adhoc - adhoc_93e6a606.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 394.7 s
total steps: 111

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

partial

Grader notes

trial 02

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTop camera shows the blue puzzle piece a short distance in front of the right gripper, roughly centered laterally; the board with the circular groove is farther ahead. Moving the right arm forward and down to hover above the piece so I can check alignment with the wrist camera.

move_to

right_x0.3800right_y0.0000right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.0204, 0.7914, 0.6037, -0.3779, -0.0212, -0.0383, 0.9994, -0.0151, 0.7906, 0.6083, -0.3767, -0.0216, -0.0128, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2955 right_y=0.0029 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6222, -1.2923, 10.3316, 1.8388, -0.0171, 0.1783, -0.0757, -1.0188, -1.1145, 9.935, 1.7998, -0.0757, -0.0513, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.0, "right_z": 0.12, "right_gripper": 1.0}, "note": "Top camera shows the blue puzzle piece a short distance in front of the right gripper, roughly centered laterally; the board with the circular groove is farther ahead. Moving the right arm forward and down to hover above the piece so I can check alignment with the wrist camera."})

tool

executing move_to over 7 steps (0.7s)

step 7

assistant

agent noteWrist camera shows the blue piece with its orange knob between the fingertips at the bottom of the image, slightly left; top camera shows the gripper nearly over the piece. Lowering toward the knob with a small forward/left correction.

move_to

right_x0.3700right_y0.0100right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0212, -0.0418, 0.9993, -0.0193, 1.2655, 0.5549, 0.0422, -0.028, -0.0158, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.1791 left_yaw=0.0022 left_pitch=-0.0084 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3593 right_y=0.0016 right_z=0.0967 right_yaw=0.0031 right_pitch=-0.1094 right_roll=0.0033 right_gripper=0.9991 state[joint_eff]: [-0.0342, -1.5932, 6.9812, 1.7167, -0.022, -0.0269, -0.0171, -0.1299, -5.1487, 8.1709, 2.083, -0.0659, -0.0659, -0.1001] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.01, "right_z": 0.05, "right_gripper": 1.0}, "note": "Wrist camera shows the blue piece with its orange knob between the fingertips at the bottom of the image, slightly left; top camera shows the gripper nearly over the piece. Lowering toward the knob with a small forward/left correction."})

tool

executing move_to over 4 steps (0.4s)

step 11

assistant

agent noteWrist camera shows the knob slightly left of center and a bit ahead of the fingertips; the tool has pitched back somewhat. Shifting left/forward a little, straightening pitch, and descending so the knob sits between the jaws.

move_to

right_x0.3750right_y0.0250right_z0.0300right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3805, -0.0212, -0.0418, 0.9993, -0.0032, 1.3617, 0.5022, 0.1459, -0.0269, -0.0124, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1782 left_yaw=0.0022 left_pitch=-0.011 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3572 right_y=0.0072 right_z=0.0625 right_yaw=0.0164 right_pitch=-0.1544 right_roll=0.0062 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.4838, 7.2137, 1.746, -0.0562, -0.0757, -0.0122, 0.0479, -5.2308, 6.5573, 1.9219, 0.105, 0.0073, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.025, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Wrist camera shows the knob slightly left of center and a bit ahead of the fingertips; the tool has pitched back somewhat. Shifting left/forward a little, straightening pitch, and descending so the knob sits between the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 17

assistant

agent noteThe arm did not move on the last command (held at z=0.063, pitch -0.15), likely an IK hold. Retrying with a smaller step downward and slightly left without commanding pitch.

move_to

right_x0.3600right_y0.0200right_z0.0450right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1497, -0.0273, -0.0124, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3579 right_y=0.0077 right_z=0.0634 right_yaw=0.0178 right_pitch=-0.1502 right_roll=0.0063 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.2923, 7.2, 1.746, -0.0708, -0.0562, -0.0122, -0.1162, -5.094, 6.5162, 1.8974, 0.1001, 0.0659, -0.1001] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.02, "right_z": 0.045, "right_gripper": 1.0}, "note": "The arm did not move on the last command (held at z=0.063, pitch -0.15), likely an IK hold. Retrying with a smaller step downward and slightly left without commanding pitch."})

tool

executing move_to over 2 steps (0.2s)

step 19

assistant

agent noteThe right arm is stuck at z≈0.063 and isn't responding to downward commands; the tool has pitched back -0.15 rad. Backing up slightly and resetting orientation to test whether the arm moves again before re-approaching.

move_to

right_x0.3500right_y0.0100right_z0.0900right_pitch0.0000right_yaw0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1501, -0.0273, -0.0124, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.358 right_y=0.0077 right_z=0.0635 right_yaw=0.0178 right_pitch=-0.1498 right_roll=0.0063 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6972, -0.0855, -0.0366, -0.0122, -0.0205, -5.1897, 6.653, 1.9512, 0.0611, 0.0024, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.01, "right_z": 0.09, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right arm is stuck at z\u22480.063 and isn't responding to downward commands; the tool has pitched back -0.15 rad. Backing up slightly and resetting orientation to test whether the arm moves again before re-approaching."})

tool

executing move_to over 5 steps (0.5s)

step 24

assistant

agent noteThe arm responded and is now at z=0.073. The wrist camera shows the knob slightly left of center and a little ahead of the fingertips. Moving forward/left a couple of centimeters and lowering to z=0.05 to get the jaws around the knob.

move_to

right_x0.3650right_y0.0250right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8017, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.0216, 1.2556, 0.4057, 0.2192, -0.0067, -0.0082, 0.9991] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0122 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3441 right_y=0.0122 right_z=0.0732 right_yaw=0.0216 right_pitch=-0.0718 right_roll=-0.004 right_gripper=0.9991 state[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.7607, -0.0904, -0.0659, -0.0122, 0.253, -5.094, 6.2564, 1.9658, 0.0952, 0.1099, -0.1001] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.025, "right_z": 0.05, "right_gripper": 1.0}, "note": "The arm responded and is now at z=0.073. The wrist camera shows the knob slightly left of center and a little ahead of the fingertips. Moving forward/left a couple of centimeters and lowering to z=0.05 to get the jaws around the knob."})

tool

executing move_to over 2 steps (0.2s)

step 26

assistant

agent noteThe arm stopped at z≈0.063 again; effort on the elbow dropped, suggesting the fingertips may be contacting the table or piece. Wrist camera shows the knob still left of the jaw center, so shifting 1.5 cm left while holding height to center the knob between the jaws.

