adhoc - adhoc_9e92d8b3.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 501.2 s
total steps: 112

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see the blue puzzle piece with its knob roughly centered ahead of the right wrist camera, and the board with the circular groove sits to the left. Moving the right gripper forward and down toward the piece to refine alignment.

move_to

right_x0.3600right_y0.0300right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7921, 0.6037, -0.3786, -0.0216, -0.0376, 0.9991, -0.0151, 0.7906, 0.6083, -0.3759, -0.0208, -0.0158, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.2923, 10.3453, 1.8339, -0.0611, 0.2369, -0.1001, -1.0051, -1.1009, 9.9487, 1.7851, -0.0366, -0.0317, -0.1099] 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": 0.36, "right_y": 0.03, "right_z": 0.1, "right_gripper": 1}, "note": "I see the blue puzzle piece with its knob roughly centered ahead of the right wrist camera, and the board with the circular groove sits to the left. Moving the right gripper forward and down toward the piece to refine alignment."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

agent noteThe wrist camera now shows the blue piece with its knob nearly centered between the finger tips. Moving forward and lower to position the open gripper around the knob.

move_to

right_x0.4000right_y0.0350right_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, 0.7979, 0.6048, -0.3809, -0.0216, -0.0414, 0.9991, 0.1104, 1.2312, 0.4679, 0.0803, 0.0608, 0.0303, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.002 left_pitch=-0.0069 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3405 right_y=0.0306 right_z=0.0795 right_yaw=0.0312 right_pitch=-0.1233 right_roll=-0.0139 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.4838, 6.9812, 1.7265, -0.0708, -0.0317, -0.0171, 0.1709, -5.3265, 5.9282, 2.0, 0.2564, 0.1343, -0.1148] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.035, "right_z": 0.03, "right_gripper": 1}, "note": "The wrist camera now shows the blue piece with its knob nearly centered between the finger tips. Moving forward and lower to position the open gripper around the knob."})

tool

executing move_to over 5 steps (0.5s)

step 11

assistant

agent noteThe knob is slightly above the image center between the open fingers, so the piece is a bit further forward. Advancing ~3.5 cm forward at knob height before closing.

move_to

right_x0.4100right_y0.0350right_z0.0050right_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, 0.8024, 0.6041, -0.3817, -0.0212, -0.0418, 0.9991, 0.107, 1.6386, 0.5346, 0.3172, 0.0509, 0.025, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1773 left_yaw=0.0019 left_pitch=-0.013 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3743 right_y=0.0348 right_z=0.0092 right_yaw=0.0378 right_pitch=-0.2273 right_roll=-0.019 right_gripper=0.9991 state[joint_eff]: [-0.3077, -1.4154, 7.0906, 1.7118, -0.0269, -0.0464, -0.0171, -0.6632, -7.0222, 7.0085, 1.79, 0.0269, -0.0122, -0.1099] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.41, "right_y": 0.035, "right_z": 0.005, "right_pitch": 0, "right_gripper": 1}, "note": "The knob is slightly above the image center between the open fingers, so the piece is a bit further forward. Advancing ~3.5 cm forward at knob height before closing."})

tool

executing move_to over 8 steps (0.8s)

step 19

assistant

agent noteThe knob now appears low and centered in the wrist camera, just short of the fingertips. Advancing another ~2.5 cm forward and slightly down so the knob sits between the jaws.

move_to

right_x0.4350right_y0.0370right_z-0.0050right_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, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1051, 1.8389, 0.495, 0.7578, 0.0513, -0.0013, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4073 right_y=0.0375 right_z=0.0052 right_yaw=0.0513 right_pitch=-0.0271 right_roll=-0.0274 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.6068, 7.0632, 1.7118, -0.0317, -0.0464, -0.0171, -0.759, -5.7641, 3.4393, 1.5311, 0.022, 0.1294, -0.1099] approver: 1 step(s) modified (delta_clamped). 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": 0.435, "right_y": 0.037, "right_z": -0.005, "right_gripper": 1}, "note": "The knob now appears low and centered in the wrist camera, just short of the fingertips. Advancing another ~2.5 cm forward and slightly down so the knob sits between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe knob is at the bottom center of the wrist view, just short of the jaws. Advancing 2 cm more and lowering slightly so the fingers straddle the knob.

move_to

right_x0.4550right_y0.0380right_z-0.0120right_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, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1036, 1.9232, 0.5789, 0.7937, 0.0475, -0.0151, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9991 right_x=0.433 right_y=0.0402 right_z=0.0057 right_yaw=0.0603 right_pitch=0.0081 right_roll=-0.0352 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.2786, 7.1453, 1.6972, -0.0708, -0.0562, -0.0171, -0.9915, -6.147, 4.8479, 1.536, -0.0659, 0.0562, -0.1148] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.455, "right_y": 0.038, "right_z": -0.012, "right_gripper": 1}, "note": "The knob is at the bottom center of the wrist view, just short of the jaws. Advancing 2 cm more and lowering slightly so the fingers straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 24

assistant

agent noteThe knob has disappeared below the camera view, meaning it is now between or just past the fingertips. Advancing a final ~1.5 cm and lowering so the jaws surround the knob before closing.

move_to

right_x0.4680right_y0.0390right_z-0.0150right_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, 0.8082, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0982, 1.9957, 0.6403, 0.8356, 0.0452, -0.0292, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1759 left_yaw=0.0023 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4522 right_y=0.0401 right_z=0.0037 right_yaw=0.0644 right_pitch=0.0388 right_roll=-0.045 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.1966, 7.0496, 1.6923, -0.0659, -0.0366, -0.0171, -0.9094, -6.8034, 3.7538, 1.3114, -0.1392, 0.1587, -0.1148] 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": 0.468, "right_y": 0.039, "right_z": -0.015, "right_gripper": 1}, "note": "The knob has disappeared below the camera view, meaning it is now between or just past the fingertips. Advancing a final ~1.5 cm and lowering so the jaws surround the knob before closing."})

tool

executing move_to over 2 steps (0.2s)

step 26

assistant

agent noteThe blue disc edge is just entering between the fingertips at the bottom of the wrist view; the knob at the disc center is still slightly ahead. Advancing ~1.5 cm more and down slightly to center the knob between the jaws.

move_to

right_x0.4830right_y0.0420right_z-0.0080right_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, 0.8112, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.0921, 2.064, 0.6895, 0.8944, 0.0284, -0.0319, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4687 right_y=0.0419 right_z=0.0022 right_yaw=0.0739 right_pitch=0.0782 right_roll=-0.0382 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.5795, 7.3094, 1.707, -0.0562, -0.0611, -0.0171, -0.2667, -6.8308, 4.3145, 1.2332, 0.0708, -0.0611, -0.1148] 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": 0.483, "right_y": 0.042, "right_z": -0.008, "right_gripper": 1}, "note": "The blue disc edge is just entering between the fingertips at the bottom of the wrist view; the knob at the disc center is still slightly ahead. Advancing ~1.5 cm more and down slightly to center the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteThe disc's leading edge is at the fingertips, slightly left of center; the knob at the disc center is ~2-3 cm further ahead. Advancing 2 cm more so the jaws straddle the central knob.

