adhoc

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0376, 0.9991, -0.0154, 0.7914, 0.6094, -0.3763, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9991 right_x=0.2957 right_y=0.003 right_z=0.184 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.4, 1.8144, -0.0415, 0.2173, -0.105, -0.8547, -1.1556, 9.853, 1.746, -0.0415, -0.022, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:81922073604f0f04ef0d4673163a944cd6a0d2e46dbac63df5c07e8940a92333"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f0ee77c2519b3d3e0f8b4056528924041ca15f32db5fa3b85c6bcba7bc5aa341"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:be77a17ac0fbee448f05d30366a75a7b9be43b78dc2a63bc5a52dd1b6522a1e6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

{
  "content": "I see the blue round piece with its knob nearly straight ahead of the right gripper in the wrist camera, and the board with the circular groove to its left in the top camera. I'll first lower the right arm toward the piece to get a better look.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.32, \"right_y\": 0.0, \"right_z\": 0.1, \"right_gripper\": 1.0}, \"note\": \"The blue puzzle piece with its tan knob is visible just ahead and below the right gripper in the wrist camera. Lowering the right arm over it to refine alignment before grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01D8oC5xWAKo7htq1PdoGpJA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01D8oC5xWAKo7htq1PdoGpJA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6048, -0.3809, -0.0216, -0.0414, 0.999, -0.0227, 1.0016, 0.3588, -0.0135, -0.0311, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1788 left_yaw=0.0024 left_pitch=-0.008 left_roll=-0.003 left_gripper=0.999 right_x=0.3054 right_y=0.0021 right_z=0.0852 right_yaw=0.0006 right_pitch=-0.0975 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5932, 7.0085, 1.7216, -0.0708, -0.0366, -0.022, -0.8957, -2.5094, 6.6256, 1.8632, -0.0806, -0.1001, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e01258cc9de2929d94ad204dab04466ca97626827b8c2be7718d55269dff6e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:16f9e7c461452ca39413db093231067dab256d55dbdc714562b6052f89c9f3f6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:16fe3cd06ff30bfa5d18054ed6ca08b609871120881920e08a8b7fa9af97e826"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.379, -0.0216, -0.0376, 0.9991, -0.0154, 0.7914, 0.6094, -0.3763, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1806 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9991 right_x=0.2957 right_y=0.003 right_z=0.184 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.3607, 10.4, 1.8144, -0.0415, 0.2173, -0.105, -0.8547, -1.1556, 9.853, 1.746, -0.0415, -0.022, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.345, \"right_y\": 0.012, \"right_z\": 0.05, \"right_gripper\": 1.0}, \"note\": \"The knob is now centered slightly ahead of the gripper in the right wrist camera. Moving a little forward and lower so the fingertips straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EfEvN9LFaaqYv8JACWKLyj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01EfEvN9LFaaqYv8JACWKLyj"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0254, 1.3304, 0.3511, 0.2199, -0.012, -0.0048, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0033 left_gripper=0.999 right_x=0.3223 right_y=0.0139 right_z=0.0288 right_yaw=0.0272 right_pitch=-0.2008 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.347, 7.1043, 1.707, -0.0317, -0.0513, -0.0171, 0.2667, -4.9709, 7.9795, 1.9072, 0.105, 0.1441, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6a9b50e05f77bfbc0e7b6225704ee9345ea049ad8ba5cd3d6fc990ffafa48f15"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5005b037a4e079208658bc18e82bdc8ec88b4ca63243a9d602595c152bfeb9c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0814f2cae40d8fe725d78dcc4ace337453a2598619e4aa06f9039e8f6f4a9d73"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 5 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.799, 0.6048, -0.3809, -0.0216, -0.0414, 0.999, -0.0227, 1.0016, 0.3588, -0.0135, -0.0311, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1788 left_yaw=0.0024 left_pitch=-0.008 left_roll=-0.003 left_gripper=0.999 