adhoc - adhoc_a685676a.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: 373.3 s
total steps: 100

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 00

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

Looking at the scene: the blue puzzle piece with a central knob is visible in the right camera, and the board with the circular groove is to the left. I'll use the right arm to approach the piece.

agent noteThe blue puzzle piece with its knob appears roughly ahead of the right arm in the right camera. Moving the right gripper forward and down to get closer and localize it better.

move_to

right_x0.3600right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.0204, 0.7929, 0.6041, -0.3786, -0.0216, -0.0376, 0.9995, -0.02, 0.7914, 0.6094, -0.3756, -0.0231, -0.0154, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0017 right_z=0.1841 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6632, -1.347, 10.3863, 1.8437, -0.0513, 0.2515, -0.0659, -0.5538, -1.1556, 9.8256, 1.746, -0.0366, 0.0122, -0.0855] 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

Looking at the scene: the blue puzzle piece with a central knob is visible in the right camera, and the board with the circular groove is to the left. I'll use the right arm to approach the piece.

move_to({"targets": {"right_x": 0.36, "right_z": 0.12, "right_gripper": 1}, "note": "The blue puzzle piece with its knob appears roughly ahead of the right arm in the right camera. Moving the right gripper forward and down to get closer and localize it better."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

The piece is now larger in the right camera, roughly centered ahead. I'll move forward and down further toward it.

agent noteThe blue piece with knob is centered in the right camera and getting closer. Moving the right gripper further forward and lower to position above the knob.

move_to

right_x0.4200right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, -0.0189, 1.1629, 0.5117, -0.0315, -0.0235, -0.0154, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3381 right_y=0.0013 right_z=0.0981 right_yaw=0.0016 right_pitch=-0.1251 right_roll=0.0028 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.4701, 7.0222, 1.7509, -0.0317, -0.0073, -0.0171, 0.335, -4.0684, 6.735, 1.9463, -0.0024, -0.0171, -0.0855] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

The piece is now larger in the right camera, roughly centered ahead. I'll move forward and down further toward it.

move_to({"targets": {"right_x": 0.42, "right_z": 0.05, "right_gripper": 1}, "note": "The blue piece with knob is centered in the right camera and getting closer. Moving the right gripper further forward and lower to position above the knob."})

tool

executing move_to over 7 steps (0.7s)

step 12

assistant

agent noteThe knob is centered in the right wrist camera, just below center, meaning the piece is slightly forward of the gripper. Advancing forward and lowering to bracket the knob between the jaws.

move_to

right_x0.4600right_z0.0200right_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, 0.8059, 0.6029, -0.3813, -0.0212, -0.0414, 0.9995, -0.0174, 1.6321, 0.6453, 0.2249, -0.0273, -0.0158, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1759 left_yaw=0.0021 left_pitch=-0.0175 left_roll=-0.003 left_gripper=0.9995 right_x=0.3999 right_y=0.0015 right_z=0.034 right_yaw=0.0069 right_pitch=-0.2044 right_roll=0.0068 right_gripper=0.9993 state[joint_eff]: [-0.1709, -1.6479, 7.1453, 1.707, -0.022, -0.0464, -0.0073, 0.0889, -7.0222, 6.9949, 1.9609, -0.0024, 0.0073, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_z": 0.02, "right_gripper": 1}, "note": "The knob is centered in the right wrist camera, just below center, meaning the piece is slightly forward of the gripper. Advancing forward and lowering to bracket the knob between the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 17

assistant

agent noteThe blue piece's far edge shows at the bottom of the wrist camera, so the knob is just below and slightly ahead of the gripper. Advancing a bit more and lowering so the jaws straddle the knob.

move_to

right_x0.4750right_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, 0.8089, 0.6029, -0.3809, -0.0216, -0.0418, 0.9994, -0.0174, 1.8568, 0.8352, 0.2256, -0.0284, -0.0158, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4463 right_y=0.0009 right_z=0.0115 right_yaw=0.0081 right_pitch=-0.2383 right_roll=0.0085 right_gripper=0.9993 state[joint_eff]: [-0.1162, -1.5385, 7.0632, 1.6874, -0.0806, -0.0464, -0.0171, -0.0889, -8.4855, 6.8171, 1.6142, 0.0024, -0.0415, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.475, "right_z": -0.005, "right_gripper": 1}, "note": "The blue piece's far edge shows at the bottom of the wrist camera, so the knob is just below and slightly ahead of the gripper. Advancing a bit more and lowering so the jaws straddle the knob."})

tool

executing move_to over 3 steps (0.3s)

step 20

assistant

agent noteThe blue piece now shows at the bottom-left of the wrist camera and the top camera shows it up-left of the gripper. Moving forward and left to center the knob between the jaws.

move_to

right_x0.5000right_y0.0500right_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, 0.8112, 0.6025, -0.3817, -0.0216, -0.0418, 0.9994, -0.0174, 1.9553, 0.9249, 0.252, -0.0265, -0.025, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4723 right_y=0.0001 right_z=0.0045 right_yaw=0.0113 right_pitch=-0.2207 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.2803, -1.4564, 7.0906, 1.6923, -0.0366, -0.0513, -0.0073, -0.1436, -7.6239, 5.6547, 1.2967, -0.0659, 0.0757, -0.0855] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.05, "right_z": 0.0, "right_gripper": 1}, "note": "The blue piece now shows at the bottom-left of the wrist camera and the top camera shows it up-left of the gripper. Moving forward and left to center the knob between the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 25

assistant

agent noteThe blue piece disappeared from the wrist camera and the top camera shows it well to the left of the right gripper. Moving the right arm further in +y (left in its frame) to test whether that heads toward the piece.

move_to

right_y0.1500right_x0.4800right_z0.0200right_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, 0.6025, -0.3813, -0.0216, -0.0422, 0.9994, 0.1104, 2.0338, 1.0393, 0.2344, 0.0429, 0.0299, 0.9993] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0028 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4979 right_y=0.0512 right_z=0.0057 right_yaw=0.0492 right_pitch=-0.2018 right_roll=-0.0087 right_gripper=0.9993 state[joint_eff]: [-0.3624, -1.4838, 7.0359, 1.7314, -0.0513, -0.0806, -0.0122, -0.1299, -8.8821, 6.4205, 1.3748, 0.0855, 0.2027, -0.0855] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.15, "right_x": 0.48, "right_z": 0.02, "right_gripper": 1}, "note": "The blue piece disappeared from the wrist camera and the top camera shows it well to the left of the right gripper. Moving the right arm further in +y (left in its frame) to test whether that heads toward the piece."})

tool

executing move_to over 9 steps (0.9s)

step 34

assistant

agent noteThe arm barely moved toward y=0.15, likely near its reach limit at x=0.5. Pulling back to x=0.42 while moving left toward the piece visible in the top camera.

