6331, 0.9104, -0.0235, -0.0357, 0.995]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4601 right_y=0.0178 right_z=0.0181 right_yaw=0.0547 right_pitch=0.1034 right_roll=-0.0194 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.3607, 7.1316, 1.7314, -0.0269, -0.0611, -0.0171, -0.5949, -11.2752, 6.065, 1.8339, 0.0855, 0.0904, -0.0757]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.478, \"right_y\": 0.019, \"right_z\": -0.02, \"right_gripper\": 0.0}, \"note\": \"The knob is now squarely between the two fingertips at the bottom of the wrist view. I lower to the minimum z and close the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TSmHWvJXcKc3Sxh2H4QLDo",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01TSmHWvJXcKc3Sxh2H4QLDo"
}

{
  "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, -0.0212, -0.0418, 0.9991, 0.0219, 2.112, 0.6975, 0.9863, -0.028, -0.0452, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.0229 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4777 right_y=0.019 right_z=0.0034 right_yaw=0.0638 right_pitch=0.1263 right_roll=-0.027 right_gripper=0.9306\nstate[joint_eff]: [-0.3214, -1.6889, 7.2547, 1.6825, -0.0317, -0.0611, -0.0073, -0.3214, -10.906, 3.3846, 1.58, -0.0366, 0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a21d8537ee7c37cb1be0e4fbe770d7691fcc342c8be019b65b3ea73bcb6e8d12"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:13f6a8b224a5565e41aecde68eea81111d0d07f650ec834dff92e2b5aa50a2e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e3efd9e92269f78f94ab8fc482d8c6a0b739ed820fdb678a169038af236819d"
      },
      "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, 0.8085, 0.6041, -0.3817, -0.0216, -0.0418, 0.9991, 0.0219, 2.0796, 0.6907, 0.9524, -0.028, -0.0376, 0.9987]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1757 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4753 right_y=0.019 right_z=0.0083 right_yaw=0.0597 right_pitch=0.1179 right_roll=-0.0197 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.1009, 7.0496, 1.6777, -0.0855, -0.0708, -0.0073, -0.3897, -8.4718, 3.0838, 1.7265, -0.022, -0.0122, -0.149]\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\": 0.478, \"right_y\": 0.019, \"right_z\": -0.02, \"right_gripper\": 0.0}, \"note\": \"The gripper only reached 0.93 (steps were clamped) while the knob is between the fingers in the wrist view. I re-issue the close command to actually grip the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_016mxucwNuruwk5Pxp9BjcsR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_016mxucwNuruwk5Pxp9BjcsR"
}

{
  "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, 0.9991, 0.0219, 2.1826, 0.7059, 1.1225, -0.028, -0.0463, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9991 right_x=0.4856 right_y=0.0192 right_z=0.0045 right_yaw=0.0649 right_pitch=0.2002 right_roll=-0.0313 right_gripper=0.9306\nstate[joint_eff]: [-0.1983, -1.1282, 7.3641, 1.6874, -0.0659, -0.0415, -0.0122, -0.3897, -6.6667, 4.0957, 1.3553, -0.0269, -0.0269, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a42654fd9c774c655260938a9e71c8debe633daa96a81a4c7a91bb9a5bbe48b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61d9584b8fb903c7d1ccba5b5994311f65d3e75037e0b97ec8d85f0d1d27f92d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0de588e635745f4dfb472556bb557664810710abd00c184d91ee739227030631"
      },
      "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, 0.8127, 0.6041, -0.3809, -0.0212, -0.0418, 0.9991, 0.0219, 2.112, 0.6975, 0.9863, -0.028, -0.0452, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0014 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.0229 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4777 right_y=0.019 right_z=0.0034 right_yaw=0.0638 right_pitch=0.1263 right_roll=-0.027 right_gripper=0.9306\nstate[joint_eff]: [-0.3214, -1.6889, 7.2547, 1.6825, -0.0317, -0.0611, -0.0073, -0.3214, -10.906, 3.3846, 1.58, -0.0366, 0.0415, 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_x\": 0.486, \"right_y\": 0.019, \"right_z\": 0.02, \"right_gripper\": 0.0}, \"note\": \"The gripper is jammed at 0.93 with elevated gripper effort, likely because the fingertips are pressing onto the piece's surface. I raise the tool ~1.5 cm so the fingers clear the piece and can close on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W6y2Z2ceYVu22zVoGAmCH7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01W6y2Z2ceYVu22zVoGAmCH7"
}