right_x=0.3054 right_y=0.0021 right_z=0.0852 right_yaw=0.0006 right_pitch=-0.0975 right_roll=0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5932, 7.0085, 1.7216, -0.0708, -0.0366, -0.022, -0.8957, -2.5094, 6.6256, 1.8632, -0.0806, -0.1001, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.012, \"right_z\": 0.02, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob still sits ahead of the open fingertips in the wrist view and the tool has pitched back slightly. Advancing forward and down a bit more with pitch leveled so the knob ends up between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01J5AefPocbppd3zrWz9mru2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01J5AefPocbppd3zrWz9mru2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 1.6161, 0.2962, 0.6594, -0.0269, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0026 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.999 right_x=0.3456 right_y=0.015 right_z=0.0021 right_yaw=0.0378 right_pitch=-0.1018 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5385, 7.0906, 1.6777, -0.0366, -0.0269, -0.0122, -0.9094, -5.3265, 3.9863, 2.0293, 0.022, -0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:67d8dc87a838891a4bce0ccde89d0470b0746c8986a824d35d6c852ebdb8598b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:28226321ea1e13af5e443f7d496a55d7154c4e1a8861eadf9c2588a0752e650f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6cfcb8c91516b2d8a1cf8153f0d712cb94044ea08085ed34dd1eebbe0985becc"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8024, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0254, 1.3304, 0.3511, 0.2199, -0.012, -0.0048, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1775 left_yaw=0.0026 left_pitch=-0.0122 left_roll=-0.0033 left_gripper=0.999 right_x=0.3223 right_y=0.0139 right_z=0.0288 right_yaw=0.0272 right_pitch=-0.2008 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.347, 7.1043, 1.707, -0.0317, -0.0513, -0.0171, 0.2667, -4.9709, 7.9795, 1.9072, 0.105, 0.1441, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.015, \"right_z\": -0.005, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is still a few centimeters ahead of the fingertips in the wrist camera, and the gripper is near table height. Sliding forward so the knob enters between the open jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01H1KeiXSJ5vTv3bexhCRva3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01H1KeiXSJ5vTv3bexhCRva3"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8104, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 1.8267, 0.3637, 0.9051, -0.0273, -0.0315, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.999 right_x=0.382 right_y=0.0158 right_z=-0.0001 right_yaw=0.0481 right_pitch=0.0009 right_roll=-0.0134 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5521, 7.0769, 1.6825, -0.0659, -0.0708, -0.0122, -0.5949, -5.1624, 3.7265, 1.326, -0.105, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3355c3acc9ad58564f0d02cd7bd2f6bddf9ee2722aa33541f87238fa647b9e3e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:75734c621e47462776a76e77d3d940992f04f839fef5c022b7417fa351194c5b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8d4a5f13a2395fd58b7edba6cabf90fbde1494247e938a999b1258fbcdacb9b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 1.6161, 0.2962, 0.6594, -0.0269, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.0026 left_pitch=-0.0164 left_roll=-0.0032 left_gripper=0.999 right_x=0.3456 right_y=0.015 right_z=0.0021 right_yaw=0.0378 right_pitch=-0.1018 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.5385, 7.0906, 1.6777, -0.0366, -0.0269, -0.0122, -0.9094, -5.3265, 3.9863, 2.0293, 0.022, -0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.415, \"right_y\": 0.016, \"right_z\": -0.005, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is closer but still just ahead of the fingertips in the wrist view, centered left-right. Advancing another ~3 cm to bring the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KUE1kx5aHkwBcWKKgjbYdA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01KUE1kx5aHkwBcWKKgjbYdA"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0193, 1.8454, 0.3725, 0.9272, -0.0284, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.999 