move_to

right_x0.3600right_y0.0350right_z0.0550right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.0551, 1.3647, 0.4168, 0.3256, 0.0151, -0.0006, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0126 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3576 right_y=0.0207 right_z=0.0628 right_yaw=0.0326 right_pitch=-0.0633 right_roll=-0.0105 right_gripper=0.9991 state[joint_eff]: [-0.2393, -0.9641, 7.0496, 1.6874, -0.0855, -0.0562, -0.0122, 0.4171, -4.9026, 5.7231, 1.3504, 0.149, 0.1441, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.035, "right_z": 0.055, "right_gripper": 1.0}, "note": "The arm stopped at z\u22480.063 again; effort on the elbow dropped, suggesting the fingertips may be contacting the table or piece. Wrist camera shows the knob still left of the jaw center, so shifting 1.5 cm left while holding height to center the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteWrist camera now shows the orange knob centered laterally between the jaws but slightly ahead of the fingertips; z is 0.042. Moving forward 1.5 cm and lowering to z=0.03 so the jaws bracket the knob before closing.

move_to

right_x0.3700right_y0.0300right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0212, -0.0418, 0.9993, 0.0811, 1.4315, 0.4099, 0.3496, 0.025, 0.0105, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0022 left_pitch=-0.0187 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3545 right_y=0.028 right_z=0.0424 right_yaw=0.0441 right_pitch=-0.1127 right_roll=-0.0091 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.2923, 7.159, 1.7167, -0.0171, -0.0464, -0.0122, 0.3897, -6.2291, 5.7915, 1.9414, 0.1392, -0.0024, -0.1001] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.03, "right_gripper": 1.0}, "note": "Wrist camera now shows the orange knob centered laterally between the jaws but slightly ahead of the fingertips; z is 0.042. Moving forward 1.5 cm and lowering to z=0.03 so the jaws bracket the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteThe arm rose slightly instead of descending, and the knob is still ahead of the fingertips in the wrist view. Moving farther forward (x=0.385) with pitch level and z=0.04 to bring the jaws around the knob.

move_to

right_x0.3850right_y0.0300right_z0.0400right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9992 state[joint_eff]: [-0.3487, -1.265, 7.159, 1.7021, -0.0464, -0.0366, -0.0122, 0.294, -5.7231, 6.1197, 1.6923, 0.1294, 0.0024, -0.1001] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.03, "right_z": 0.04, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm rose slightly instead of descending, and the knob is still ahead of the fingertips in the wrist view. Moving farther forward (x=0.385) with pitch level and z=0.04 to bring the jaws around the knob."})

tool

executing move_to over 3 steps (0.3s)

step 33

assistant

agent noteThe arm did not move at all on the last command, so the target seems to be rejected by IK. Lifting slightly to z=0.07 while stepping forward 2 cm, since upward moves have been accepted, before descending again onto the knob.

move_to

right_x0.3750right_y0.0300right_z0.0700right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.306, 7.0359, 1.7411, -0.0708, -0.0562, -0.0122, 0.294, -5.8051, 6.1197, 1.6923, 0.105, 0.0073, -0.1001] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.03, "right_z": 0.07, "right_gripper": 1.0}, "note": "The arm did not move at all on the last command, so the target seems to be rejected by IK. Lifting slightly to z=0.07 while stepping forward 2 cm, since upward moves have been accepted, before descending again onto the knob."})

tool

executing move_to over 2 steps (0.2s)

step 35

assistant

agent noteThe right arm is frozen: joint positions are identical across the last three observations despite commands. Previously a command with all rotations explicitly set to 0 unstuck it, so I'm repeating that with a retreat to z=0.10 above the piece.

move_to

right_x0.3700right_y0.0300right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.3333, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122, 0.1573, -5.9145, 5.9282, 1.6923, 0.1392, 0.0269, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right arm is frozen: joint positions are identical across the last three observations despite commands. Previously a command with all rotations explicitly set to 0 unstuck it, so I'm repeating that with a retreat to z=0.10 above the piece."})

tool

executing move_to over 4 steps (0.4s)

step 39

assistant

agent noteThe arm moved only slightly (z 0.051→0.060); the wrist camera shows the knob centered but a few centimeters ahead of the fingertips. Commanding 3.5 cm forward and down to z=0.045 with level orientation to bracket the knob.

move_to

right_x0.3900right_y0.0300right_z0.0450right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0967, 1.3663, 0.4328, 0.2802, 0.046, 0.0216, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3551 right_y=0.0299 right_z=0.0596 right_yaw=0.0361 right_pitch=-0.0935 right_roll=-0.0124 right_gripper=0.9992 state[joint_eff]: [-0.212, -0.8274, 7.0085, 1.7265, -0.0659, -0.0317, -0.0122, 0.5402, -6.8718, 9.7983, 2.0635, 0.149, 0.1538, -0.1001] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.03, "right_z": 0.045, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm moved only slightly (z 0.051\u21920.060); the wrist camera shows the knob centered but a few centimeters ahead of the fingertips. Commanding 3.5 cm forward and down to z=0.045 with level orientation to bracket the knob."})

tool

executing move_to over 4 steps (0.4s)

step 43

assistant

agent noteThe gripper descended to z=0.018 and the wrist camera shows the orange knob sitting between the two jaw tips at the bottom of the frame. Closing the gripper to grasp the knob.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1043, 1.5944, 0.437, 0.4629, 0.0704, 0.038, 0.9991] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3679 right_y=0.0296 right_z=0.0182 right_yaw=0.0138 right_pitch=-0.1334 right_roll=-0.0179 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.6342, 7.0085, 1.6972, -0.0562, -0.022, -0.0122, -0.3487, -6.7624, 5.9145, 2.1563, 0.0269, 0.0757, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper descended to z=0.018 and the wrist camera shows the orange knob sitting between the two jaw tips at the bottom of the frame. Closing the gripper to grasp the knob."})

tool

executing move_to over 10 steps (1.0s)

step 53

assistant

agent noteThe gripper closed fully (0.01) without the knob — the wrist camera shows the knob just to the left of the closed jaws. Reopening and shifting ~2.5 cm in +y to center the knob between the jaws.