move_to

right_x0.5000right_y0.0430right_z-0.0050right_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, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0921, 2.1014, 0.7269, 0.9203, 0.0212, -0.0345, 0.9991] state[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4801 right_y=0.0442 right_z=0.0031 right_yaw=0.0814 right_pitch=0.104 right_roll=-0.037 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.4974, 7.0496, 1.7021, -0.0513, -0.0611, -0.0073, -0.4308, -7.2684, 4.9846, 1.5604, -0.0122, -0.0269, -0.1148] 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": 0.5, "right_y": 0.043, "right_z": -0.005, "right_gripper": 1}, "note": "The disc's leading edge is at the fingertips, slightly left of center; the knob at the disc center is ~2-3 cm further ahead. Advancing 2 cm more so the jaws straddle the central knob."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteThe blue disc edge appears at the bottom, slightly right between the fingers, so the knob center is still ~2 cm ahead. Advancing forward a final 2 cm to bring the knob between the jaws.

move_to

right_x0.5150right_y0.0420right_z0.0000right_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, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.1387, 0.7803, 0.9245, 0.0132, -0.0353, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4942 right_y=0.0464 right_z=0.0042 right_yaw=0.0875 right_pitch=0.1242 right_roll=-0.0341 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.4154, 7.0359, 1.7363, -0.0757, -0.0708, -0.0171, -0.8547, -7.9521, 5.1077, 1.6581, -0.0415, -0.0513, -0.1099] 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": 0.515, "right_y": 0.042, "right_z": 0.0, "right_gripper": 1}, "note": "The blue disc edge appears at the bottom, slightly right between the fingers, so the knob center is still ~2 cm ahead. Advancing forward a final 2 cm to bring the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 32

assistant

agent noteOnly a sliver of blue shows at the bottom of the right wrist camera, so the knob is still a couple centimeters ahead; the arm only tracked to x=0.50. Commanding further forward to 0.525 to get the knob between the jaws.

move_to

right_x0.5250right_y0.0430right_z0.0050right_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, 0.8165, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9192, 0.0132, -0.038, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1737 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0042 right_yaw=0.089 right_pitch=0.1292 right_roll=-0.0365 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.4974, 7.0496, 1.6923, -0.0611, -0.0659, -0.0171, -0.9778, -8.4855, 5.053, 1.6386, -0.0513, -0.0464, -0.1099] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.525, "right_y": 0.043, "right_z": 0.005, "right_gripper": 1}, "note": "Only a sliver of blue shows at the bottom of the right wrist camera, so the knob is still a couple centimeters ahead; the arm only tracked to x=0.50. Commanding further forward to 0.525 to get the knob between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 34

assistant

agent noteThe arm stopped tracking at x=0.50 and the blue disc now shows only at the bottom-right of the wrist view, so the gripper drifted left of the piece. Raising slightly, pitching down more, and shifting right to re-center over the knob.

move_to

right_x0.5200right_y0.0300right_z0.0200right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8165, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1735 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991 state[joint_eff]: [-0.2256, -1.4017, 7.0222, 1.7314, -0.0513, -0.0611, -0.0073, -0.9368, -8.5265, 4.9299, 1.6581, -0.0562, -0.0415, -0.1099] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.52, "right_y": 0.03, "right_z": 0.02, "right_pitch": 0.3, "right_gripper": 1}, "note": "The arm stopped tracking at x=0.50 and the blue disc now shows only at the bottom-right of the wrist view, so the gripper drifted left of the piece. Raising slightly, pitching down more, and shifting right to re-center over the knob."})

tool

executing move_to over 6 steps (0.6s)

step 40

assistant

agent noteThe arm has stopped tracking (joints unchanged for two commands) and I only see a sliver of blue at the bottom right of the wrist view. Retreating and lifting to 15 cm with more downward pitch to get a clear overhead view of the piece and reset the IK.

move_to

right_x0.4500right_y0.0300right_z0.1500right_pitch0.4000right_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, 0.8177, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.265, 7.241, 1.7118, -0.0855, -0.0659, -0.0171, -0.9504, -8.294, 4.8615, 1.6581, -0.0611, -0.0611, -0.1148] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.03, "right_z": 0.15, "right_pitch": 0.4, "right_gripper": 1}, "note": "The arm has stopped tracking (joints unchanged for two commands) and I only see a sliver of blue at the bottom right of the wrist view. Retreating and lifting to 15 cm with more downward pitch to get a clear overhead view of the piece and reset the IK."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe top camera shows the white board with the blue piece near the table center, ahead of the right arm. Moving above the piece location with maximum downward pitch to sight the knob from above before descending.

move_to

right_x0.5000right_y0.0500right_z0.0800right_pitch0.6000right_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, 0.8204, 0.6037, -0.3805, -0.0216, -0.0422, 0.9991, 0.0532, 1.6791, 0.5678, 0.9195, -0.0216, -0.0391, 0.9991] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.0025 left_pitch=-0.0301 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4524 right_y=0.0315 right_z=0.1347 right_yaw=0.0833 right_pitch=0.3665 right_roll=-0.0301 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.1829, 7.0085, 1.7802, -0.0855, -0.0855, -0.0171, -0.759, -8.2393, 5.4906, 1.8388, -0.0757, -0.0904, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.05, "right_z": 0.08, "right_pitch": 0.6, "right_gripper": 1}, "note": "The top camera shows the white board with the blue piece near the table center, ahead of the right arm. Moving above the piece location with maximum downward pitch to sight the knob from above before descending."})

tool

executing move_to over 8 steps (0.8s)

step 58

assistant

agent noteTop camera shows the board with the blue piece slightly left and ahead of my right gripper; the wrist view shows only table, so the piece is just below the camera's field. Descending forward-down with the gripper pitched downward to land the jaws around the central knob.

move_to

right_x0.5300right_y0.0500right_z0.0150right_pitch0.5000right_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, 0.8257, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.0982, 2.2356, 0.7013, 1.467, 0.0036, -0.0383, 0.9991] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4955 right_y=0.0518 right_z=0.0608 right_yaw=0.1054 right_pitch=0.4908 right_roll=-0.0354 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.6342, 7.0359, 1.6874, -0.0611, -0.0562, -0.0073, 0.1983, -9.1282, 4.6838, 2.4689, 0.1441, -0.0317, -0.1099] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.53, "right_y": 0.05, "right_z": 0.015, "right_pitch": 0.5, "right_gripper": 1}, "note": "Top camera shows the board with the blue piece slightly left and ahead of my right gripper; the wrist view shows only table, so the piece is just below the camera's field. Descending forward-down with the gripper pitched downward to land the jaws around the central knob."})

tool

executing move_to over 3 steps (0.3s)

step 61

assistant

agent noteTop camera shows the board with the blue piece well to the left of my right gripper, so my earlier forward approaches were off to the side. Moving the right arm left (+y) and hovering with maximum downward pitch to sight the knob in the wrist camera.