right_x=0.386 right_y=0.016 right_z=0.0003 right_yaw=0.0487 right_pitch=0.0132 right_roll=-0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3333, 7.0359, 1.7167, -0.0562, -0.0513, -0.0171, -0.6769, -5.0803, 3.8359, 1.746, -0.0562, 0.1148, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6f6fa24ad6333f0dd92f6218d2bda6a2989f6b2909bbf026cf83f7846549df8b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2e3173b7da1b807f0834c95b9de2725b5eea2a082df79432e96c5f896fefbc07"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:154564c5b918988031e77073ba9fd8e3be62dfda29d3ab292d8921978320d94a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8104, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 1.8267, 0.3637, 0.9051, -0.0273, -0.0315, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.999 right_x=0.382 right_y=0.0158 right_z=-0.0001 right_yaw=0.0481 right_pitch=0.0009 right_roll=-0.0134 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5521, 7.0769, 1.6825, -0.0659, -0.0708, -0.0122, -0.5949, -5.1624, 3.7265, 1.326, -0.105, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.016, \"right_z\": 0.02, \"right_pitch\": 0.3, \"right_gripper\": 1.0}, \"note\": \"The arm barely advanced last move, likely stuck against the table or at a kinematic limit at this height. Raising slightly and pitching the tool forward to reach the knob that is still just ahead of the fingertips.\"}",
        "name": "move_to"
      },
      "id": "toolu_01CpUgh7Tvzdw66ntcbn2wLV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01CpUgh7Tvzdw66ntcbn2wLV"
}

{
  "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, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 2.0785, 0.4232, 1.2602, -0.028, -0.0471, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1741 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.003 left_gripper=0.999 right_x=0.4151 right_y=0.0165 right_z=-0.0012 right_yaw=0.0576 right_pitch=0.1637 right_roll=-0.0325 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.0735, 7.0496, 1.7216, -0.0513, -0.0415, -0.0171, -0.759, -5.9282, 1.2103, 0.4713, -0.149, 0.1832, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:79e3291aacb3d9d09c8d057ad5f18d706012249e3947be618d6bb3048c5d9ae3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc3498116e69d8972b48752cf242100ccc40824b328c4686e4c2b4968b511860"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd923ed099b3635a2f0976bbcf75099e526bd8a2c3d664b2b2d79bc7c675085e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8108, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0193, 1.8454, 0.3725, 0.9272, -0.0284, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.999 right_x=0.386 right_y=0.016 right_z=0.0003 right_yaw=0.0487 right_pitch=0.0132 right_roll=-0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.3333, 7.0359, 1.7167, -0.0562, -0.0513, -0.0171, -0.6769, -5.0803, 3.8359, 1.746, -0.0562, 0.1148, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The knob now sits between the open fingertips in the wrist camera, roughly centered. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UQuPLAutB8dZDFEaoyBQ6L",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01UQuPLAutB8dZDFEaoyBQ6L"
}

{
  "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, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0196, 2.0972, 0.4179, 1.3075, -0.0311, -0.0422, 0.9232]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4155 right_y=0.0172 right_z=0.0008 right_yaw=0.0581 right_pitch=0.187 right_roll=-0.0276 right_gripper=0.9232\nstate[joint_eff]: [-0.294, -1.1966, 7.0906, 1.6874, -0.0513, -0.0513, -0.0171, -0.3624, -9.0598, 2.7966, 1.37, -0.022, -0.1148, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8096fd17f7eb998a5f3ee0416a79a60cf6e4e6e4700d017da166aedb971378e6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7ce61b4a206a9f9bc2f4ed77425c5457e7f8784970215f1b190d549a78d98f9b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:46e181f29f5854daad6b7a48a163574893c6e0d799dd5c13d9c75ad53a1afa66"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0193, 2.0785, 0.4232, 1.2602, -0.028, -0.0471, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1741 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.003 left_gripper=0.999 right_x=0.4151 right_y=0.0165 right_z=-0.0012 right_yaw=0.0576 right_pitch=0.1637 right_roll=-0.0325 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.0735, 7.0496, 1.7216, -0.0513, -0.0415, -0.0171, -0.759, -5.9282, 1.2103, 0.4713, -0.149, 0.1832, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The gripper only closed slightly (0.92) because the per-step rate was clamped; the knob is still between the jaws. Commanding close again to finish grasping.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MWmmhSxDW8Gbjvhh3ca87n",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01MWmmhSxDW8Gbjvhh3ca87n"