move_to

right_x0.3800right_y0.0550right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1047, 1.6096, 0.4374, 0.5617, 0.0704, 0.0414, 0.0111] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0312 right_z=0.0322 right_yaw=0.013 right_pitch=-0.0499 right_roll=-0.0075 right_gripper=0.0111 state[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.707, -0.0757, -0.0611, -0.0122, -0.1436, -6.2564, 5.8735, 2.0684, 0.1099, 0.0611, 0.9304] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.055, "right_z": 0.03, "right_gripper": 1.0}, "note": "The gripper closed fully (0.01) without the knob \u2014 the wrist camera shows the knob just to the left of the closed jaws. Reopening and shifting ~2.5 cm in +y to center the knob between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 63

assistant

agent noteWrist camera now shows the knob centered laterally between the open jaws, slightly ahead of the fingertips. Moving 1.5 cm forward and down to z=0.018 so the jaws straddle the knob.

move_to

right_x0.3900right_y0.0550right_z0.0180

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1986, 1.6173, 0.437, 0.5545, 0.131, 0.0826, 0.9948] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3763 right_y=0.0558 right_z=0.0285 right_yaw=0.0335 right_pitch=-0.0606 right_roll=-0.0106 right_gripper=0.9948 state[joint_eff]: [-0.3624, -1.3333, 7.0496, 1.7118, -0.0611, -0.0757, -0.0122, 0.3487, -5.053, 5.5453, 1.8486, 0.1783, 0.1197, -0.0317] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.055, "right_z": 0.018}, "note": "Wrist camera now shows the knob centered laterally between the open jaws, slightly ahead of the fingertips. Moving 1.5 cm forward and down to z=0.018 so the jaws straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 65

assistant

agent noteWrist camera shows the knob centered between the jaws but still slightly ahead of the fingertips. Advancing 2 cm forward at knob height so the jaws surround the knob before closing.

move_to

right_x0.4000right_y0.0550right_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3801, -0.0216, -0.0418, 0.9993, 0.1925, 1.6752, 0.4549, 0.5808, 0.1268, 0.078, 0.996] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0217 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0552 right_z=0.0188 right_yaw=0.0332 right_pitch=-0.0746 right_roll=-0.0141 right_gripper=0.996 state[joint_eff]: [-0.3487, -1.2513, 7.1043, 1.7265, -0.0366, -0.0513, -0.0171, -0.6222, -6.3248, 5.5726, 1.8388, 0.0415, -0.0317, 0.1001] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.055, "right_z": 0.015}, "note": "Wrist camera shows the knob centered between the jaws but still slightly ahead of the fingertips. Advancing 2 cm forward at knob height so the jaws surround the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 67

assistant

agent noteFingertips are at table height (z≈0.006) and the wrist camera shows the knob centered between the jaw tips at the bottom of the frame. Closing the gripper to attempt the grasp on the knob.

move_to

right_gripper0.0000right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1883, 1.734, 0.4839, 0.5793, 0.115, 0.0704, 0.9961] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3858 right_y=0.0565 right_z=0.0064 right_yaw=0.0427 right_pitch=-0.1066 right_roll=-0.0178 right_gripper=0.9961 state[joint_eff]: [-0.3624, -1.5795, 7.2684, 1.7021, -0.0513, -0.0562, -0.0122, -1.1145, -6.3111, 6.5709, 1.7118, 0.105, -0.0562, -0.0024] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0, "right_z": 0.01}, "note": "Fingertips are at table height (z\u22480.006) and the wrist camera shows the knob centered between the jaw tips at the bottom of the frame. Closing the gripper to attempt the grasp on the knob."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe gripper closed to 0.24 with rising effort and the wrist camera shows the knob clamped between the jaw tips — the piece is grasped. Lifting and carrying it forward toward the board, whose circular groove sits about 16 cm ahead of the piece's original spot in the top camera.

move_to

right_x0.5500right_y0.0550right_z0.0600right_gripper0.2400

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1848, 1.7382, 0.4889, 0.5762, 0.1081, 0.0669, 0.24] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3867 right_y=0.0566 right_z=0.0058 right_yaw=0.0469 right_pitch=-0.1095 right_roll=-0.0166 right_gripper=0.24 state[joint_eff]: [-0.1709, -1.3744, 7.0496, 1.6874, -0.0659, -0.0806, -0.0122, -0.1162, -8.253, 4.3829, 1.453, 0.0415, -0.0464, 1.033] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.55, "right_y": 0.055, "right_z": 0.06, "right_gripper": 0.24}, "note": "The gripper closed to 0.24 with rising effort and the wrist camera shows the knob clamped between the jaw tips \u2014 the piece is grasped. Lifting and carrying it forward toward the board, whose circular groove sits about 16 cm ahead of the piece's original spot in the top camera."})

tool

executing move_to over 13 steps (1.3s)

step 90

assistant

agent noteThe piece is held by the knob and lifted; in the top camera the board's circular groove is at the same forward distance as the piece's original spot (~x 0.39) and about 16 cm further in +y (image-left). Carrying the piece over the groove and lowering it to just above the board.

move_to

right_x0.3900right_y0.2200right_z0.0250right_gripper0.2400

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8192, 0.6037, -0.3813, -0.0216, -0.0422, 0.9993, 0.1188, 2.0441, 1.224, 0.1535, 0.0475, 0.0174, 0.24] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0023 left_gripper=0.9993 right_x=0.5419 right_y=0.0599 right_z=0.0565 right_yaw=0.059 right_pitch=-0.1067 right_roll=-0.0175 right_gripper=0.24 state[joint_eff]: [-0.2667, -1.6205, 7.0359, 1.7118, -0.0562, -0.0659, -0.0122, -0.9641, -10.5641, 7.7197, 1.5409, -0.0317, -0.0269, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.22, "right_z": 0.025, "right_gripper": 0.24}, "note": "The piece is held by the knob and lifted; in the top camera the board's circular groove is at the same forward distance as the piece's original spot (~x 0.39) and about 16 cm further in +y (image-left). Carrying the piece over the groove and lowering it to just above the board."})

tool

executing move_to over 14 steps (1.4s)

step 104

assistant

agent noteWrist camera shows the piece held over the board with the circular groove about one piece-width to the image-left (+y) and slightly forward. Shifting ~6.5 cm in +y and 2 cm forward while lifting slightly to clear the board edge so the piece is centered above the groove.