move_to

right_x0.4200right_y0.1800right_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, 0.8127, 0.6025, -0.3813, -0.0216, -0.0418, 0.9994, 0.1204, 2.0403, 1.0492, 0.2329, 0.0528, 0.0452, 0.9993] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0026 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9994 right_x=0.5 right_y=0.0547 right_z=0.006 right_yaw=0.0423 right_pitch=-0.1995 right_roll=-0.0042 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.347, 7.0359, 1.7118, -0.0806, -0.0317, -0.0122, -0.4718, -9.1692, 6.6393, 1.3797, 0.1392, 0.1978, -0.0855] 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": 0.42, "right_y": 0.18, "right_z": 0.03, "right_gripper": 1}, "note": "The arm barely moved toward y=0.15, likely near its reach limit at x=0.5. Pulling back to x=0.42 while moving left toward the piece visible in the top camera."})

tool

executing move_to over 11 steps (1.1s)

step 45

assistant

agent noteTop camera shows the white tile with the blue piece left of the right gripper. Continuing to move the right arm left (+y) toward the piece while staying a bit above the table.

move_to

right_x0.4200right_y0.2800right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8146, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.5114, 1.9079, 0.9337, 0.1436, 0.2947, 0.2924, 0.9993] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0263 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4209 right_y=0.1815 right_z=0.0157 right_yaw=0.0889 right_pitch=-0.2272 right_roll=-0.0121 right_gripper=0.9993 state[joint_eff]: [-0.2667, -1.4974, 7.0359, 1.7509, -0.0757, -0.0171, -0.0122, 0.2256, -11.7812, 5.5316, 1.5214, 0.4078, 0.1538, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.28, "right_z": 0.05, "right_gripper": 1}, "note": "Top camera shows the white tile with the blue piece left of the right gripper. Continuing to move the right arm left (+y) toward the piece while staying a bit above the table."})

tool

executing move_to over 9 steps (0.9s)

step 54

assistant

agent noteThe wrist camera now shows the blue piece at the bottom-left of frame, so the knob is a bit further left and slightly forward. Shifting left and down to center the knob under the jaws.

move_to

right_x0.4300right_y0.3400right_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, 0.8181, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7166, 2.0006, 1.2388, -0.1253, 0.4011, 0.4328, 0.9993] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4168 right_y=0.2763 right_z=0.046 right_yaw=0.125 right_pitch=-0.2374 right_roll=-0.0111 right_gripper=0.9993 state[joint_eff]: [-0.2667, -1.6889, 7.0085, 1.7118, -0.0317, -0.0708, -0.0122, 0.5812, -9.0325, 8.2803, 1.2967, 0.3687, 0.1734, -0.0855] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.34, "right_z": 0.03, "right_gripper": 1}, "note": "The wrist camera now shows the blue piece at the bottom-left of frame, so the knob is a bit further left and slightly forward. Shifting left and down to center the knob under the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 60

assistant

agent noteThe wrist camera shows the blue piece just below-left between the open jaws. Nudging slightly left and descending so the jaws come down around the central knob.

move_to

right_x0.4250right_y0.3650right_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, 0.82, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7986, 2.1933, 1.4742, -0.2146, 0.4236, 0.4778, 0.9993] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4229 right_y=0.3353 right_z=0.0246 right_yaw=0.158 right_pitch=-0.265 right_roll=-0.0218 right_gripper=0.9993 state[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.6972, -0.0317, -0.0708, -0.0073, 0.1709, -11.6855, 7.6513, 1.2137, 0.4762, 0.1929, -0.0855] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.365, "right_z": 0.0, "right_gripper": 1}, "note": "The wrist camera shows the blue piece just below-left between the open jaws. Nudging slightly left and descending so the jaws come down around the central knob."})

tool

executing move_to over 3 steps (0.3s)

step 63

assistant

agent noteThe blue piece fills the lower wrist-camera view with the jaws straddling its center area. Descending straight down to bring the open jaws around the knob at the piece's center.

move_to

right_z-0.0200right_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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8257, 2.2791, 1.5646, -0.2138, 0.4412, 0.4992, 0.9993] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4283 right_y=0.3584 right_z=0.0134 right_yaw=0.1608 right_pitch=-0.2521 right_roll=-0.0149 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.4427, 7.1863, 1.6874, -0.0757, -0.0073, -0.0122, 0.8684, -10.5778, 6.4479, 1.0818, 0.2173, 0.105, -0.0855] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.02, "right_gripper": 1}, "note": "The blue piece fills the lower wrist-camera view with the jaws straddling its center area. Descending straight down to bring the open jaws around the knob at the piece's center."})

tool

executing move_to over 3 steps (0.3s)

step 66

assistant

agent noteThe arm barely descended, likely IK sag near this stretched pose; the piece center sits just below/ahead of the jaws in the wrist view. Commanding slightly forward and down again to get the jaws around the knob.

move_to

right_x0.4400right_y0.3700right_z-0.0200right_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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.4291, 7.0222, 1.6923, -0.022, -0.0806, -0.0122, 0.3897, -10.5915, 7.2, 1.243, 0.1929, 0.0562, -0.0855] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.37, "right_z": -0.02, "right_gripper": 1}, "note": "The arm barely descended, likely IK sag near this stretched pose; the piece center sits just below/ahead of the jaws in the wrist view. Commanding slightly forward and down again to get the jaws around the knob."})

tool

executing move_to over 3 steps (0.3s)

step 69

assistant

agent noteThe arm did not move at all toward the last target—likely an unreachable pose at this extension. Pulling the target slightly back and in while still commanding downward so IK can find a solution to lower the jaws over the knob.