}

{
  "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, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0196, 2.0937, 0.4175, 1.3029, -0.0315, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4153 right_y=0.0173 right_z=0.001 right_yaw=0.0584 right_pitch=0.1855 right_roll=-0.0274 right_gripper=0.9233\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.7118, -0.0855, -0.0269, -0.0073, -0.0342, -7.4872, 2.4274, 1.8926, -0.0611, -0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5275cb4e0116b35a1f8146c486bc50a3752eafe7e3e1ba16d2e014bd0246f671"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9ef4247335a117ed703975fa312ba26b6fd13f9492d2a57469d22c0de1cd31e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f84dab6708e6af5eb6a9bbf929ba197918fd6566dc646c459bb35226a6374186"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0196, 2.0972, 0.4179, 1.3075, -0.0311, -0.0422, 0.9232]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4155 right_y=0.0172 right_z=0.0008 right_yaw=0.0581 right_pitch=0.187 right_roll=-0.0276 right_gripper=0.9232\nstate[joint_eff]: [-0.294, -1.1966, 7.0906, 1.6874, -0.0513, -0.0513, -0.0171, -0.3624, -9.0598, 2.7966, 1.37, -0.022, -0.1148, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.02, \"right_pitch\": 0.05, \"right_gripper\": 0.0}, \"note\": \"The gripper stalls at 0.92 with rising effort, so the fingertips are likely pressing on the table due to the forward pitch. Lifting the wrist about 2 cm and leveling the pitch while closing so the jaws can clamp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01E26vUxzTVSfUgyCApyKw1E",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01E26vUxzTVSfUgyCApyKw1E"
}

{
  "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, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.8702, 0.4576, 0.8879, -0.0319, -0.0429, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4091 right_y=0.0176 right_z=0.0084 right_yaw=0.0592 right_pitch=0.0342 right_roll=-0.022 right_gripper=0.9233\nstate[joint_eff]: [-0.1846, -1.0735, 7.1726, 1.7363, -0.0757, -0.0806, -0.0171, -0.0068, -9.1966, 5.7094, 1.8242, -0.0366, -0.0611, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c4ccb83a8493df773ed53e27ced60693a2909b762417876c7edcecd6b27b569e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:031d90f2fad2f25c7df57fa533c222facd4a5507535bfbfb64a977c6a526641e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:22e2c673acadad68e9c06e1b69df0ed69fb6131ed6d26a90c0a4eb4ce6759308"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0196, 2.0937, 0.4175, 1.3029, -0.0315, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4153 right_y=0.0173 right_z=0.001 right_yaw=0.0584 right_pitch=0.1855 right_roll=-0.0274 right_gripper=0.9233\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.7118, -0.0855, -0.0269, -0.0073, -0.0342, -7.4872, 2.4274, 1.8926, -0.0611, -0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.035, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"The gripper still reads 0.92 and won't close, suggesting the fingertips are pressed against the puzzle piece surface and binding. Raising the grasp point to ~3.5 cm so the jaws clear the piece and can close around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_015XyHS3hWjgSgjiAsy3DpXM",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_015XyHS3hWjgSgjiAsy3DpXM"
}

{