move_to

right_x0.4100right_y0.2850right_z0.0300right_gripper0.2400

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3809, -0.0212, -0.0422, 0.9993, 0.6674, 1.9156, 0.8539, 0.2668, 0.4274, 0.3515, 0.24] state[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1724 left_yaw=0.0024 left_pitch=-0.032 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3909 right_y=0.2194 right_z=0.0112 right_yaw=0.1065 right_pitch=-0.1481 right_roll=-0.0391 right_gripper=0.24 state[joint_eff]: [0.0205, -1.4427, 7.0906, 1.707, -0.0269, -0.0806, -0.0122, 0.253, -11.3299, 4.8479, 1.4921, 0.4957, 0.1343, 1.0232] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.285, "right_z": 0.03, "right_gripper": 0.24}, "note": "Wrist camera shows the piece held over the board with the circular groove about one piece-width to the image-left (+y) and slightly forward. Shifting ~6.5 cm in +y and 2 cm forward while lifting slightly to clear the board edge so the piece is centered above the groove."})

tool

executing move_to over 6 steps (0.6s)

step 110

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8223, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.762, 2.0186, 1.1156, 0.0811, 0.4686, 0.4053, 0.24] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1719 left_yaw=0.0026 left_pitch=-0.0339 left_roll=-0.0019 left_gripper=0.9993 right_x=0.4058 right_y=0.2819 right_z=0.0281 right_yaw=0.1377 right_pitch=-0.1533 right_roll=-0.0381 right_gripper=0.24 state[joint_eff]: [-0.0479, -1.3333, 7.241, 1.6777, -0.022, -0.0611, -0.0122, 0.4581, -9.388, 7.1043, 1.3651, 0.4518, 0.2466, 1.0281] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "function": {
      "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
      "name": "move_to",
      "parameters": {
        "properties": {
          "note": {
            "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
            "type": "string"
          },
          "targets": {
            "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
            "type": "object"
          }
        },
        "required": [
          "targets",
          "note"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Declare the task finished. The trial ends; a scorer judges success.",
      "name": "done",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "summary": {
            "type": "string"
          }
        },
        "required": [
          "summary",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  },
  {
    "function": {
      "description": "Stop trying; the task cannot be completed. The trial ends.",
      "name": "give_up",
      "parameters": {
        "properties": {
          "hindsight": {
            "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
            "type": "string"
          },
          "reason": {
            "type": "string"
          }
        },
        "required": [
          "reason",
          "hindsight"
        ],
        "type": "object"
      }
    },
    "type": "function"
  }
]

call 0 attempt 0 · /chat/completions · status 200 · 16.6 s

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, 0.7914, 0.6037, -0.3779, -0.0212, -0.0383, 0.9994, -0.0151, 0.7906, 0.6083, -0.3767, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2955 right_y=0.0029 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.2923, 10.3316, 1.8388, -0.0171, 0.1783, -0.0757, -1.0188, -1.1145, 9.935, 1.7998, -0.0757, -0.0513, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e0e156cf7e3facaf08f59bc6aa098fb29f0c547691d7b2c84208198d0abefb6d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25cfd38490bc3588cdc91d0872bc5f448b4b83ac83bf050c43ea6e391e46ee24"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc327d57f5291a36e4e43a1eb923b2d26d7faca9fb222456f9c22e34903199e4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 13.92 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.0, \"right_z\": 0.12, \"right_gripper\": 1.0}, \"note\": \"Top camera shows the blue puzzle piece a short distance in front of the right gripper, roughly centered laterally; the board with the circular groove is farther ahead. Moving the right arm forward and down to hover above the piece so I can check alignment with the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CkALgeEcdjt6Lg7XiuXHSx",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01CkALgeEcdjt6Lg7XiuXHSx"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0212, -0.0418, 0.9993, -0.0193, 1.2655, 0.5549, 0.0422, -0.028, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.1791 left_yaw=0.0022 left_pitch=-0.0084 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3593 right_y=0.0016 right_z=0.0967 right_yaw=0.0031 right_pitch=-0.1094 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5932, 6.9812, 1.7167, -0.022, -0.0269, -0.0171, -0.1299, -5.1487, 8.1709, 2.083, -0.0659, -0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef47ebb63e179a69a53cdb58d42f5450d55e199c4deba23d522f9730d0f089e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:51850241396c2e11341a9ed81c0305ad10ef543db5ae0fd5748c498a28739089"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:afd5bd926a9e31fca8bc430bc0cc34172f20c069cdb36cd4bfba6655a291dcd0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 15.93 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7914, 0.6037, -0.3779, -0.0212, -0.0383, 0.9994, -0.0151, 0.7906, 0.6083, -0.3767, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2955 right_y=0.0029 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.2923, 10.3316, 1.8388, -0.0171, 0.1783, -0.0757, -1.0188, -1.1145, 9.935, 1.7998, -0.0757, -0.0513, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.37, \"right_y\": 0.01, \"right_z\": 0.05, \"right_gripper\": 1.0}, \"note\": \"Wrist camera shows the blue piece with its orange knob between the fingertips at the bottom of the image, slightly left; top camera shows the gripper nearly over the piece. Lowering toward the knob with a small forward/left correction.\"}",
        "name": "move_to"
      },
      "id": "toolu_013WL4ZTT31W7gJGRk9Y1uzf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_013WL4ZTT31W7gJGRk9Y1uzf"
}

{
  "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, 0.8001, 0.6041, -0.3805, -0.0212, -0.0418, 0.9993, -0.0032, 1.3617, 0.5022, 0.1459, -0.0269, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1782 left_yaw=0.0022 left_pitch=-0.011 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3572 right_y=0.0072 right_z=0.0625 right_yaw=0.0164 right_pitch=-0.1544 right_roll=0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.4838, 7.2137, 1.746, -0.0562, -0.0757, -0.0122, 0.0479, -5.2308, 6.5573, 1.9219, 0.105, 0.0073, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:88d57afd6095d8a945d4952cbed78feee7059d1148fb353c2238dc07f31d4f43"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd6bef35c47a04d4f5c1812dba9054e03814a89a547fbbb1db58cc69d181bb59"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27ed10c7f73da4404de18b65e21602b79554dfabe79cb1105a434153cfe0de78"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 14.4 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0212, -0.0418, 0.9993, -0.0193, 1.2655, 0.5549, 0.0422, -0.028, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0014 left_z=0.1791 left_yaw=0.0022 left_pitch=-0.0084 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3593 right_y=0.0016 right_z=0.0967 right_yaw=0.0031 right_pitch=-0.1094 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.5932, 6.9812, 1.7167, -0.022, -0.0269, -0.0171, -0.1299, -5.1487, 8.1709, 2.083, -0.0659, -0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.025, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Wrist camera shows the knob slightly left of center and a bit ahead of the fingertips; the tool has pitched back somewhat. Shifting left/forward a little, straightening pitch, and descending so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011SmPa4jnEWKZ8sxGkuTpkP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_011SmPa4jnEWKZ8sxGkuTpkP"
}