move_to

right_x0.4800right_y0.1500right_z0.1000right_pitch0.6000right_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, 0.8295, 0.6037, -0.3813, -0.0212, -0.0418, 0.9991, 0.0921, 2.4203, 0.8875, 1.5806, -0.0093, -0.0418, 0.9991] state[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1698 left_yaw=0.0019 left_pitch=-0.04 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5315 right_y=0.0544 right_z=0.0559 right_yaw=0.1154 right_pitch=0.6059 right_roll=-0.0413 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.6205, 6.9949, 1.6728, -0.0513, -0.0415, -0.0171, -0.8, -7.0496, 1.5111, 1.3748, 0.0122, -0.0122, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.48, "right_y": 0.15, "right_z": 0.1, "right_pitch": 0.6, "right_gripper": 1}, "note": "Top camera shows the board with the blue piece well to the left of my right gripper, so my earlier forward approaches were off to the side. Moving the right arm left (+y) and hovering with maximum downward pitch to sight the knob in the wrist camera."})

tool

executing move_to over 8 steps (0.8s)

step 69

assistant

agent noteThe wrist camera shows no blue after moving left, so the piece is back to the right near y≈0.05 where I originally chased it. Hovering 13 cm above that spot with the tool pitched down to sight the knob from above.

move_to

right_x0.5000right_y0.0500right_z0.1300right_pitch0.6000right_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, 0.8333, 0.6037, -0.3809, -0.0216, -0.0422, 0.9991, 0.3798, 2.2387, 0.7429, 1.5173, 0.2401, -0.0425, 0.9991] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.482 right_y=0.151 right_z=0.085 right_yaw=0.1502 right_pitch=0.5791 right_roll=-0.0351 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.7573, 7.4325, 1.746, -0.0708, -0.0659, -0.0171, 0.3077, -12.4786, 3.1795, 1.6972, 0.2466, -0.1392, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.05, "right_z": 0.13, "right_pitch": 0.6, "right_gripper": 1}, "note": "The wrist camera shows no blue after moving left, so the piece is back to the right near y\u22480.05 where I originally chased it. Hovering 13 cm above that spot with the tool pitched down to sight the knob from above."})

tool

executing move_to over 9 steps (0.9s)

step 78

assistant

agent noteTop camera shows the blue piece right beside the gripper, slightly to its right (my -y side), which explains why blue kept appearing bottom-right in the wrist view. Descending to knob height at a slightly smaller y to straddle the knob.

move_to

right_x0.5200right_y0.0100right_z0.0000right_pitch0.5500right_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, 0.8333, 0.6037, -0.3809, -0.0212, -0.0418, 0.9991, 0.0841, 2.096, 0.7017, 1.4075, -0.0349, -0.0559, 0.9991] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0435 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4988 right_y=0.0518 right_z=0.1133 right_yaw=0.1415 right_pitch=0.571 right_roll=-0.0575 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.3744, 7.0496, 1.7314, -0.0611, -0.0366, -0.0171, -0.3214, -11.7538, 4.6974, 1.9023, -0.0904, 0.2125, -0.1148] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.52, "right_y": 0.01, "right_z": 0.0, "right_pitch": 0.55, "right_gripper": 1}, "note": "Top camera shows the blue piece right beside the gripper, slightly to its right (my -y side), which explains why blue kept appearing bottom-right in the wrist view. Descending to knob height at a slightly smaller y to straddle the knob."})

tool

executing move_to over 8 steps (0.8s)

step 86

assistant

agent noteThe wrist camera shows bare table, so the piece is likely just below its field of view ahead of the fingertips. Descending to table level slightly forward to get the jaws around the knob.

move_to

right_x0.5500right_y0.0200right_z-0.0100right_pitch0.5500right_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, 0.8387, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, -0.0204, 2.4874, 0.9264, 1.5799, -0.1543, -0.0582, 0.9991] state[eef_state]: left_x=0.2973 left_y=0.0014 left_z=0.1672 left_yaw=0.0023 left_pitch=-0.0492 left_roll=-0.0024 left_gripper=0.9991 right_x=0.5373 right_y=0.0198 right_z=0.0332 right_yaw=0.1594 right_pitch=0.5764 right_roll=-0.0633 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.8256, 7.0359, 1.6728, -0.0659, -0.0171, -0.0073, -1.7026, -7.2821, 3.3846, 1.8974, 0.0269, -0.0366, -0.1099] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.55, "right_y": 0.02, "right_z": -0.01, "right_pitch": 0.55, "right_gripper": 1}, "note": "The wrist camera shows bare table, so the piece is likely just below its field of view ahead of the fingertips. Descending to table level slightly forward to get the jaws around the knob."})

tool

executing move_to over 3 steps (0.3s)

step 89

assistant

agent noteThe top camera shows the white board with the blue circular area well to the left of my right gripper (about 25-30 cm in the arm's +y direction), and my wrist camera sees only bare table. Moving left over the board to sight the piece and groove from above.

move_to

right_x0.4800right_y0.2800right_z0.1000right_pitch0.6000right_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, 0.8394, 0.6037, -0.3809, -0.0212, -0.0418, 0.9991, -0.0235, 2.5378, 1.0546, 1.5826, -0.1623, -0.0608, 0.9991] state[eef_state]: left_x=0.2974 left_y=0.0014 left_z=0.1671 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0027 left_gripper=0.9991 right_x=0.5626 right_y=0.0189 right_z=0.0477 right_yaw=0.1772 right_pitch=0.6552 right_roll=-0.0858 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.5248, 7.0085, 1.6728, -0.0366, -0.0562, -0.0171, 0.2667, -4.0, 1.8393, 1.6923, 0.0562, -0.0708, -0.1099] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.48, "right_y": 0.28, "right_z": 0.1, "right_pitch": 0.6, "right_gripper": 1}, "note": "The top camera shows the white board with the blue circular area well to the left of my right gripper (about 25-30 cm in the arm's +y direction), and my wrist camera sees only bare table. Moving left over the board to sight the piece and groove from above."})

tool

executing move_to over 22 steps (2.2s)

step 111

assistant

agent noteI ran out of my 20-call budget while still localizing the puzzle piece. The wrist camera views were misleading and my forward approaches repeatedly chased a piece that was actually offset laterally; I never established a reliable grasp of the knob.

give_up

hindsightKey facts for this rig: (1) The right wrist camera looks forward/down but the blue piece near the fingertips falls below its field of view, so 'sliver of blue at bottom' means the piece is essentially at the fingertips, not centimeters ahead — repeated forward advances overshoot. (2) Use the top_cam early and often for absolute localization: the white board with the circular groove sits near table center; in the right arm's frame the piece/board region is around x≈0.45-0.50, y≈0.15-0.28, z≈table level (~-0.01). (3) The IK stalls silently near x≈0.50 at low z with near-zero pitch; joint_pos not changing between commands means the target isn't being tracked — pitch down (0.4-0.6) and reduce reach instead of pushing further. (4) Plan a top-down approach: hover 10-15 cm above with pitch 0.6, verify the knob is centered in the wrist view, then descend vertically; avoid long horizontal chases at table height. (5) Budget is tight (20 calls) — spend at most 3-4 calls on localization, then commit to descend-and-grasp.