  "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, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.7409, 0.4786, 0.6628, -0.0322, -0.0425, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.3997 right_y=0.0174 right_z=0.018 right_yaw=0.0594 right_pitch=-0.0405 right_roll=-0.0186 right_gripper=0.9233\nstate[joint_eff]: [-0.294, -1.2376, 7.0769, 1.7607, -0.0855, -0.0659, -0.0073, -0.0752, -8.3214, 6.7897, 1.8828, -0.0562, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a80465811f1e7c24619dbb08608a8cee7fd3105980d24118c0e231ae83932c75"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e85f8db85d73aa4b123f784d31d86bdddaa3eb85d8e3c244f23fc37a9f93d73f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f65a6aedede28d5cd4e3d2600e50047a064b0cdec1879046e65bced56ad47d1b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.8702, 0.4576, 0.8879, -0.0319, -0.0429, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.4091 right_y=0.0176 right_z=0.0084 right_yaw=0.0592 right_pitch=0.0342 right_roll=-0.022 right_gripper=0.9233\nstate[joint_eff]: [-0.1846, -1.0735, 7.1726, 1.7363, -0.0757, -0.0806, -0.0171, -0.0068, -9.1966, 5.7094, 1.8242, -0.0366, -0.0611, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.045, \"right_pitch\": 0.0, \"right_gripper\": 0.0}, \"note\": \"The gripper stalls at 0.92 (~8.7 cm), which matches the blue disc's diameter \\u2014 the low fingertips are squeezing the disc's rim rather than the knob. Raising the grasp point to 4.5 cm so the jaws clear the disc and close on the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Dr2H7BSUrQiztURh1YQSSg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Dr2H7BSUrQiztURh1YQSSg"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.6627, 0.4786, 0.5869, -0.033, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.999 right_x=0.396 right_y=0.0175 right_z=0.0321 right_yaw=0.0598 right_pitch=-0.0382 right_roll=-0.0179 right_gripper=0.9233\nstate[joint_eff]: [-0.0342, -1.5932, 7.0632, 1.6874, -0.0855, -0.0611, -0.0073, -0.3077, -8.3624, 4.9846, 1.8681, -0.0611, -0.0366, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:715fd872aa8bf3d1c539d3a342523807c04a779719f3798c269bce9b1bd14447"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:99aad78603685b15d700f964d6dfe34822e34f2b5da45e52b1f6382cd075c476"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:56cf8df18f9cd4930c541845a0603da96e31fe84558bd5bd2d0af11ef0679962"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.7409, 0.4786, 0.6628, -0.0322, -0.0425, 0.9233]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1742 left_yaw=0.0026 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.999 right_x=0.3997 right_y=0.0174 right_z=0.018 right_yaw=0.0594 right_pitch=-0.0405 right_roll=-0.0186 right_gripper=0.9233\nstate[joint_eff]: [-0.294, -1.2376, 7.0769, 1.7607, -0.0855, -0.0659, -0.0073, -0.0752, -8.3214, 6.7897, 1.8828, -0.0562, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.05, \"right_gripper\": 0.5}, \"note\": \"The gripper remains stuck at 0.92 with the knob visible between the jaws; the jaws may be rubbing the disc rim. Raising to 5 cm and commanding a partial close to 0.5 to see if the gripper responds.\"}",
        "name": "move_to"
      },
      "id": "toolu_01NeSCdpxrmDcgNCjfzKA7CR",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01NeSCdpxrmDcgNCjfzKA7CR"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.6154, 0.4797, 0.4973, -0.0353, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.999 right_x=0.3873 right_y=0.0177 right_z=0.0321 right_yaw=0.0618 right_pitch=-0.0793 right_roll=-0.0149 right_gripper=0.9233\nstate[joint_eff]: [-0.1983, -1.2239, 7.0496, 1.7118, -0.0513, -0.0708, -0.0171, -0.212, -7.9932, 7.4325, 1.6777, -0.0317, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:030e71c6f392e1783978bec4361eb9abea4a24a52ecfdc1320c296405b874a58"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c8aaa6210336d0b6a4cd97d5829a72a74604f8e8af62eb53ceecda24bd80fec9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b6996616d6b66b7ef5ea01d6d7c8abac08bb51f86bc11f509a5c213e0bef8d62"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8177, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.6627, 0.4786, 0.5869, -0.033, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.999 right_x=0.396 right_y=0.0175 right_z=0.0321 right_yaw=0.0598 right_pitch=-0.0382 right_roll=-0.0179 right_gripper=0.9233\nstate[joint_eff]: [-0.0342, -1.5932, 7.0632, 1.6874, -0.0855, -0.0611, -0.0073, -0.3077, -8.3624, 4.9846, 