{
  "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, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1497, -0.0273, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3579 right_y=0.0077 right_z=0.0634 right_yaw=0.0178 right_pitch=-0.1502 right_roll=0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 7.2, 1.746, -0.0708, -0.0562, -0.0122, -0.1162, -5.094, 6.5162, 1.8974, 0.1001, 0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:951fd5199834debd387188b2486e45ea3538e2780773b081c6bfe50ca3ab8b62"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cb35cc21557cc6f39a53c8c61fab2eefd693c79d8b5677230aa25372b4d2428b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a6c52401f46ef16714ef671354f5b41454be325c52276bf71fdcb8cd8816bab5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 13.78 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3805, -0.0212, -0.0418, 0.9993, -0.0032, 1.3617, 0.5022, 0.1459, -0.0269, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1782 left_yaw=0.0022 left_pitch=-0.011 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3572 right_y=0.0072 right_z=0.0625 right_yaw=0.0164 right_pitch=-0.1544 right_roll=0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.4838, 7.2137, 1.746, -0.0562, -0.0757, -0.0122, 0.0479, -5.2308, 6.5573, 1.9219, 0.105, 0.0073, -0.1001]\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\": 0.36, \"right_y\": 0.02, \"right_z\": 0.045, \"right_gripper\": 1.0}, \"note\": \"The arm did not move on the last command (held at z=0.063, pitch -0.15), likely an IK hold. Retrying with a smaller step downward and slightly left without commanding pitch.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HLrfiMfJ6UxRCrrX7eSGzc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01HLrfiMfJ6UxRCrrX7eSGzc"
}

{
  "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, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1501, -0.0273, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.358 right_y=0.0077 right_z=0.0635 right_yaw=0.0178 right_pitch=-0.1498 right_roll=0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6972, -0.0855, -0.0366, -0.0122, -0.0205, -5.1897, 6.653, 1.9512, 0.0611, 0.0024, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3e6a5751cd70674d1b5e52122821db4ef7e279ae67063125697afadf9dfa1661"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0f76ea0c10047b1ef7d4d42d3e9c5e5a50a57e7631eca0861a6460bbb41ec2bf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a87082e26f640c184798ac24fe4a221575d54eb5e69e12e36507a00318f6542"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 19.05 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1497, -0.0273, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3579 right_y=0.0077 right_z=0.0634 right_yaw=0.0178 right_pitch=-0.1502 right_roll=0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 7.2, 1.746, -0.0708, -0.0562, -0.0122, -0.1162, -5.094, 6.5162, 1.8974, 0.1001, 0.0659, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.35, \"right_y\": 0.01, \"right_z\": 0.09, \"right_pitch\": 0.0, \"right_yaw\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The right arm is stuck at z\\u22480.063 and isn't responding to downward commands; the tool has pitched back -0.15 rad. Backing up slightly and resetting orientation to test whether the arm moves again before re-approaching.\"}",
        "name": "move_to"
      },
      "id": "toolu_013X5wYq1YtgxppbZDCjTaUy",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_013X5wYq1YtgxppbZDCjTaUy"
}

{
  "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, 0.8017, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.0216, 1.2556, 0.4057, 0.2192, -0.0067, -0.0082, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0122 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3441 right_y=0.0122 right_z=0.0732 right_yaw=0.0216 right_pitch=-0.0718 right_roll=-0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.7607, -0.0904, -0.0659, -0.0122, 0.253, -5.094, 6.2564, 1.9658, 0.0952, 0.1099, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a6a7e60af4e81ef3b258cd17a962d058de3dffd5da2481a9124d125f6bf681a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:270ab8c5e81856662074473716c604dd4d18e49126337ec608d988adb899acf9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d078fea89cca5034f8053c370bbfc46362f31f5496aa7fb88f181d9ae4e654cf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 23.63 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8005, 0.6041, -0.3805, -0.0216, -0.0418, 0.9993, -0.0021, 1.3617, 0.5026, 0.1501, -0.0273, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1781 left_yaw=0.0025 left_pitch=-0.0114 left_roll=-0.0024 left_gripper=0.9993 right_x=0.358 right_y=0.0077 right_z=0.0635 right_yaw=0.0178 right_pitch=-0.1498 right_roll=0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2786, 7.0359, 1.6972, -0.0855, -0.0366, -0.0122, -0.0205, -5.1897, 6.653, 1.9512, 0.0611, 0.0024, -0.1001]\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\": 0.365, \"right_y\": 0.025, \"right_z\": 0.05, \"right_gripper\": 1.0}, \"note\": \"The arm responded and is now at z=0.073. The wrist camera shows the knob slightly left of center and a little ahead of the fingertips. Moving forward/left a couple of centimeters and lowering to z=0.05 to get the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012peXYyQtcLQ1Q1ivgoiR1T",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_012peXYyQtcLQ1Q1ivgoiR1T"
}