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, 0.8417, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.6754, 2.3531, 1.0176, 1.3384, 0.5014, -0.0952, 0.9991] state[eef_state]: left_x=0.2976 left_y=0.0014 left_z=0.1665 left_yaw=0.0023 left_pitch=-0.0515 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4776 right_y=0.2784 right_z=0.0759 right_yaw=0.2196 right_pitch=0.5591 right_roll=-0.1014 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.7118, -0.0855, -0.0513, -0.0073, 0.253, -14.2291, 5.7778, 1.8291, 0.2027, -0.1245, -0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I ran out of my 20-call budget while still localizing the puzzle piece. The wrist camera views were misleading and my forward approaches repeatedly chased a piece that was actually offset laterally; I never established a reliable grasp of the knob.", "hindsight": "Key facts for this rig: (1) The right wrist camera looks forward/down but the blue piece near the fingertips falls below its field of view, so 'sliver of blue at bottom' means the piece is essentially at the fingertips, not centimeters ahead \u2014 repeated forward advances overshoot. (2) Use the top_cam early and often for absolute localization: the white board with the circular groove sits near table center; in the right arm's frame the piece/board region is around x\u22480.45-0.50, y\u22480.15-0.28, z\u2248table level (~-0.01). (3) The IK stalls silently near x\u22480.50 at low z with near-zero pitch; joint_pos not changing between commands means the target isn't being tracked \u2014 pitch down (0.4-0.6) and reduce reach instead of pushing further. (4) Plan a top-down approach: hover 10-15 cm above with pitch 0.6, verify the knob is centered in the wrist view, then descend vertically; avoid long horizontal chases at table height. (5) Budget is tight (20 calls) \u2014 spend at most 3-4 calls on localization, then commit to descend-and-grasp."})

tool

give_up: I ran out of my 20-call budget while still localizing the puzzle piece. The wrist camera views were misleading and my forward approaches repeatedly chased a piece that was actually offset laterally; I never established a reliable grasp of the knob.

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 · 11.61 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7921, 0.6037, -0.3786, -0.0216, -0.0376, 0.9991, -0.0151, 0.7906, 0.6083, -0.3759, -0.0208, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2923, 10.3453, 1.8339, -0.0611, 0.2369, -0.1001, -1.0051, -1.1009, 9.9487, 1.7851, -0.0366, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ef2359e23805002f05b91b6b199d1bed8040a244fd479c7e2691dbba2c94dd49"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:60159bdfc0ba0d4c0a47db2ee2f4229b420dd1c5af31b61fe0f9037e58b86204"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f7614cbba75d0de0870024c86d7c2527560f11ae59e56b6f22a70e0e4db64470"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 6.741 s

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

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.03, \"right_z\": 0.1, \"right_gripper\": 1}, \"note\": \"I see the blue puzzle piece with its knob roughly centered ahead of the right wrist camera, and the board with the circular groove sits to the left. Moving the right gripper forward and down toward the piece to refine alignment.\"}",
        "name": "move_to"
      },
      "id": "toolu_016KsDJ3FyQ79SGSMxCnBSkf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_016KsDJ3FyQ79SGSMxCnBSkf"
}

{
  "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, -0.0216, -0.0414, 0.9991, 0.1104, 1.2312, 0.4679, 0.0803, 0.0608, 0.0303, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.002 left_pitch=-0.0069 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3405 right_y=0.0306 right_z=0.0795 right_yaw=0.0312 right_pitch=-0.1233 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4838, 6.9812, 1.7265, -0.0708, -0.0317, -0.0171, 0.1709, -5.3265, 5.9282, 2.0, 0.2564, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a53da62a0bd23920aeaf9a8278ec826e58125469a5eb73aafcc0571254988ca7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cde8fb4070f1ed4d8a00462d3433455b0b8855dcf49d5f4addbea64f1729dfb3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:eeb2641a87f430db140c87fa08ac7d29eb23f1c4c03be5d37ba5ca756e55512c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 8.175 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7921, 0.6037, -0.3786, -0.0216, -0.0376, 0.9991, -0.0151, 0.7906, 0.6083, -0.3759, -0.0208, -0.0158, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.2923, 10.3453, 1.8339, -0.0611, 0.2369, -0.1001, -1.0051, -1.1009, 9.9487, 1.7851, -0.0366, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.035, \"right_z\": 0.03, \"right_gripper\": 1}, \"note\": \"The wrist camera now shows the blue piece with its knob nearly centered between the finger tips. Moving forward and lower to position the open gripper around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012EC3eaJ9a4bJmNoUMbPxL2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_012EC3eaJ9a4bJmNoUMbPxL2"
}

{
  "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, 0.8024, 0.6041, -0.3817, -0.0212, -0.0418, 0.9991, 0.107, 1.6386, 0.5346, 0.3172, 0.0509, 0.025, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1773 left_yaw=0.0019 left_pitch=-0.013 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3743 right_y=0.0348 right_z=0.0092 right_yaw=0.0378 right_pitch=-0.2273 right_roll=-0.019 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4154, 7.0906, 1.7118, -0.0269, -0.0464, -0.0171, -0.6632, -7.0222, 7.0085, 1.79, 0.0269, -0.0122, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:077646228f5f7371b54e4e5465b0adacecf8f107f5b539ebfdd0d571f6b2118c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3a5459fda57f9d090d5d4299c94e0df9fe775fe788e4694ba7695ed6763c401e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52ba1f26a1848b5364b070556e5d80d0f3cbd149b03b2bcee7f04e64d1a7d5c3"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 6.088 s