{
  "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, 0.9991, 0.0219, 2.1853, 0.7055, 1.132, -0.028, -0.0463, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9991 right_x=0.486 right_y=0.0192 right_z=0.0053 right_yaw=0.065 right_pitch=0.2067 right_roll=-0.0316 right_gripper=0.9306\nstate[joint_eff]: [-0.1436, -1.3333, 7.1043, 1.7216, -0.0513, -0.022, -0.0073, -0.3761, -10.8923, 3.5077, 1.663, -0.0513, -0.0366, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23fa78f03b1c98dcd3988940e69373feaf0e4d0fe7befa43dcd6b7016cb79a2d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79077404fa869f2fc5de12b5c99eb3f51c84a856860ca558cad850157ac937f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1cd21fa4061e712281df8a69f02605de704d9a8fb39813145cf7d73f3bfceeb4"
      },
      "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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0219, 2.1826, 0.7059, 1.1225, -0.028, -0.0463, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9991 right_x=0.4856 right_y=0.0192 right_z=0.0045 right_yaw=0.0649 right_pitch=0.2002 right_roll=-0.0313 right_gripper=0.9306\nstate[joint_eff]: [-0.1983, -1.1282, 7.3641, 1.6874, -0.0659, -0.0415, -0.0122, -0.3897, -6.6667, 4.0957, 1.3553, -0.0269, -0.0269, 1.0281]\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_x\": 0.47, \"right_y\": 0.019, \"right_z\": 0.09, \"right_pitch\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The arm is not moving at all (z stuck at 0.005, gripper stalled at 0.93 with elevated effort), suggesting the fingers are wedged against the piece. I lift well clear to 9 cm and fully open to reset and re-observe.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AazLXgvbquWJVCdbvz9Y2z",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01AazLXgvbquWJVCdbvz9Y2z"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6029, -0.3805, -0.0212, -0.0418, 0.9991, 0.0219, 1.7714, 0.7269, 0.7296, -0.0284, -0.0574, 0.9306]\nstate[eef_state]: left_x=0.2961 left_y=0.0014 left_z=0.1726 left_yaw=0.0023 left_pitch=-0.0294 left_roll=-0.0031 left_gripper=0.9991 right_x=0.482 right_y=0.0192 right_z=0.1128 right_yaw=0.0716 right_pitch=0.2393 right_roll=-0.0437 right_gripper=0.9306\nstate[joint_eff]: [-0.1436, -1.8667, 7.2957, 1.79, -0.0024, -0.0513, -0.0073, -0.2667, -6.0103, 6.0103, 1.2918, -0.0171, 0.0171, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc3c2332807089d88f847835d6a507cc4dcee3a28415ca0a4ea266ac3284580b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a819f1730b6bbaf3e4b9246d1cc8f28b4a573e74f2bab864ce29eca944c75bfa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6db93c282419469944aa414b387d8bb6f8d423a5718ceb87e2329314441c962"
      },
      "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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0219, 2.1853, 0.7055, 1.132, -0.028, -0.0463, 0.9306]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0229 left_roll=-0.003 left_gripper=0.9991 right_x=0.486 right_y=0.0192 right_z=0.0053 right_yaw=0.065 right_pitch=0.2067 right_roll=-0.0316 right_gripper=0.9306\nstate[joint_eff]: [-0.1436, -1.3333, 7.1043, 1.7216, -0.0513, -0.022, -0.0073, -0.3761, -10.8923, 3.5077, 1.663, -0.0513, -0.0366, 1.0281]\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_x\": 0.47, \"right_y\": 0.019, \"right_z\": 0.1, \"right_pitch\": 0.0, \"right_gripper\": 0.5}, \"note\": \"The gripper reading has been frozen at 0.93 with constant effort through open and close commands, so I'm testing whether it responds at all by commanding a half-open position while leveling the tool pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PTFgdRiNEWEnVns7s5FvX5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01PTFgdRiNEWEnVns7s5FvX5"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6025, -0.3809, -0.0216, -0.0418, 0.9991, 0.0223, 1.7344, 0.8173, 0.3389, -0.0277, -0.065, 0.9306]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0028 left_gripper=0.9991 right_x=0.466 right_y=0.0189 right_z=0.0799 right_yaw=0.074 right_pitch=-0.0237 right_roll=-0.0376 right_gripper=0.9306\nstate[joint_eff]: [-0.2393, -1.5248, 7.0632, 1.7265, -0.0806, -0.0659, -0.0073, -0.1299, -11.0564, 8.3761, 1.7509, 0.0513, -0.0855, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2dd4c9826c95fb6f1f6ecae0bd65e276ca2a3141640e6341fa8eec9aae38e9bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0aa2789e9f5c3dbd6200a3edb93b735459ee4b84a8e3ed953bb66d6418420562"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:993f0ed7c4a3494f173a9549dbf7aa1c8d283d6543cc5dda1ffc67f9dbd526a7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}