move_to

right_x0.4150right_y0.3550right_z-0.0200right_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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [-0.3624, -1.6752, 6.9949, 1.7118, -0.0562, -0.0464, -0.0073, 0.4718, -10.7419, 6.9949, 1.2039, 0.2076, 0.0611, -0.0855] 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": 0.415, "right_y": 0.355, "right_z": -0.02, "right_gripper": 1}, "note": "The arm did not move at all toward the last target\u2014likely an unreachable pose at this extension. Pulling the target slightly back and in while still commanding downward so IK can find a solution to lower the jaws over the knob."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe arm hasn't moved for two commands—it seems stuck in an awkward IK pose with pitch sagging to -0.24. Lifting up, pulling slightly back, and commanding level pitch to break out of the stuck configuration before re-descending on the knob.

move_to

right_x0.4000right_y0.3400right_z0.0600right_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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.0598, 7.3504, 1.707, -0.0562, -0.0464, -0.0122, 0.4308, -10.7556, 7.1863, 1.199, 0.232, 0.0513, -0.0855] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.34, "right_z": 0.06, "right_pitch": 0.0, "right_gripper": 1}, "note": "The arm hasn't moved for two commands\u2014it seems stuck in an awkward IK pose with pitch sagging to -0.24. Lifting up, pulling slightly back, and commanding level pitch to break out of the stuck configuration before re-descending on the knob."})

tool

executing move_to over 9 steps (0.9s)

step 81

assistant

agent noteThe arm unstuck; the wrist camera shows the blue circle with its center slightly ahead and left of the jaws. Moving forward-left a couple centimeters and descending so the jaws surround the central knob.

move_to

right_x0.4200right_y0.3450right_z-0.0100right_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, 0.8268, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8738, 2.1109, 1.2083, 0.1024, 0.5549, 0.4404, 0.9993] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0381 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3948 right_y=0.3322 right_z=0.0254 right_yaw=0.169 right_pitch=-0.0988 right_roll=-0.045 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.0872, 7.0496, 1.7265, -0.0611, -0.0611, -0.0073, 0.9915, -14.1197, 6.2974, 1.79, 0.5006, -0.0317, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.345, "right_z": -0.01, "right_pitch": 0.0, "right_gripper": 1}, "note": "The arm unstuck; the wrist camera shows the blue circle with its center slightly ahead and left of the jaws. Moving forward-left a couple centimeters and descending so the jaws surround the central knob."})

tool

executing move_to over 4 steps (0.4s)

step 85

assistant

agent noteThe wrist camera shows the blue circle's center still a bit to the left of the jaw midpoint. Shifting ~2 cm left and descending to table level so the jaws surround the central knob.

move_to

right_x0.4250right_y0.3700right_z-0.0200right_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, 0.8284, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.87, 2.2383, 1.2331, 0.3351, 0.5858, 0.4065, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1697 left_yaw=0.0027 left_pitch=-0.0396 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4174 right_y=0.3488 right_z=0.0099 right_yaw=0.1632 right_pitch=0.0135 right_roll=-0.0045 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.6068, 7.0085, 1.6728, -0.0611, -0.0415, -0.0073, -0.9094, -8.7726, 5.8051, 0.9255, 0.1245, -0.3687, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.37, "right_z": -0.02, "right_pitch": 0.0, "right_gripper": 1}, "note": "The wrist camera shows the blue circle's center still a bit to the left of the jaw midpoint. Shifting ~2 cm left and descending to table level so the jaws surround the central knob."})

tool

executing move_to over 2 steps (0.2s)

step 87

assistant

agent noteThe wrist camera shows the blue piece's center still down-left of the jaw midpoint; z appears to have bottomed near the knob height. Shifting ~3 cm left and forward to center the knob between the open jaws.

move_to

right_x0.4400right_y0.3850right_z-0.0050right_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, 0.8295, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1694 left_yaw=0.0027 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.5658, 7.0085, 1.7411, -0.0415, -0.0562, -0.0073, -0.5128, -9.6615, 5.559, 1.2088, 0.188, -0.1392, -0.0855] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.385, "right_z": -0.005, "right_pitch": 0.0, "right_gripper": 1}, "note": "The wrist camera shows the blue piece's center still down-left of the jaw midpoint; z appears to have bottomed near the knob height. Shifting ~3 cm left and forward to center the knob between the open jaws."})

tool

executing move_to over 3 steps (0.3s)

step 90

assistant

agent noteThe arm held position again—low targets at this extension stall the IK. Lifting slightly while moving forward-left so the jaws can get centered over the blue piece's knob before descending.

move_to

right_x0.4430right_y0.3830right_z0.0300right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8314, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1688 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.5111, 7.0085, 1.7167, -0.0708, -0.0708, -0.0073, -0.3077, -9.853, 5.5179, 1.1941, 0.1734, -0.1636, -0.0904] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.443, "right_y": 0.383, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1}, "note": "The arm held position again\u2014low targets at this extension stall the IK. Lifting slightly while moving forward-left so the jaws can get centered over the blue piece's knob before descending."})

tool

executing move_to over 3 steps (0.3s)

step 93

assistant

agent noteThe arm stalled again; the wrist camera shows the piece's central area just up-left of the jaws. Trying a smaller step forward-left with slight downward pitch so the IK tracks and the jaws end up around the knob.

move_to

right_x0.4350right_y0.3650right_z-0.0100right_pitch0.1000right_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, 0.8322, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.4, 0.5838, 0.3878, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0438 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4237 right_y=0.3529 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0472 right_roll=0.0093 right_gripper=0.9993 state[joint_eff]: [-0.2803, -1.5521, 7.0085, 1.6728, -0.0269, -0.0659, -0.0122, -0.3761, -9.6342, 5.6, 1.1795, 0.1734, -0.1392, -0.0855] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.365, "right_z": -0.01, "right_pitch": 0.1, "right_gripper": 1}, "note": "The arm stalled again; the wrist camera shows the piece's central area just up-left of the jaws. Trying a smaller step forward-left with slight downward pitch so the IK tracks and the jaws end up around the knob."})

tool

executing move_to over 2 steps (0.2s)

step 95

assistant

agent noteThe arm is stuck at its current pose; small low targets aren't tracking. Lifting up first (which unstuck it before) while shifting to sit directly above the blue piece's center knob.