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

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0216, -0.0414, 0.9991, 0.1104, 1.2312, 0.4679, 0.0803, 0.0608, 0.0303, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.002 left_pitch=-0.0069 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3405 right_y=0.0306 right_z=0.0795 right_yaw=0.0312 right_pitch=-0.1233 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4838, 6.9812, 1.7265, -0.0708, -0.0317, -0.0171, 0.1709, -5.3265, 5.9282, 2.0, 0.2564, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.035, \"right_z\": 0.005, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The knob is slightly above the image center between the open fingers, so the piece is a bit further forward. Advancing ~3.5 cm forward at knob height before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AGpeo8JF54szH99zJphLWL",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01AGpeo8JF54szH99zJphLWL"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1051, 1.8389, 0.495, 0.7578, 0.0513, -0.0013, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4073 right_y=0.0375 right_z=0.0052 right_yaw=0.0513 right_pitch=-0.0271 right_roll=-0.0274 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.6068, 7.0632, 1.7118, -0.0317, -0.0464, -0.0171, -0.759, -5.7641, 3.4393, 1.5311, 0.022, 0.1294, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04a33a4884510500b61fe864c36d66d0ec1b707e97528a12bf4cfed5fb87d311"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ddc49d70f4e410595e2fa3c434a2afc7cd94df0e04323ada6a6af343aaa4ad4c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4dbbb585048e41df0abb6162568b5ef78a6af0fbf95068d4c3d45169356a5c00"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 7.188 s

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

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3817, -0.0212, -0.0418, 0.9991, 0.107, 1.6386, 0.5346, 0.3172, 0.0509, 0.025, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1773 left_yaw=0.0019 left_pitch=-0.013 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3743 right_y=0.0348 right_z=0.0092 right_yaw=0.0378 right_pitch=-0.2273 right_roll=-0.019 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4154, 7.0906, 1.7118, -0.0269, -0.0464, -0.0171, -0.6632, -7.0222, 7.0085, 1.79, 0.0269, -0.0122, -0.1099]\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\": 0.435, \"right_y\": 0.037, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The knob now appears low and centered in the wrist camera, just short of the fingertips. Advancing another ~2.5 cm forward and slightly down so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UaQdvNRwFJv2nHv66BWSga",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01UaQdvNRwFJv2nHv66BWSga"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1036, 1.9232, 0.5789, 0.7937, 0.0475, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9991 right_x=0.433 right_y=0.0402 right_z=0.0057 right_yaw=0.0603 right_pitch=0.0081 right_roll=-0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.2786, 7.1453, 1.6972, -0.0708, -0.0562, -0.0171, -0.9915, -6.147, 4.8479, 1.536, -0.0659, 0.0562, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:508cf08135cd03830f3ebf26d781a05e1dd564782cb548296a66b4405b901dee"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3af7b5160af28ba94174579bfd5fdb5bdafed64fab8fc51149613f638d0d97d4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82380d138880604f257c0c6cb25b935e707028b8601a931b6fc8e0435378cd6e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 6.716 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1051, 1.8389, 0.495, 0.7578, 0.0513, -0.0013, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0023 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4073 right_y=0.0375 right_z=0.0052 right_yaw=0.0513 right_pitch=-0.0271 right_roll=-0.0274 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.6068, 7.0632, 1.7118, -0.0317, -0.0464, -0.0171, -0.759, -5.7641, 3.4393, 1.5311, 0.022, 0.1294, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.455, \"right_y\": 0.038, \"right_z\": -0.012, \"right_gripper\": 1}, \"note\": \"The knob is at the bottom center of the wrist view, just short of the jaws. Advancing 2 cm more and lowering slightly so the fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UzGyVxho7LtskLWwfJ1DXf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01UzGyVxho7LtskLWwfJ1DXf"
}

{
  "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, 0.8082, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0982, 1.9957, 0.6403, 0.8356, 0.0452, -0.0292, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1759 left_yaw=0.0023 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4522 right_y=0.0401 right_z=0.0037 right_yaw=0.0644 right_pitch=0.0388 right_roll=-0.045 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.1966, 7.0496, 1.6923, -0.0659, -0.0366, -0.0171, -0.9094, -6.8034, 3.7538, 1.3114, -0.1392, 0.1587, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:365526d83033f8bf0c719616df8cde8f9997bebc45614aded25ba121eff086e8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:977a7c5c19362b22cdd304dd0538b268cce5a6072e8a16ca1e7fc4406d264124"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4dd795daaa6343746b03df45d70963c75f2f08c3cf65c952856e90b7c5ec88d6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 12.24 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.1036, 1.9232, 0.5789, 0.7937, 0.0475, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0023 left_pitch=-0.0187 left_roll=-0.0031 left_gripper=0.9991 right_x=0.433 right_y=0.0402 right_z=0.0057 right_yaw=0.0603 right_pitch=0.0081 right_roll=-0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.2786, 7.1453, 1.6972, -0.0708, -0.0562, -0.0171, -0.9915, -6.147, 4.8479, 1.536, -0.0659, 0.0562, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.468, \"right_y\": 0.039, \"right_z\": -0.015, \"right_gripper\": 1}, \"note\": \"The knob has disappeared below the camera view, meaning it is now between or just past the fingertips. Advancing a final ~1.5 cm and lowering so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_01AFVCjuy2ENr8jdN4UuHudm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01AFVCjuy2ENr8jdN4UuHudm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8112, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.0921, 2.064, 0.6895, 0.8944, 0.0284, -0.0319, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4687 right_y=0.0419 right_z=0.0022 right_yaw=0.0739 right_pitch=0.0782 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5795, 7.3094, 1.707, -0.0562, -0.0611, -0.0171, -0.2667, -6.8308, 4.3145, 1.2332, 0.0708, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f9ae24ece33ee7441526fbb0c1acc359e576c3438dda629d7e9f4d39f015d1b6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6dade7f66344a223badd22951dc4d4c9d65b04e50c6e68752195af02313d5229"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ddbb9558b733d9d7a484c8c3b3ea89b342857460284c356f392fc7011acf7e2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 10.21 s

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

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8082, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0982, 1.9957, 0.6403, 0.8356, 0.0452, -0.0292, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1759 left_yaw=0.0023 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4522 right_y=0.0401 right_z=0.0037 right_yaw=0.0644 right_pitch=0.0388 right_roll=-0.045 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.1966, 7.0496, 1.6923, -0.0659, -0.0366, -0.0171, -0.9094, -6.8034, 3.7538, 1.3114, -0.1392, 0.1587, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.483, \"right_y\": 0.042, \"right_z\": -0.008, \"right_gripper\": 1}, \"note\": \"The blue disc edge is just entering between the fingertips at the bottom of the wrist view; the knob at the disc center is still slightly ahead. Advancing ~1.5 cm more and down slightly to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DvCSPxnTeqiFMeFAD1xTgm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DvCSPxnTeqiFMeFAD1xTgm"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0921, 2.1014, 0.7269, 0.9203, 0.0212, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4801 right_y=0.0442 right_z=0.0031 right_yaw=0.0814 right_pitch=0.104 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4974, 7.0496, 1.7021, -0.0513, -0.0611, -0.0073, -0.4308, -7.2684, 4.9846, 1.5604, -0.0122, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:99faec91b51bb77f36215b8edc906b9315458523d77ac34fb839d7ec2523361d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:acee277139890e2ed389badc4457868a761b0ec41ed1acff4a0281501131ff3f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a927ff927a5de8bdfe21da23ea44162a2356d5ea1d19efdb0c686320857c3065"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 15.09 s