{
  "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, 0.8013, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.0551, 1.3647, 0.4168, 0.3256, 0.0151, -0.0006, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0126 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3576 right_y=0.0207 right_z=0.0628 right_yaw=0.0326 right_pitch=-0.0633 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.9641, 7.0496, 1.6874, -0.0855, -0.0562, -0.0122, 0.4171, -4.9026, 5.7231, 1.3504, 0.149, 0.1441, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea8bfb697eae408e2b312a17bf513d61ffbd546fe2fce6f00ab7018668b2b0dd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea0676f4219faf0baa735fcfb5ae523d39ba5ad7df196319cd3a685eff7b7f88"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae472e39736389b72cd01331d95550926f25ca2f07769ea393fbede91c439aa8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 7.972 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8017, 0.6041, -0.3801, -0.0216, -0.0418, 0.9993, 0.0216, 1.2556, 0.4057, 0.2192, -0.0067, -0.0082, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0122 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3441 right_y=0.0122 right_z=0.0732 right_yaw=0.0216 right_pitch=-0.0718 right_roll=-0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.7607, -0.0904, -0.0659, -0.0122, 0.253, -5.094, 6.2564, 1.9658, 0.0952, 0.1099, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.035, \"right_z\": 0.055, \"right_gripper\": 1.0}, \"note\": \"The arm stopped at z\\u22480.063 again; effort on the elbow dropped, suggesting the fingertips may be contacting the table or piece. Wrist camera shows the knob still left of the jaw center, so shifting 1.5 cm left while holding height to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01734TB4uMxy6P8YYuK29LwK",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01734TB4uMxy6P8YYuK29LwK"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0212, -0.0418, 0.9993, 0.0811, 1.4315, 0.4099, 0.3496, 0.025, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0022 left_pitch=-0.0187 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3545 right_y=0.028 right_z=0.0424 right_yaw=0.0441 right_pitch=-0.1127 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.2923, 7.159, 1.7167, -0.0171, -0.0464, -0.0122, 0.3897, -6.2291, 5.7915, 1.9414, 0.1392, -0.0024, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:063acb6bb746c96cb404b3ba9036c5b07e74a0df17b16fea8be1abb9da6cd4a6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c326610b8e34d0ac9d4ea460f0f4f453b0b2d1cb054ede836214f1d28ecdf95"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8b0dd53ea58d0929936d799dc96c486d681ed916be0d4a5e9c32e972b8788e58"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 12.54 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3809, -0.0216, -0.0418, 0.9993, 0.0551, 1.3647, 0.4168, 0.3256, 0.0151, -0.0006, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0126 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3576 right_y=0.0207 right_z=0.0628 right_yaw=0.0326 right_pitch=-0.0633 right_roll=-0.0105 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.9641, 7.0496, 1.6874, -0.0855, -0.0562, -0.0122, 0.4171, -4.9026, 5.7231, 1.3504, 0.149, 0.1441, -0.1001]\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\": 0.37, \"right_y\": 0.03, \"right_z\": 0.03, \"right_gripper\": 1.0}, \"note\": \"Wrist camera now shows the orange knob centered laterally between the jaws but slightly ahead of the fingertips; z is 0.042. Moving forward 1.5 cm and lowering to z=0.03 so the jaws bracket the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_012aUgAsirPDNYqFqek4cscU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_012aUgAsirPDNYqFqek4cscU"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.265, 7.159, 1.7021, -0.0464, -0.0366, -0.0122, 0.294, -5.7231, 6.1197, 1.6923, 0.1294, 0.0024, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e49eba452318dc631e0c9ba2b0628cfe9e2a81a161f412d9af0c8359f5fd63c1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:689c1e6f04b17ada2bf4366485b78b932009464847d59679b9d2831cacced85c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4ff51a9a7b93982fc696fb8485dcd05e678c6b5989fee30cc7a82ce671becdb1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 11.43 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0212, -0.0418, 0.9993, 0.0811, 1.4315, 0.4099, 0.3496, 0.025, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0014 left_z=0.1761 left_yaw=0.0022 left_pitch=-0.0187 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3545 right_y=0.028 right_z=0.0424 right_yaw=0.0441 right_pitch=-0.1127 right_roll=-0.0091 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.2923, 7.159, 1.7167, -0.0171, -0.0464, -0.0122, 0.3897, -6.2291, 5.7915, 1.9414, 0.1392, -0.0024, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.03, \"right_z\": 0.04, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm rose slightly instead of descending, and the knob is still ahead of the fingertips in the wrist view. Moving farther forward (x=0.385) with pitch level and z=0.04 to bring the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0154jAqAwC9DCQDC1rNWsUHT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0154jAqAwC9DCQDC1rNWsUHT"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.306, 7.0359, 1.7411, -0.0708, -0.0562, -0.0122, 0.294, -5.8051, 6.1197, 1.6923, 0.105, 0.0073, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42c25f788946a0fa65b5360ff4198760476e2eba618fb7ffda524e4ac6b8a441"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9dcee052d47d12a51b162ea1bd147eb79f077570394028b4f32211338fc37a5d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:89ae1c0bf509ddbc0c4e0193ce909cfd8d8756037b4c685e1359ae4338cc4e44"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 9.178 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.265, 7.159, 1.7021, -0.0464, -0.0366, -0.0122, 0.294, -5.7231, 6.1197, 1.6923, 0.1294, 0.0024, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.03, \"right_z\": 0.07, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command, so the target seems to be rejected by IK. Lifting slightly to z=0.07 while stepping forward 2 cm, since upward moves have been accepted, before descending again onto the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PgeHuQ2Wmjpcf8xe53w6e2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01PgeHuQ2Wmjpcf8xe53w6e2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3333, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122, 0.1573, -5.9145, 5.9282, 1.6923, 0.1392, 0.0269, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7125650cff3c864a7ed6037ce9f5efda9378872f2000dbe1927e384d3e70094"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:234b6947675e256b2d98a071a3bc01d08d4598179bcd413b3a444c62a3c6e682"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:62d1238ba7a13f551eb3d392e60ad21b10e2e0f9037b1e13b3e1c81aa5b60eea"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 13.49 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0183 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.306, 7.0359, 1.7411, -0.0708, -0.0562, -0.0122, 0.294, -5.8051, 6.1197, 1.6923, 0.105, 0.0073, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.37, \"right_y\": 0.03, \"right_z\": 0.1, \"right_yaw\": 0.0, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The right arm is frozen: joint positions are identical across the last three observations despite commands. Previously a command with all rotations explicitly set to 0 unstuck it, so I'm repeating that with a retreat to z=0.10 above the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HhXe3vre4AiZVZKs28mmt3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01HhXe3vre4AiZVZKs28mmt3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0967, 1.3663, 0.4328, 0.2802, 0.046, 0.0216, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3551 right_y=0.0299 right_z=0.0596 right_yaw=0.0361 right_pitch=-0.0935 right_roll=-0.0124 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -0.8274, 7.0085, 1.7265, -0.0659, -0.0317, -0.0122, 0.5402, -6.8718, 9.7983, 2.0635, 0.149, 0.1538, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b2cb78c6cd481e91b44f9054ca8ee650422639c4448580bf096f9e2322e5c523"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28effaa20625adf279c15ff3b794c9416b0b89857fb42f51cb75f5c889af795a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:476a05dc0d073708721632dcbda7b50e6a565002456975c0a3eadaab2d219abf"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 7.023 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0811, 1.4036, 0.4099, 0.347, 0.0254, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3559 right_y=0.028 right_z=0.0512 right_yaw=0.0439 right_pitch=-0.0876 right_roll=-0.0084 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3333, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122, 0.1573, -5.9145, 5.9282, 1.6923, 0.1392, 0.0269, -0.1001]\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\": 0.39, \"right_y\": 0.03, \"right_z\": 0.045, \"right_yaw\": 0.0, \"right_pitch\": 0.0, \"right_roll\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm moved only slightly (z 0.051\\u21920.060); the wrist camera shows the knob centered but a few centimeters ahead of the fingertips. Commanding 3.5 cm forward and down to z=0.045 with level orientation to bracket the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01ThY92LDpbE2gTjv9y3sGZC",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01ThY92LDpbE2gTjv9y3sGZC"
}