move_to

right_x0.4500right_y0.3850right_z0.0600right_pitch0.0000right_yaw0.0000right_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, 0.8326, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.4, 0.5838, 0.3878, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1685 left_yaw=0.0027 left_pitch=-0.0442 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4237 right_y=0.3529 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0472 right_roll=0.0093 right_gripper=0.9993 state[joint_eff]: [0.0342, -1.4564, 6.9949, 1.6679, -0.0317, -0.0415, -0.0073, -0.5402, -9.8667, 5.5316, 1.2186, 0.1734, -0.1929, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.385, "right_z": 0.06, "right_pitch": 0.0, "right_yaw": 0.0, "right_gripper": 1}, "note": "The arm is stuck at its current pose; small low targets aren't tracking. Lifting up first (which unstuck it before) while shifting to sit directly above the blue piece's center knob."})

tool

executing move_to over 4 steps (0.4s)

step 99

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, 0.8337, 0.6025, -0.3813, -0.0216, -0.0418, 0.9994, 0.8902, 2.3142, 1.652, 0.0269, 0.6621, 0.5159, 0.9993] state[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1681 left_yaw=0.0027 left_pitch=-0.0458 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4576 right_y=0.3983 right_z=0.0789 right_yaw=0.0653 right_pitch=0.0677 right_roll=0.0815 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.4701, 7.0085, 1.6679, -0.0562, -0.0611, -0.0122, 0.5812, -11.3573, 5.9419, 1.0623, 0.5592, 0.2076, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /chat/completions · status 200 · 11.33 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]: [-0.0204, 0.7929, 0.6041, -0.3786, -0.0216, -0.0376, 0.9995, -0.02, 0.7914, 0.6094, -0.3756, -0.0231, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0017 right_z=0.1841 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.347, 10.3863, 1.8437, -0.0513, 0.2515, -0.0659, -0.5538, -1.1556, 9.8256, 1.746, -0.0366, 0.0122, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0299a9a858654e43b4241c5cfeaddeb90c0d5d882641810bf01bc2a3f25cbc3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a3203db0861e5ccbebd9cc50a8651628a1937bd4aceac64fb0089e910936d9e0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:435afd29815ba21113e663b8a9d790e755bec6dc3816697e8692c8687403681e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 7.68 s

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

{
  "content": "Looking at the scene: the blue puzzle piece with a central knob is visible in the right camera, and the board with the circular groove is to the left. I'll use the right arm to approach the piece.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_z\": 0.12, \"right_gripper\": 1}, \"note\": \"The blue puzzle piece with its knob appears roughly ahead of the right arm in the right camera. Moving the right gripper forward and down to get closer and localize it better.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MJKmzbAQcEW24RPnSacbMF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01MJKmzbAQcEW24RPnSacbMF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, -0.0189, 1.1629, 0.5117, -0.0315, -0.0235, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3381 right_y=0.0013 right_z=0.0981 right_yaw=0.0016 right_pitch=-0.1251 right_roll=0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4701, 7.0222, 1.7509, -0.0317, -0.0073, -0.0171, 0.335, -4.0684, 6.735, 1.9463, -0.0024, -0.0171, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:58ec6f9f02ca3893046b5782ab350c6dac87b537ec9915727c88132cb697c283"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e4e5230042b3499acb2f4782d8f2d0c1e3e3ea5375086874e4705deb4f06725"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:efc5062477febd627797f4ce54dff88aa7093a00d2dfe5374cb8bb5531ae2c08"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 6.749 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]: [-0.0204, 0.7929, 0.6041, -0.3786, -0.0216, -0.0376, 0.9995, -0.02, 0.7914, 0.6094, -0.3756, -0.0231, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1806 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2958 right_y=0.0017 right_z=0.1841 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.347, 10.3863, 1.8437, -0.0513, 0.2515, -0.0659, -0.5538, -1.1556, 9.8256, 1.746, -0.0366, 0.0122, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The piece is now larger in the right camera, roughly centered ahead. I'll move forward and down further toward it.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_z\": 0.05, \"right_gripper\": 1}, \"note\": \"The blue piece with knob is centered in the right camera and getting closer. Moving the right gripper further forward and lower to position above the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01P19JM8xt5E2tZzYFYstc7u",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01P19JM8xt5E2tZzYFYstc7u"
}

{
  "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, 0.8059, 0.6029, -0.3813, -0.0212, -0.0414, 0.9995, -0.0174, 1.6321, 0.6453, 0.2249, -0.0273, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1759 left_yaw=0.0021 left_pitch=-0.0175 left_roll=-0.003 left_gripper=0.9995 right_x=0.3999 right_y=0.0015 right_z=0.034 right_yaw=0.0069 right_pitch=-0.2044 right_roll=0.0068 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6479, 7.1453, 1.707, -0.022, -0.0464, -0.0073, 0.0889, -7.0222, 6.9949, 1.9609, -0.0024, 0.0073, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f00bb22df9f0da2311fe528d5285e1b4b6c1595c3195efe112a357d035d9df04"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5a9593a9068b62de3aa083680df0c85f99756654835a72ccc665ffebb02734a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ddd8d492b02c7b4f5bc7c3a32517fcf26d511e7d715d15915ec3f45c5d147929"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 12.74 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, 0.799, 0.6044, -0.3813, -0.0216, -0.0414, 0.9994, -0.0189, 1.1629, 0.5117, -0.0315, -0.0235, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1785 left_yaw=0.0024 left_pitch=-0.0091 left_roll=-0.003 left_gripper=0.9994 right_x=0.3381 right_y=0.0013 right_z=0.0981 right_yaw=0.0016 right_pitch=-0.1251 right_roll=0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.4701, 7.0222, 1.7509, -0.0317, -0.0073, -0.0171, 0.335, -4.0684, 6.735, 1.9463, -0.0024, -0.0171, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.46, \"right_z\": 0.02, \"right_gripper\": 1}, \"note\": \"The knob is centered in the right wrist camera, just below center, meaning the piece is slightly forward of the gripper. Advancing forward and lowering to bracket the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01A2XSAjwxQJjJ1ahGDJ7UvF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01A2XSAjwxQJjJ1ahGDJ7UvF"
}