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

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8112, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.0921, 2.064, 0.6895, 0.8944, 0.0284, -0.0319, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.0206 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4687 right_y=0.0419 right_z=0.0022 right_yaw=0.0739 right_pitch=0.0782 right_roll=-0.0382 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.5795, 7.3094, 1.707, -0.0562, -0.0611, -0.0171, -0.2667, -6.8308, 4.3145, 1.2332, 0.0708, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.043, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The disc's leading edge is at the fingertips, slightly left of center; the knob at the disc center is ~2-3 cm further ahead. Advancing 2 cm more so the jaws straddle the central knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GeADFF7NCSMfKD6R6MhkRN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01GeADFF7NCSMfKD6R6MhkRN"
}

{
  "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, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.1387, 0.7803, 0.9245, 0.0132, -0.0353, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4942 right_y=0.0464 right_z=0.0042 right_yaw=0.0875 right_pitch=0.1242 right_roll=-0.0341 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4154, 7.0359, 1.7363, -0.0757, -0.0708, -0.0171, -0.8547, -7.9521, 5.1077, 1.6581, -0.0415, -0.0513, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:667f6563ae02bd86973cfee91893e49ba46d7230a16752d0296ded5e3104a7c2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fe5ea44d2c63ca25cf9cd1690a34053a6712260ce9895e0ca1c3453e7bb568b8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87520fbff9369679dad3eaebd6120f902ab7e8fb9f682babf1274396f2c88607"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 13.84 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8127, 0.6041, -0.3809, -0.0216, -0.0418, 0.9991, 0.0921, 2.1014, 0.7269, 0.9203, 0.0212, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4801 right_y=0.0442 right_z=0.0031 right_yaw=0.0814 right_pitch=0.104 right_roll=-0.037 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4974, 7.0496, 1.7021, -0.0513, -0.0611, -0.0073, -0.4308, -7.2684, 4.9846, 1.5604, -0.0122, -0.0269, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.515, \"right_y\": 0.042, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The blue disc edge appears at the bottom, slightly right between the fingers, so the knob center is still ~2 cm ahead. Advancing forward a final 2 cm to bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01JvzxSiwkvrkdqzQ8UGGf62",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01JvzxSiwkvrkdqzQ8UGGf62"
}

{
  "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, 0.8165, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9192, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1737 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0042 right_yaw=0.089 right_pitch=0.1292 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4974, 7.0496, 1.6923, -0.0611, -0.0659, -0.0171, -0.9778, -8.4855, 5.053, 1.6386, -0.0513, -0.0464, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd1fe81b986d6c1c3b466bf7a8b5bc17850049609d030550e808e090a5ac647a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f97d41f95d40125c00cf70f82f5ecba0ee21a2bd44f3b1541ce9eae17b880fa5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8accd626454d24b7a63d400937f5df62309b504f95794b44e96291c88acbf303"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 16.9 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8131, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.1387, 0.7803, 0.9245, 0.0132, -0.0353, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1746 left_yaw=0.0023 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4942 right_y=0.0464 right_z=0.0042 right_yaw=0.0875 right_pitch=0.1242 right_roll=-0.0341 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.4154, 7.0359, 1.7363, -0.0757, -0.0708, -0.0171, -0.8547, -7.9521, 5.1077, 1.6581, -0.0415, -0.0513, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.525, \"right_y\": 0.043, \"right_z\": 0.005, \"right_gripper\": 1}, \"note\": \"Only a sliver of blue shows at the bottom of the right wrist camera, so the knob is still a couple centimeters ahead; the arm only tracked to x=0.50. Commanding further forward to 0.525 to get the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_017tTsiiVrFfSs3BNpMZwojz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_017tTsiiVrFfSs3BNpMZwojz"
}

{
  "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, 0.8165, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1735 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4017, 7.0222, 1.7314, -0.0513, -0.0611, -0.0073, -0.9368, -8.5265, 4.9299, 1.6581, -0.0562, -0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c14576d4902ac0e3dcf94ecd831016ae9ba5d1857caf1b29dd34a24c9d6616e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1a7e8d29a3b553a4a50cfdf46014b7d4747c4caaee0ff2d3253eb4c3c74e600a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:408da8837d719a45d3ffd8ec998f0d1b65ab90de2c65a8e85dcf096d7ff8f100"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 17.45 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8165, 0.6041, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9192, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1737 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0042 right_yaw=0.089 right_pitch=0.1292 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4974, 7.0496, 1.6923, -0.0611, -0.0659, -0.0171, -0.9778, -8.4855, 5.053, 1.6386, -0.0513, -0.0464, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.52, \"right_y\": 0.03, \"right_z\": 0.02, \"right_pitch\": 0.3, \"right_gripper\": 1}, \"note\": \"The arm stopped tracking at x=0.50 and the blue disc now shows only at the bottom-right of the wrist view, so the gripper drifted left of the piece. Raising slightly, pitching down more, and shifting right to re-center over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_019vzwM5LYWC895Yo8NJoekY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_019vzwM5LYWC895Yo8NJoekY"
}

{
  "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, 0.8177, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.265, 7.241, 1.7118, -0.0855, -0.0659, -0.0171, -0.9504, -8.294, 4.8615, 1.6581, -0.0611, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:18334497c0276c55ba52846fb018f8373e8ddd05fc9494966806bd2db60aac8d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:33b2933cf632d0bf67bf202e58e235f79224026be8b6971caf196fd5a1953255"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28b3c0ca2e5efe117c02bf1da530288887dbe067c0197ad46b010dcf8a81d75c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 12.29 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8165, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1735 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4017, 7.0222, 1.7314, -0.0513, -0.0611, -0.0073, -0.9368, -8.5265, 4.9299, 1.6581, -0.0562, -0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.45, \"right_y\": 0.03, \"right_z\": 0.15, \"right_pitch\": 0.4, \"right_gripper\": 1}, \"note\": \"The arm has stopped tracking (joints unchanged for two commands) and I only see a sliver of blue at the bottom right of the wrist view. Retreating and lifting to 15 cm with more downward pitch to get a clear overhead view of the piece and reset the IK.\"}",
        "name": "move_to"
      },
      "id": "toolu_01XvjFQAKmMzHoT4jp9fo9hj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01XvjFQAKmMzHoT4jp9fo9hj"
}