{
  "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, 0.9993, 0.1043, 1.5944, 0.437, 0.4629, 0.0704, 0.038, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3679 right_y=0.0296 right_z=0.0182 right_yaw=0.0138 right_pitch=-0.1334 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.6342, 7.0085, 1.6972, -0.0562, -0.022, -0.0122, -0.3487, -6.7624, 5.9145, 2.1563, 0.0269, 0.0757, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9364f872293c7b9a235f4504b04fca8df23e42268baac74aff9cdc24a63cefaa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a32f736acdcbb43de089645dfc7f76291a137c9b47da3ba32b0cb4ceac97faed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a8aff2a9cef85ce3ecc20c77ecf9c9c5f8f3745d9d25318229473a4b6d29ebd"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 11.32 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0967, 1.3663, 0.4328, 0.2802, 0.046, 0.0216, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3551 right_y=0.0299 right_z=0.0596 right_yaw=0.0361 right_pitch=-0.0935 right_roll=-0.0124 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -0.8274, 7.0085, 1.7265, -0.0659, -0.0317, -0.0122, 0.5402, -6.8718, 9.7983, 2.0635, 0.149, 0.1538, -0.1001]",
      "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 descended to z=0.018 and the wrist camera shows the orange knob sitting between the two jaw tips at the bottom of the frame. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WJ4i9J4ryp74BcMR8CKVk9",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01WJ4i9J4ryp74BcMR8CKVk9"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9993, 0.1047, 1.6096, 0.4374, 0.5617, 0.0704, 0.0414, 0.0111]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0312 right_z=0.0322 right_yaw=0.013 right_pitch=-0.0499 right_roll=-0.0075 right_gripper=0.0111\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.707, -0.0757, -0.0611, -0.0122, -0.1436, -6.2564, 5.8735, 2.0684, 0.1099, 0.0611, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7e7f4c52d2d60abba5180abf0c42ce9f57caa913863091013a427c2ffa09ceb6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cc590ceb60249f75dfed0f520f30a15cd85eff16a7779f02594caa4cb299685c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:25870323283b8dbb0315c670b85336a358eff3f5c48bd4863bbc724b82263845"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 11.34 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.1043, 1.5944, 0.437, 0.4629, 0.0704, 0.038, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.175 left_yaw=0.0025 left_pitch=-0.0225 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3679 right_y=0.0296 right_z=0.0182 right_yaw=0.0138 right_pitch=-0.1334 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.6342, 7.0085, 1.6972, -0.0562, -0.022, -0.0122, -0.3487, -6.7624, 5.9145, 2.1563, 0.0269, 0.0757, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.055, \"right_z\": 0.03, \"right_gripper\": 1.0}, \"note\": \"The gripper closed fully (0.01) without the knob \\u2014 the wrist camera shows the knob just to the left of the closed jaws. Reopening and shifting ~2.5 cm in +y to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_011zVcQwBdh5ZMPM81xzjCae",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_011zVcQwBdh5ZMPM81xzjCae"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, 0.1986, 1.6173, 0.437, 0.5545, 0.131, 0.0826, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3763 right_y=0.0558 right_z=0.0285 right_yaw=0.0335 right_pitch=-0.0606 right_roll=-0.0106 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -1.3333, 7.0496, 1.7118, -0.0611, -0.0757, -0.0122, 0.3487, -5.053, 5.5453, 1.8486, 0.1783, 0.1197, -0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:27061cb40ecf1f085e5901853a2178deb82d7d05c066ccb160554c15426b94fb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d5e4caa061539df92c892c88dd53bf2481bd77c29acb627f18d55b2c70503d26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f299a831bae93650c953a55b0a07601964e9320aa1d747271f2afb98c657273f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 12.4 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1047, 1.6096, 0.4374, 0.5617, 0.0704, 0.0414, 0.0111]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0312 right_z=0.0322 right_yaw=0.013 right_pitch=-0.0499 right_roll=-0.0075 right_gripper=0.0111\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.707, -0.0757, -0.0611, -0.0122, -0.1436, -6.2564, 5.8735, 2.0684, 0.1099, 0.0611, 0.9304]\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\": 0.39, \"right_y\": 0.055, \"right_z\": 0.018}, \"note\": \"Wrist camera now shows the knob centered laterally between the open jaws, slightly ahead of the fingertips. Moving 1.5 cm forward and down to z=0.018 so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0176KAVNj5XvbkQnQZDoqTN1",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_0176KAVNj5XvbkQnQZDoqTN1"
}