{
  "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, 0.6029, -0.3809, -0.0216, -0.0418, 0.9994, -0.0174, 1.8568, 0.8352, 0.2256, -0.0284, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4463 right_y=0.0009 right_z=0.0115 right_yaw=0.0081 right_pitch=-0.2383 right_roll=0.0085 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.5385, 7.0632, 1.6874, -0.0806, -0.0464, -0.0171, -0.0889, -8.4855, 6.8171, 1.6142, 0.0024, -0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:49cc2912f109c453c41c59c76e5619bfa5654343bd26806a53c264e4c4b3f158"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bc01bf322997d09c77173309cf39436f8c28fc3b1e3a2aa4fdb4ab0c820c5313"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e317b37c18f14e14aba25b0946a74e7e31918fd269df316612509f564f4a7fe1"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 16.99 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, 0.8059, 0.6029, -0.3813, -0.0212, -0.0414, 0.9995, -0.0174, 1.6321, 0.6453, 0.2249, -0.0273, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1759 left_yaw=0.0021 left_pitch=-0.0175 left_roll=-0.003 left_gripper=0.9995 right_x=0.3999 right_y=0.0015 right_z=0.034 right_yaw=0.0069 right_pitch=-0.2044 right_roll=0.0068 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6479, 7.1453, 1.707, -0.022, -0.0464, -0.0073, 0.0889, -7.0222, 6.9949, 1.9609, -0.0024, 0.0073, -0.0855]\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\": 0.475, \"right_z\": -0.005, \"right_gripper\": 1}, \"note\": \"The blue piece's far edge shows at the bottom of the wrist camera, so the knob is just below and slightly ahead of the gripper. Advancing a bit more and lowering so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Fehhx1bwcxgfDcpWeBDjvM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01Fehhx1bwcxgfDcpWeBDjvM"
}

{
  "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, 0.6025, -0.3817, -0.0216, -0.0418, 0.9994, -0.0174, 1.9553, 0.9249, 0.252, -0.0265, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4723 right_y=0.0001 right_z=0.0045 right_yaw=0.0113 right_pitch=-0.2207 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.0906, 1.6923, -0.0366, -0.0513, -0.0073, -0.1436, -7.6239, 5.6547, 1.2967, -0.0659, 0.0757, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83c2afa40212ba1a344d63422c4445625ad2f834bc5771b8af9aa219f2f310d1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fb7b77bb15dbefc1176e42e813350f32c1eb75ee52da5882a86338f6439ba6b9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5055bb9fc7ad5bb74c27786e434cd66007ec19ae3008ab326a5db4e532dcaae9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 27.89 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, 0.8089, 0.6029, -0.3809, -0.0216, -0.0418, 0.9994, -0.0174, 1.8568, 0.8352, 0.2256, -0.0284, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1752 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9994 right_x=0.4463 right_y=0.0009 right_z=0.0115 right_yaw=0.0081 right_pitch=-0.2383 right_roll=0.0085 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -1.5385, 7.0632, 1.6874, -0.0806, -0.0464, -0.0171, -0.0889, -8.4855, 6.8171, 1.6142, 0.0024, -0.0415, -0.0855]\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\": 0.0, \"right_gripper\": 1}, \"note\": \"The blue piece now shows at the bottom-left of the wrist camera and the top camera shows it up-left of the gripper. Moving forward and left to center the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_019JXbZc7wBwALLmp3buENKc",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_019JXbZc7wBwALLmp3buENKc"
}

{
  "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, 0.6025, -0.3813, -0.0216, -0.0422, 0.9994, 0.1104, 2.0338, 1.0393, 0.2344, 0.0429, 0.0299, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0028 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4979 right_y=0.0512 right_z=0.0057 right_yaw=0.0492 right_pitch=-0.2018 right_roll=-0.0087 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.4838, 7.0359, 1.7314, -0.0513, -0.0806, -0.0122, -0.1299, -8.8821, 6.4205, 1.3748, 0.0855, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f67e8bd1d00a5cbf31ed81ec57fb27c30c65820c9a17237dcd24be8302ddac4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ea1e68b15a640e2331938d88723c71975bf5e352ba038c8c575bd69dda10159"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:349428bc8eeccbc2c3e1405a74f575ae4e39156980bc68ee4985d7deae95565c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 17.55 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, 0.8112, 0.6025, -0.3817, -0.0216, -0.0418, 0.9994, -0.0174, 1.9553, 0.9249, 0.252, -0.0265, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.003 left_gripper=0.9994 right_x=0.4723 right_y=0.0001 right_z=0.0045 right_yaw=0.0113 right_pitch=-0.2207 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.0906, 1.6923, -0.0366, -0.0513, -0.0073, -0.1436, -7.6239, 5.6547, 1.2967, -0.0659, 0.0757, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_y\": 0.15, \"right_x\": 0.48, \"right_z\": 0.02, \"right_gripper\": 1}, \"note\": \"The blue piece disappeared from the wrist camera and the top camera shows it well to the left of the right gripper. Moving the right arm further in +y (left in its frame) to test whether that heads toward the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_019hYP4AfVU1UKG1PJ2umMCp",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_019hYP4AfVU1UKG1PJ2umMCp"
}

{
  "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, 0.6025, -0.3813, -0.0216, -0.0418, 0.9994, 0.1204, 2.0403, 1.0492, 0.2329, 0.0528, 0.0452, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0026 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9994 right_x=0.5 right_y=0.0547 right_z=0.006 right_yaw=0.0423 right_pitch=-0.1995 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.347, 7.0359, 1.7118, -0.0806, -0.0317, -0.0122, -0.4718, -9.1692, 6.6393, 1.3797, 0.1392, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c0d11ca0a77be98ecbc2fd80682b1f29104d1a4b99dfccd4dff2954bfb756576"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b96d5de4789197fcd7678458dc19059021675bb106445d6bce10d121adb13863"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d9c07a8e4cf4505bab1ea4af844f5a60939aa8a7f9e13cc177efceba1a689436"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 13.01 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, 0.8127, 0.6025, -0.3813, -0.0216, -0.0422, 0.9994, 0.1104, 2.0338, 1.0393, 0.2344, 0.0429, 0.0299, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0028 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4979 right_y=0.0512 right_z=0.0057 right_yaw=0.0492 right_pitch=-0.2018 right_roll=-0.0087 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.4838, 7.0359, 1.7314, -0.0513, -0.0806, -0.0122, -0.1299, -8.8821, 6.4205, 1.3748, 0.0855, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.18, \"right_z\": 0.03, \"right_gripper\": 1}, \"note\": \"The arm barely moved toward y=0.15, likely near its reach limit at x=0.5. Pulling back to x=0.42 while moving left toward the piece visible in the top camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01GAKrF2jpqgGGy8L3srUydk",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_01GAKrF2jpqgGGy8L3srUydk"
}