{
  "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, -0.3805, -0.0216, -0.0422, 0.9991, 0.0532, 1.6791, 0.5678, 0.9195, -0.0216, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.0025 left_pitch=-0.0301 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4524 right_y=0.0315 right_z=0.1347 right_yaw=0.0833 right_pitch=0.3665 right_roll=-0.0301 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.1829, 7.0085, 1.7802, -0.0855, -0.0855, -0.0171, -0.759, -8.2393, 5.4906, 1.8388, -0.0757, -0.0904, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1665a35892860b9416bb6b40d07b87e58dd974cf3a3d73478ce7a00312520aa4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fa171b3a22fd3c712ea204e136c606e1349352b1a83ba5a0eca402be6dead219"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aa6a63209744bdd77625df3ea6bb33f762ee873d63ef80c7e116de0c7c97c80f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 20.86 s

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

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.091, 2.154, 0.8059, 0.9195, 0.0132, -0.038, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5004 right_y=0.0469 right_z=0.0043 right_yaw=0.089 right_pitch=0.1295 right_roll=-0.0365 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.265, 7.241, 1.7118, -0.0855, -0.0659, -0.0171, -0.9504, -8.294, 4.8615, 1.6581, -0.0611, -0.0611, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.05, \"right_z\": 0.08, \"right_pitch\": 0.6, \"right_gripper\": 1}, \"note\": \"The top camera shows the white board with the blue piece near the table center, ahead of the right arm. Moving above the piece location with maximum downward pitch to sight the knob from above before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CtL8ugZfMvB8wcF2VLTFPm",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01CtL8ugZfMvB8wcF2VLTFPm"
}

{
  "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, 0.8257, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.0982, 2.2356, 0.7013, 1.467, 0.0036, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4955 right_y=0.0518 right_z=0.0608 right_yaw=0.1054 right_pitch=0.4908 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.6342, 7.0359, 1.6874, -0.0611, -0.0562, -0.0073, 0.1983, -9.1282, 4.6838, 2.4689, 0.1441, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:37a2499988f1e2ef153ecc29e8e02ec05546e65b3bf222a2be88c52386866bb5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:73f927cf6ceeba77dddcf5a5b84d2adb58239c72794cfda5f45977c58a73f9d6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f23bdbc43957396f7b9a5997c764928b121b8d66311612c3e04f8ddca5158fb4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 44.73 s

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

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3805, -0.0216, -0.0422, 0.9991, 0.0532, 1.6791, 0.5678, 0.9195, -0.0216, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.0025 left_pitch=-0.0301 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4524 right_y=0.0315 right_z=0.1347 right_yaw=0.0833 right_pitch=0.3665 right_roll=-0.0301 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.1829, 7.0085, 1.7802, -0.0855, -0.0855, -0.0171, -0.759, -8.2393, 5.4906, 1.8388, -0.0757, -0.0904, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.53, \"right_y\": 0.05, \"right_z\": 0.015, \"right_pitch\": 0.5, \"right_gripper\": 1}, \"note\": \"Top camera shows the board with the blue piece slightly left and ahead of my right gripper; the wrist view shows only table, so the piece is just below the camera's field. Descending forward-down with the gripper pitched downward to land the jaws around the central knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Jamg41MzCNcETGGQLDVH6P",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Jamg41MzCNcETGGQLDVH6P"
}

{
  "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, 0.8295, 0.6037, -0.3813, -0.0212, -0.0418, 0.9991, 0.0921, 2.4203, 0.8875, 1.5806, -0.0093, -0.0418, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1698 left_yaw=0.0019 left_pitch=-0.04 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5315 right_y=0.0544 right_z=0.0559 right_yaw=0.1154 right_pitch=0.6059 right_roll=-0.0413 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.6205, 6.9949, 1.6728, -0.0513, -0.0415, -0.0171, -0.8, -7.0496, 1.5111, 1.3748, 0.0122, -0.0122, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f33406717b4ab9ab15a1f5c28f369916f4555b6a46d6670d398253528e6e0fe"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bbbb1b9dfde4d1122b6010c254a4abd99697b35c119f0642413c28e5354f08ed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6febaca0e97906067b4359f6768b5c45a1906f6b8ab616298d68b201c7eb0f51"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 91.1 s

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

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, 0.0982, 2.2356, 0.7013, 1.467, 0.0036, -0.0383, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1708 left_yaw=0.0023 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9991 right_x=0.4955 right_y=0.0518 right_z=0.0608 right_yaw=0.1054 right_pitch=0.4908 right_roll=-0.0354 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.6342, 7.0359, 1.6874, -0.0611, -0.0562, -0.0073, 0.1983, -9.1282, 4.6838, 2.4689, 0.1441, -0.0317, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.48, \"right_y\": 0.15, \"right_z\": 0.1, \"right_pitch\": 0.6, \"right_gripper\": 1}, \"note\": \"Top camera shows the board with the blue piece well to the left of my right gripper, so my earlier forward approaches were off to the side. Moving the right arm left (+y) and hovering with maximum downward pitch to sight the knob in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Sur1u5nt7GXDkqwsgLords",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01Sur1u5nt7GXDkqwsgLords"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0422, 0.9991, 0.3798, 2.2387, 0.7429, 1.5173, 0.2401, -0.0425, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.482 right_y=0.151 right_z=0.085 right_yaw=0.1502 right_pitch=0.5791 right_roll=-0.0351 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7573, 7.4325, 1.746, -0.0708, -0.0659, -0.0171, 0.3077, -12.4786, 3.1795, 1.6972, 0.2466, -0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61cb68efd45471d1b917049a249f07e6c7fba820dc4011f7ecb7c8fec2165b3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f33fb1a717456c1f6347aee9132b10894c0ab5d690e09fb20adadbab5736e1f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4cd93d1d319b0d5e8dce37f2526b2bf262ef0adedf4bd864122b3026e05da315"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 19.47 s

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

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8295, 0.6037, -0.3813, -0.0212, -0.0418, 0.9991, 0.0921, 2.4203, 0.8875, 1.5806, -0.0093, -0.0418, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1698 left_yaw=0.0019 left_pitch=-0.04 left_roll=-0.0029 left_gripper=0.9991 right_x=0.5315 right_y=0.0544 right_z=0.0559 right_yaw=0.1154 right_pitch=0.6059 right_roll=-0.0413 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.6205, 6.9949, 1.6728, -0.0513, -0.0415, -0.0171, -0.8, -7.0496, 1.5111, 1.3748, 0.0122, -0.0122, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.5, \"right_y\": 0.05, \"right_z\": 0.13, \"right_pitch\": 0.6, \"right_gripper\": 1}, \"note\": \"The wrist camera shows no blue after moving left, so the piece is back to the right near y\\u22480.05 where I originally chased it. Hovering 13 cm above that spot with the tool pitched down to sight the knob from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_019dQn8yGab2DJbStmDH6HG2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_019dQn8yGab2DJbStmDH6HG2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0212, -0.0418, 0.9991, 0.0841, 2.096, 0.7017, 1.4075, -0.0349, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0435 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4988 right_y=0.0518 right_z=0.1133 right_yaw=0.1415 right_pitch=0.571 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3744, 7.0496, 1.7314, -0.0611, -0.0366, -0.0171, -0.3214, -11.7538, 4.6974, 1.9023, -0.0904, 0.2125, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:34ca046e9af738bc90fc490f1eaa5b698b6feff7d554a0a9c62073171a59132b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a40b9b1bf1177257efcb3acaca98f10b66c6e526d214e9046be453e7bb10c14"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3d2897115d46d96aafb6b3c531cab04311408961e92ff42e3a40fc755fb007ae"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 22.82 s