{
  "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, -0.3801, -0.0216, -0.0418, 0.9993, 0.1925, 1.6752, 0.4549, 0.5808, 0.1268, 0.078, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0217 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0552 right_z=0.0188 right_yaw=0.0332 right_pitch=-0.0746 right_roll=-0.0141 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.2513, 7.1043, 1.7265, -0.0366, -0.0513, -0.0171, -0.6222, -6.3248, 5.5726, 1.8388, 0.0415, -0.0317, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:892aa2b4f6c8a8d0cc1ca2f3021d34d7cfbcfbb44a525c925d3f48dcf2197be8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9a0d67aa46672f7885a97d05d848a17fc43d77d833b45c8155ac8cf87ff132f9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:897bea3990f0b40ccd4e5f9a808e717aee0e6c7417b27f42548ecc7bf2a81b19"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 8.442 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.1986, 1.6173, 0.437, 0.5545, 0.131, 0.0826, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1751 left_yaw=0.0025 left_pitch=-0.0221 left_roll=-0.0022 left_gripper=0.9994 right_x=0.3763 right_y=0.0558 right_z=0.0285 right_yaw=0.0335 right_pitch=-0.0606 right_roll=-0.0106 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -1.3333, 7.0496, 1.7118, -0.0611, -0.0757, -0.0122, 0.3487, -5.053, 5.5453, 1.8486, 0.1783, 0.1197, -0.0317]\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\": 0.4, \"right_y\": 0.055, \"right_z\": 0.015}, \"note\": \"Wrist camera shows the knob centered between the jaws but still slightly ahead of the fingertips. Advancing 2 cm forward at knob height so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01B6GAi2uRqKCrDoq6GN9PXD",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01B6GAi2uRqKCrDoq6GN9PXD"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1883, 1.734, 0.4839, 0.5793, 0.115, 0.0704, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3858 right_y=0.0565 right_z=0.0064 right_yaw=0.0427 right_pitch=-0.1066 right_roll=-0.0178 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.5795, 7.2684, 1.7021, -0.0513, -0.0562, -0.0122, -1.1145, -6.3111, 6.5709, 1.7118, 0.105, -0.0562, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e8418e9a748913768731d9f40afac6b13e163fa8b4a209d3a50c8e57d638c9cb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a5aaca2765a451742995c62273a54708f8cade26a79ed8ea732ffd4de6a1559e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ed9cc7f7c27c061e5336741e54d26a982b930c213163f923892d2ecfa5a47d0"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 14.02 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.3801, -0.0216, -0.0418, 0.9993, 0.1925, 1.6752, 0.4549, 0.5808, 0.1268, 0.078, 0.996]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0217 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3814 right_y=0.0552 right_z=0.0188 right_yaw=0.0332 right_pitch=-0.0746 right_roll=-0.0141 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.2513, 7.1043, 1.7265, -0.0366, -0.0513, -0.0171, -0.6222, -6.3248, 5.5726, 1.8388, 0.0415, -0.0317, 0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0, \"right_z\": 0.01}, \"note\": \"Fingertips are at table height (z\\u22480.006) and the wrist camera shows the knob centered between the jaw tips at the bottom of the frame. Closing the gripper to attempt the grasp on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VrrYK8gRf92p28UXgAdQQQ",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01VrrYK8gRf92p28UXgAdQQQ"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1848, 1.7382, 0.4889, 0.5762, 0.1081, 0.0669, 0.24]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3867 right_y=0.0566 right_z=0.0058 right_yaw=0.0469 right_pitch=-0.1095 right_roll=-0.0166 right_gripper=0.24\nstate[joint_eff]: [-0.1709, -1.3744, 7.0496, 1.6874, -0.0659, -0.0806, -0.0122, -0.1162, -8.253, 4.3829, 1.453, 0.0415, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4a51ccbe3b227825d74876f8b7ded1f915310b25b787237a802cb3323c8dec57"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c8f06c8f61733674fafd9f1ff21f5b31f5c8a9108f82d081fb1364479703f50"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:532a9bdf7e30724b0cfbdef706683f732d6efcfcf45f5cbd214c435e0a4c9c5b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 20.83 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1883, 1.734, 0.4839, 0.5793, 0.115, 0.0704, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3858 right_y=0.0565 right_z=0.0064 right_yaw=0.0427 right_pitch=-0.1066 right_roll=-0.0178 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.5795, 7.2684, 1.7021, -0.0513, -0.0562, -0.0122, -1.1145, -6.3111, 6.5709, 1.7118, 0.105, -0.0562, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.55, \"right_y\": 0.055, \"right_z\": 0.06, \"right_gripper\": 0.24}, \"note\": \"The gripper closed to 0.24 with rising effort and the wrist camera shows the knob clamped between the jaw tips \\u2014 the piece is grasped. Lifting and carrying it forward toward the board, whose circular groove sits about 16 cm ahead of the piece's original spot in the top camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01W7XGzSJj9hWswUeGjjYziG",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 13 steps (1.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01W7XGzSJj9hWswUeGjjYziG"
}

{
  "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, 0.8192, 0.6037, -0.3813, -0.0216, -0.0422, 0.9993, 0.1188, 2.0441, 1.224, 0.1535, 0.0475, 0.0174, 0.24]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0023 left_gripper=0.9993 right_x=0.5419 right_y=0.0599 right_z=0.0565 right_yaw=0.059 right_pitch=-0.1067 right_roll=-0.0175 right_gripper=0.24\nstate[joint_eff]: [-0.2667, -1.6205, 7.0359, 1.7118, -0.0562, -0.0659, -0.0122, -0.9641, -10.5641, 7.7197, 1.5409, -0.0317, -0.0269, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6c044155ef41d80c37cd82def50aa44e9d3564642c49d93277ec4ffa9143c023"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9d209c4b58bcfc59a3586712d14e26d10c84bcf6dd3bfb95c0dd1f0489f46eed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:24fb11a4ffb82a0bc4e02f9aba111d0ea45f6fb52f62ba3490f7551b4d8ca4b4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 19.35 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 53 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3805, -0.0216, -0.0418, 0.9993, 0.1848, 1.7382, 0.4889, 0.5762, 0.1081, 0.0669, 0.24]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1744 left_yaw=0.0025 left_pitch=-0.0248 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3867 right_y=0.0566 right_z=0.0058 right_yaw=0.0469 right_pitch=-0.1095 right_roll=-0.0166 right_gripper=0.24\nstate[joint_eff]: [-0.1709, -1.3744, 7.0496, 1.6874, -0.0659, -0.0806, -0.0122, -0.1162, -8.253, 4.3829, 1.453, 0.0415, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.39, \"right_y\": 0.22, \"right_z\": 0.025, \"right_gripper\": 0.24}, \"note\": \"The piece is held by the knob and lifted; in the top camera the board's circular groove is at the same forward distance as the piece's original spot (~x 0.39) and about 16 cm further in +y (image-left). Carrying the piece over the groove and lowering it to just above the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_015VNKBCFW26hzXatmjn1GWA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 14 steps (1.4s)",
  "role": "tool",
  "tool_call_id": "toolu_015VNKBCFW26hzXatmjn1GWA"
}

{
  "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, 0.8204, 0.6037, -0.3809, -0.0212, -0.0422, 0.9993, 0.6674, 1.9156, 0.8539, 0.2668, 0.4274, 0.3515, 0.24]\nstate[eef_state]: left_x=0.2963 left_y=0.0014 left_z=0.1724 left_yaw=0.0024 left_pitch=-0.032 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3909 right_y=0.2194 right_z=0.0112 right_yaw=0.1065 right_pitch=-0.1481 right_roll=-0.0391 right_gripper=0.24\nstate[joint_eff]: [0.0205, -1.4427, 7.0906, 1.707, -0.0269, -0.0806, -0.0122, 0.253, -11.3299, 4.8479, 1.4921, 0.4957, 0.1343, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf2ff37805b4942a037f9e09376f2b231d18baea291795e3727e2c353625d1be"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:93ffe2500f31e633d7fcec2f6102b9308a4a221f7b847d25f9d3cb1964733dc1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:612a05c1ab6adbe82049de3abbc092b99155d7f608b25790a662dfe2a57d3680"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}