{
  "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, 0.8146, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.5114, 1.9079, 0.9337, 0.1436, 0.2947, 0.2924, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0263 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4209 right_y=0.1815 right_z=0.0157 right_yaw=0.0889 right_pitch=-0.2272 right_roll=-0.0121 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.4974, 7.0359, 1.7509, -0.0757, -0.0171, -0.0122, 0.2256, -11.7812, 5.5316, 1.5214, 0.4078, 0.1538, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b23f54ac238cb8806a9af39046712f0ac2f5c57b6a65ebcf7a3aef5b68c2d2d5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:579182351b0ef71b5d809747a8661e599ff0253cf4dcc891105069bc3522939d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:176ad5c57ffcbf435fe9bc92ecf9831cc1f60d2f1f080e17c678c5177c82d28d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 9.411 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, 0.8127, 0.6025, -0.3813, -0.0216, -0.0418, 0.9994, 0.1204, 2.0403, 1.0492, 0.2329, 0.0528, 0.0452, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1739 left_yaw=0.0026 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9994 right_x=0.5 right_y=0.0547 right_z=0.006 right_yaw=0.0423 right_pitch=-0.1995 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.347, 7.0359, 1.7118, -0.0806, -0.0317, -0.0122, -0.4718, -9.1692, 6.6393, 1.3797, 0.1392, 0.1978, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.28, \"right_z\": 0.05, \"right_gripper\": 1}, \"note\": \"Top camera shows the white tile with the blue piece left of the right gripper. Continuing to move the right arm left (+y) toward the piece while staying a bit above the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RD7CqmXMcpM3cQcF56u6jA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01RD7CqmXMcpM3cQcF56u6jA"
}

{
  "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, 0.8181, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7166, 2.0006, 1.2388, -0.1253, 0.4011, 0.4328, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4168 right_y=0.2763 right_z=0.046 right_yaw=0.125 right_pitch=-0.2374 right_roll=-0.0111 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.6889, 7.0085, 1.7118, -0.0317, -0.0708, -0.0122, 0.5812, -9.0325, 8.2803, 1.2967, 0.3687, 0.1734, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1c5450d31481ce88c7178204e61efaa470c726c9f113e486fe70f48d232f76ea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:82ff07a560861339002ba9d3ea8878a321e693349caf9db3dd9292b309ef3bb5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:843ca44d11021faa229cb35d8c83071d2e25a9114fe428442a24bb121e21a828"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 12.67 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, 0.8146, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.5114, 1.9079, 0.9337, 0.1436, 0.2947, 0.2924, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0263 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4209 right_y=0.1815 right_z=0.0157 right_yaw=0.0889 right_pitch=-0.2272 right_roll=-0.0121 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.4974, 7.0359, 1.7509, -0.0757, -0.0171, -0.0122, 0.2256, -11.7812, 5.5316, 1.5214, 0.4078, 0.1538, -0.0855]\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\": 0.43, \"right_y\": 0.34, \"right_z\": 0.03, \"right_gripper\": 1}, \"note\": \"The wrist camera now shows the blue piece at the bottom-left of frame, so the knob is a bit further left and slightly forward. Shifting left and down to center the knob under the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UqKGfRM4v9K38PHKiBe5oz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01UqKGfRM4v9K38PHKiBe5oz"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.82, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7986, 2.1933, 1.4742, -0.2146, 0.4236, 0.4778, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4229 right_y=0.3353 right_z=0.0246 right_yaw=0.158 right_pitch=-0.265 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.6972, -0.0317, -0.0708, -0.0073, 0.1709, -11.6855, 7.6513, 1.2137, 0.4762, 0.1929, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea672a960db226321c3063075d3b8f49da24c0e104713f8636c292bb4bd9006d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6a2f955e5f64b5d3ee6d1f5db4f35019662d9b1b347a2053f67a35b00809e96"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4606f65dda226fa5c901032c6c5fee61ef9e2c5b96f8c10f29e1680479081085"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 9.719 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, 0.8181, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7166, 2.0006, 1.2388, -0.1253, 0.4011, 0.4328, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1725 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.9994 right_x=0.4168 right_y=0.2763 right_z=0.046 right_yaw=0.125 right_pitch=-0.2374 right_roll=-0.0111 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.6889, 7.0085, 1.7118, -0.0317, -0.0708, -0.0122, 0.5812, -9.0325, 8.2803, 1.2967, 0.3687, 0.1734, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.365, \"right_z\": 0.0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue piece just below-left between the open jaws. Nudging slightly left and descending so the jaws come down around the central knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013aG1kocVJEJxww94aBjJXf",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_013aG1kocVJEJxww94aBjJXf"
}

{
  "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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8257, 2.2791, 1.5646, -0.2138, 0.4412, 0.4992, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4283 right_y=0.3584 right_z=0.0134 right_yaw=0.1608 right_pitch=-0.2521 right_roll=-0.0149 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4427, 7.1863, 1.6874, -0.0757, -0.0073, -0.0122, 0.8684, -10.5778, 6.4479, 1.0818, 0.2173, 0.105, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:affecbbd549698ba8bf810db3bcdb270b08446944d78918dd5b085ec7bdeaba9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cbeebf0b0ab545f8764778a8dfcd9aa0e2669f988e9d573d04116bdf62a00caf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d50ecfe43b294f5e74b91574177569d2a05ea8a9743170130190d7261b5564cb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 15.84 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, 0.82, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.7986, 2.1933, 1.4742, -0.2146, 0.4236, 0.4778, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.172 left_yaw=0.0026 left_pitch=-0.0316 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4229 right_y=0.3353 right_z=0.0246 right_yaw=0.158 right_pitch=-0.265 right_roll=-0.0218 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.6972, -0.0317, -0.0708, -0.0073, 0.1709, -11.6855, 7.6513, 1.2137, 0.4762, 0.1929, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": -0.02, \"right_gripper\": 1}, \"note\": \"The blue piece fills the lower wrist-camera view with the jaws straddling its center area. Descending straight down to bring the open jaws around the knob at the piece's center.\"}",
        "name": "move_to"
      },
      "id": "toolu_019jLAFqeuGTUfjZkRKe4uBs",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_019jLAFqeuGTUfjZkRKe4uBs"
}