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

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0216, -0.0422, 0.9991, 0.3798, 2.2387, 0.7429, 1.5173, 0.2401, -0.0425, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0435 left_roll=-0.0029 left_gripper=0.9991 right_x=0.482 right_y=0.151 right_z=0.085 right_yaw=0.1502 right_pitch=0.5791 right_roll=-0.0351 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.7573, 7.4325, 1.746, -0.0708, -0.0659, -0.0171, 0.3077, -12.4786, 3.1795, 1.6972, 0.2466, -0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.52, \"right_y\": 0.01, \"right_z\": 0.0, \"right_pitch\": 0.55, \"right_gripper\": 1}, \"note\": \"Top camera shows the blue piece right beside the gripper, slightly to its right (my -y side), which explains why blue kept appearing bottom-right in the wrist view. Descending to knob height at a slightly smaller y to straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K68oMiXHqKbh6DpeAb1pko",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01K68oMiXHqKbh6DpeAb1pko"
}

{
  "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, 0.8387, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, -0.0204, 2.4874, 0.9264, 1.5799, -0.1543, -0.0582, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0014 left_z=0.1672 left_yaw=0.0023 left_pitch=-0.0492 left_roll=-0.0024 left_gripper=0.9991 right_x=0.5373 right_y=0.0198 right_z=0.0332 right_yaw=0.1594 right_pitch=0.5764 right_roll=-0.0633 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.8256, 7.0359, 1.6728, -0.0659, -0.0171, -0.0073, -1.7026, -7.2821, 3.3846, 1.8974, 0.0269, -0.0366, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5a77a51a5a05d621564772c7bf140d26f42c51f49f539d46cfc88ba879b39943"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:23a09eb89ccd7a47866fdd86db7fd72713637bd1c61be31ca20c97e5e8a3145f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3709e2d2a68ffa88dda5e97e9e24d4d6e62b745b275982028a4cad64a25cb803"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 44.24 s

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

message 50 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8333, 0.6037, -0.3809, -0.0212, -0.0418, 0.9991, 0.0841, 2.096, 0.7017, 1.4075, -0.0349, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0435 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4988 right_y=0.0518 right_z=0.1133 right_yaw=0.1415 right_pitch=0.571 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3744, 7.0496, 1.7314, -0.0611, -0.0366, -0.0171, -0.3214, -11.7538, 4.6974, 1.9023, -0.0904, 0.2125, -0.1148]",
      "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\": 0.02, \"right_z\": -0.01, \"right_pitch\": 0.55, \"right_gripper\": 1}, \"note\": \"The wrist camera shows bare table, so the piece is likely just below its field of view ahead of the fingertips. Descending to table level slightly forward to get the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LzrmkZ7ZvSGVRJuvAtiLzq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01LzrmkZ7ZvSGVRJuvAtiLzq"
}

{
  "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, 0.8394, 0.6037, -0.3809, -0.0212, -0.0418, 0.9991, -0.0235, 2.5378, 1.0546, 1.5826, -0.1623, -0.0608, 0.9991]\nstate[eef_state]: left_x=0.2974 left_y=0.0014 left_z=0.1671 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0027 left_gripper=0.9991 right_x=0.5626 right_y=0.0189 right_z=0.0477 right_yaw=0.1772 right_pitch=0.6552 right_roll=-0.0858 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.5248, 7.0085, 1.6728, -0.0366, -0.0562, -0.0171, 0.2667, -4.0, 1.8393, 1.6923, 0.0562, -0.0708, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e1f258d9b305ad86fc89e255a3e42d02d07e4326e4366073ef6b384758162b47"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fc02e952099ae40742509a289f3953f116e1b8c60b8a999d586eb30763a0fab"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4e775f172d28441c89fde5778d66b578f34677c3e7c2b2246f46f64b627792e1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 15.27 s

model: claude-fable-5
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, 0.8387, 0.6037, -0.3813, -0.0216, -0.0418, 0.9991, -0.0204, 2.4874, 0.9264, 1.5799, -0.1543, -0.0582, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0014 left_z=0.1672 left_yaw=0.0023 left_pitch=-0.0492 left_roll=-0.0024 left_gripper=0.9991 right_x=0.5373 right_y=0.0198 right_z=0.0332 right_yaw=0.1594 right_pitch=0.5764 right_roll=-0.0633 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.8256, 7.0359, 1.6728, -0.0659, -0.0171, -0.0073, -1.7026, -7.2821, 3.3846, 1.8974, 0.0269, -0.0366, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.48, \"right_y\": 0.28, \"right_z\": 0.1, \"right_pitch\": 0.6, \"right_gripper\": 1}, \"note\": \"The top camera shows the white board with the blue circular area well to the left of my right gripper (about 25-30 cm in the arm's +y direction), and my wrist camera sees only bare table. Moving left over the board to sight the piece and groove from above.\"}",
        "name": "move_to"
      },
      "id": "toolu_013QpGDZPM3S5F7B6JiWxjhz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 22 steps (2.2s)",
  "role": "tool",
  "tool_call_id": "toolu_013QpGDZPM3S5F7B6JiWxjhz"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8417, 0.6037, -0.3805, -0.0216, -0.0418, 0.9991, 0.6754, 2.3531, 1.0176, 1.3384, 0.5014, -0.0952, 0.9991]\nstate[eef_state]: left_x=0.2976 left_y=0.0014 left_z=0.1665 left_yaw=0.0023 left_pitch=-0.0515 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4776 right_y=0.2784 right_z=0.0759 right_yaw=0.2196 right_pitch=0.5591 right_roll=-0.1014 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.7118, -0.0855, -0.0513, -0.0073, 0.253, -14.2291, 5.7778, 1.8291, 0.2027, -0.1245, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:172fea58fd8ab0bb813057a216e1c84a6ab5a6233df1335f658b961ee380c87b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6fdb34cd8f70194dfd2646f508bcc076a98fd8a0177bb3bfc47fed84c39a17c5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f09964e53e0b320638d256c1e91c09ba12967a1f6c3e36a98ace24de4ed63d91"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}