{
  "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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4291, 7.0222, 1.6923, -0.022, -0.0806, -0.0122, 0.3897, -10.5915, 7.2, 1.243, 0.1929, 0.0562, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f0aecd03cbfd3a29d15444f64860409a40ad05a86d4124303e700f73b2c21bed"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a777f4e756c33317f04b8c903c1503674a60e90f279b9f5af6ec7e8b2bb9cdc1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:509038b9707d4d9e3af7e94476ada9a77e7f42f53cc0e90b27d1db3855aeb4e6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 12.1 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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8257, 2.2791, 1.5646, -0.2138, 0.4412, 0.4992, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4283 right_y=0.3584 right_z=0.0134 right_yaw=0.1608 right_pitch=-0.2521 right_roll=-0.0149 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4427, 7.1863, 1.6874, -0.0757, -0.0073, -0.0122, 0.8684, -10.5778, 6.4479, 1.0818, 0.2173, 0.105, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.37, \"right_z\": -0.02, \"right_gripper\": 1}, \"note\": \"The arm barely descended, likely IK sag near this stretched pose; the piece center sits just below/ahead of the jaws in the wrist view. Commanding slightly forward and down again to get the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RsvTdDfnwWK5LQhCkFfHev",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01RsvTdDfnwWK5LQhCkFfHev"
}

{
  "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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.6752, 6.9949, 1.7118, -0.0562, -0.0464, -0.0073, 0.4718, -10.7419, 6.9949, 1.2039, 0.2076, 0.0611, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:58e5efcff7d0f4782c3d39c427eaf7067acfc3b061e3a7c3ac22392398163743"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d775165f61fd36849e1bc82a2184f59310085361b71caa9255d4702aa1a40945"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9d7d2143e1a889031bf70bc17c06a2b49421c25ead8fde09e2ee88ec81ebf35d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 15.22 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, 0.8211, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1716 left_yaw=0.0026 left_pitch=-0.0328 left_roll=-0.0028 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4291, 7.0222, 1.6923, -0.022, -0.0806, -0.0122, 0.3897, -10.5915, 7.2, 1.243, 0.1929, 0.0562, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.355, \"right_z\": -0.02, \"right_gripper\": 1}, \"note\": \"The arm did not move at all toward the last target\\u2014likely an unreachable pose at this extension. Pulling the target slightly back and in while still commanding downward so IK can find a solution to lower the jaws over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012PQDevsdB31p1Djbk75db5",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_012PQDevsdB31p1Djbk75db5"
}

{
  "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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.0598, 7.3504, 1.707, -0.0562, -0.0464, -0.0122, 0.4308, -10.7556, 7.1863, 1.199, 0.232, 0.0513, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21ce8452a4023404e077ed873b37b652fb87c71ca8fcff1f5ba92daab0ac94b2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f368a5fc36bd3ecb6ba2ee8feb2017fb9f1e92a03d590152c6cf52e5000daedb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:762aebf47baa5b74a123936124525b026a363a6bc6df8b063a4faef6a50b1101"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 10.08 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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.6752, 6.9949, 1.7118, -0.0562, -0.0464, -0.0073, 0.4718, -10.7419, 6.9949, 1.2039, 0.2076, 0.0611, -0.0855]",
      "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\": 0.34, \"right_z\": 0.06, \"right_pitch\": 0.0, \"right_gripper\": 1}, \"note\": \"The arm hasn't moved for two commands\\u2014it seems stuck in an awkward IK pose with pitch sagging to -0.24. Lifting up, pulling slightly back, and commanding level pitch to break out of the stuck configuration before re-descending on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_011MW8CdDPXhTksLQ65eMMLR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_011MW8CdDPXhTksLQ65eMMLR"
}

{
  "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, 0.8268, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8738, 2.1109, 1.2083, 0.1024, 0.5549, 0.4404, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0381 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3948 right_y=0.3322 right_z=0.0254 right_yaw=0.169 right_pitch=-0.0988 right_roll=-0.045 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.0872, 7.0496, 1.7265, -0.0611, -0.0611, -0.0073, 0.9915, -14.1197, 6.2974, 1.79, 0.5006, -0.0317, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:45ea5c10b0447b8f386e3b94bf0172b973a8428c5343323e21109149cdf08074"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:de122787ee6b5b61f2580b3b53c1aa468fb9ddf30cd76f1c683bf016aa74de77"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0bdb0b416e9fda266130b517611c903ca915bb336c57b737c951075f7eddab0b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 10.9 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, 0.8242, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8337, 2.291, 1.5764, -0.2028, 0.4442, 0.5056, 0.9993]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.0358 left_roll=-0.0027 left_gripper=0.9994 right_x=0.4287 right_y=0.3646 right_z=0.0131 right_yaw=0.1647 right_pitch=-0.2419 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.0598, 7.3504, 1.707, -0.0562, -0.0464, -0.0122, 0.4308, -10.7556, 7.1863, 1.199, 0.232, 0.0513, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.345, \"right_z\": -0.01, \"right_pitch\": 0.0, \"right_gripper\": 1}, \"note\": \"The arm unstuck; the wrist camera shows the blue circle with its center slightly ahead and left of the jaws. Moving forward-left a couple centimeters and descending so the jaws surround the central knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01SKR3q4jhm81Uht1hNpiM76",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01SKR3q4jhm81Uht1hNpiM76"
}

{
  "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, 0.8284, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.87, 2.2383, 1.2331, 0.3351, 0.5858, 0.4065, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1697 left_yaw=0.0027 left_pitch=-0.0396 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4174 right_y=0.3488 right_z=0.0099 right_yaw=0.1632 right_pitch=0.0135 right_roll=-0.0045 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.6068, 7.0085, 1.6728, -0.0611, -0.0415, -0.0073, -0.9094, -8.7726, 5.8051, 0.9255, 0.1245, -0.3687, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9316b308eff8be9aeac97cd7c1dd428fd94bf7d3877e93fd5a492e37f5b8467f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:563b9fbead151f1e975091130feaac08feeed3007463a7d0878a397a5a55d112"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fbafda9b7723264c612fc4d819382c62fa202106357444b0dee45de0fb395490"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 18.05 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, 0.8268, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8738, 2.1109, 1.2083, 0.1024, 0.5549, 0.4404, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0381 left_roll=-0.0027 left_gripper=0.9994 right_x=0.3948 right_y=0.3322 right_z=0.0254 right_yaw=0.169 right_pitch=-0.0988 right_roll=-0.045 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.0872, 7.0496, 1.7265, -0.0611, -0.0611, -0.0073, 0.9915, -14.1197, 6.2974, 1.79, 0.5006, -0.0317, -0.0855]\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\": 0.425, \"right_y\": 0.37, \"right_z\": -0.02, \"right_pitch\": 0.0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue circle's center still a bit to the left of the jaw midpoint. Shifting ~2 cm left and descending to table level so the jaws surround the central knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013KZBAL7fNB7Ygz2e2C8mXM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_013KZBAL7fNB7Ygz2e2C8mXM"
}

{
  "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, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1694 left_yaw=0.0027 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5658, 7.0085, 1.7411, -0.0415, -0.0562, -0.0073, -0.5128, -9.6615, 5.559, 1.2088, 0.188, -0.1392, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b0f47fb5f8ab1422fe9c3c652c98e0d1ed779242ef1326b54279a78c951d63e2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:058138ef9e2e310b183bde1fc21a92cb35136ef8919896e61e8b250b504da5bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f73c751d4f0dc7a2203d6b51328f3455256b1d0593e432d89425a2220b4e4f43"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 49.98 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, 0.8284, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.87, 2.2383, 1.2331, 0.3351, 0.5858, 0.4065, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1697 left_yaw=0.0027 left_pitch=-0.0396 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4174 right_y=0.3488 right_z=0.0099 right_yaw=0.1632 right_pitch=0.0135 right_roll=-0.0045 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.6068, 7.0085, 1.6728, -0.0611, -0.0415, -0.0073, -0.9094, -8.7726, 5.8051, 0.9255, 0.1245, -0.3687, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.44, \"right_y\": 0.385, \"right_z\": -0.005, \"right_pitch\": 0.0, \"right_gripper\": 1}, \"note\": \"The wrist camera shows the blue piece's center still down-left of the jaw midpoint; z appears to have bottomed near the knob height. Shifting ~3 cm left and forward to center the knob between the open jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YVoz4hR5viVoCsk76q2t9U",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01YVoz4hR5viVoCsk76q2t9U"
}

{
  "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, 0.8314, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1688 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5111, 7.0085, 1.7167, -0.0708, -0.0708, -0.0073, -0.3077, -9.853, 5.5179, 1.1941, 0.1734, -0.1636, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19ff7811a41ebad0cc4136b1ed94fe84fdeaa5c21e153875c714481f51c7f2d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:847e43c0128fe05c34627009732f5b9e0d5d5cf8b46b4eaebdc68b63f2408fc3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20962fdd15a8a47994b27e18ab7f5dcadfe59c48b52b0b805a8fceed3145ea41"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 29.86 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, 0.8295, 0.6025, -0.3805, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1694 left_yaw=0.0027 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5658, 7.0085, 1.7411, -0.0415, -0.0562, -0.0073, -0.5128, -9.6615, 5.559, 1.2088, 0.188, -0.1392, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.443, \"right_y\": 0.383, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1}, \"note\": \"The arm held position again\\u2014low targets at this extension stall the IK. Lifting slightly while moving forward-left so the jaws can get centered over the blue piece's knob before descending.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HBQ3NXLgPBUXwGhMtZmQqt",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01HBQ3NXLgPBUXwGhMtZmQqt"
}

{
  "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, 0.8322, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.4, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0438 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4237 right_y=0.3529 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0472 right_roll=0.0093 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.5521, 7.0085, 1.6728, -0.0269, -0.0659, -0.0122, -0.3761, -9.6342, 5.6, 1.1795, 0.1734, -0.1392, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:31b45960a5378ba67c65caa85984d1be856956c080dcaa949e8dcb488fe817bd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1781c399d92dc75764fed6438588b44e1f7e1be7a7e711328faef9eadad3bc6d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:35ca473a744fc0f1cd6588b50166d91f0df6a6617a65da0d03cb022888a4b249"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 30.42 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, 0.8314, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.3996, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1688 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9994 right_x=0.4237 right_y=0.3528 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0469 right_roll=0.0091 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5111, 7.0085, 1.7167, -0.0708, -0.0708, -0.0073, -0.3077, -9.853, 5.5179, 1.1941, 0.1734, -0.1636, -0.0904]",
      "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\": 0.365, \"right_z\": -0.01, \"right_pitch\": 0.1, \"right_gripper\": 1}, \"note\": \"The arm stalled again; the wrist camera shows the piece's central area just up-left of the jaws. Trying a smaller step forward-left with slight downward pitch so the IK tracks and the jaws end up around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_016hGPSdx45ZZDu4UtWgUvsq",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_016hGPSdx45ZZDu4UtWgUvsq"
}

{
  "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, 0.8326, 0.6025, -0.3809, -0.0216, -0.0418, 0.9994, 0.8654, 2.2627, 1.2377, 0.4, 0.5838, 0.3878, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1685 left_yaw=0.0027 left_pitch=-0.0442 left_roll=-0.0025 left_gripper=0.9994 right_x=0.4237 right_y=0.3529 right_z=0.0099 right_yaw=0.1691 right_pitch=0.0472 right_roll=0.0093 right_gripper=0.9993\nstate[joint_eff]: [0.0342, -1.4564, 6.9949, 1.6679, -0.0317, -0.0415, -0.0073, -0.5402, -9.8667, 5.5316, 1.2186, 0.1734, -0.1929, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32b39db45409bca1b55388b3aef32200b6880556843e5298a1c863d64252d361"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8a7ad52c5198fa6271edd417a2065a4d3e6537a86281ededc6122b75ade5c7d0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be324fcc28cefa0755a30ea6310dace332f61316629e61c04edcd38eabeb5917"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}