1.8681, -0.0611, -0.0366, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.09, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Neither the gripper (stuck at 0.92) nor the z target (stuck at 3.2 cm) are tracking, so the arm seems bound against the piece. Opening the gripper fully and lifting to 9 cm to free it before re-approaching the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_016WcTbpshkz85jfsipNi4PY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_016WcTbpshkz85jfsipNi4PY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6041, -0.3798, -0.0216, -0.0418, 0.999, 0.0204, 1.441, 0.4915, 0.3569, -0.036, -0.0425, 0.9233]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.999 right_x=0.3817 right_y=0.0177 right_z=0.0719 right_yaw=0.0626 right_pitch=-0.0336 right_roll=-0.0167 right_gripper=0.9233\nstate[joint_eff]: [-0.3624, -1.1145, 7.0769, 1.7851, -0.0659, -0.0855, -0.0171, -0.3487, -5.9145, 8.294, 1.8339, -0.022, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:853480279a23806057735c13167a48c55c8424b31d236656429e65ee5b597d65"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f04e36fa4981e59aa6f015133fe53deaf255904239cf8a1650f96a5110e4d9e9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3aede50665da93f1a3d0640516cde4ac85dda9f3d8fad147569f63addb6ee82f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8185, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.6154, 0.4797, 0.4973, -0.0353, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1732 left_yaw=0.0026 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.999 right_x=0.3873 right_y=0.0177 right_z=0.0321 right_yaw=0.0618 right_pitch=-0.0793 right_roll=-0.0149 right_gripper=0.9233\nstate[joint_eff]: [-0.1983, -1.2239, 7.0496, 1.7118, -0.0513, -0.0708, -0.0171, -0.212, -7.9932, 7.4325, 1.6777, -0.0317, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The arm lifted to 7 cm but the gripper stays fixed at 0.92 no matter the command, and the wrist image looks unchanged. Testing the gripper in free air by commanding a full close to see if it responds at all.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KnuyNUAnJ1ZutNxBoxLLk7",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01KnuyNUAnJ1ZutNxBoxLLk7"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.4204, 0.4995, 0.3202, -0.0357, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1726 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.999 right_x=0.3798 right_y=0.0176 right_z=0.0751 right_yaw=0.0621 right_pitch=-0.0416 right_roll=-0.0163 right_gripper=0.9233\nstate[joint_eff]: [-0.1983, -1.3333, 7.1863, 1.6972, -0.0611, -0.0562, -0.0171, -0.4581, -6.2017, 7.8017, 1.7411, -0.0806, -0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fbef16befa631bff174d5e6c2a48adad2445842b8485ae72e49887f9438cf6e5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:318873a5f6d97a100ec4f2c1d3439bf4fa3bca0fa5a9c889f8b549842b39f14c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b38566121fd2d8a01f1339edfa2c0109a4ddc6828faf93c2aaee7f806d465c42"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

model

claude-fable-5-1

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6041, -0.3798, -0.0216, -0.0418, 0.999, 0.0204, 1.441, 0.4915, 0.3569, -0.036, -0.0425, 0.9233]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.029 left_roll=-0.0029 left_gripper=0.999 right_x=0.3817 right_y=0.0177 right_z=0.0719 right_yaw=0.0626 right_pitch=-0.0336 right_roll=-0.0167 right_gripper=0.9233\nstate[joint_eff]: [-0.3624, -1.1145, 7.0769, 1.7851, -0.0659, -0.0855, -0.0171, -0.3487, -5.9145, 8.294, 1.8339, -0.022, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.8}, \"note\": \"The right gripper does not move from 0.92 even in free air, with steady effort ~1.0 suggesting a stalled motor. Trying a small incremental close to 0.8 to check whether it responds to modest steps.\"}",
        "name": "move_to"
      },
      "id": "toolu_015pDj3D5wjshAQYFBLBqKxX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_015pDj3D5wjshAQYFBLBqKxX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6041, -0.3805, -0.0216, -0.0418, 0.999, 0.0204, 1.4204, 0.4992, 0.3199, -0.0353, -0.0422, 0.9233]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1726 left_yaw=0.0026 left_pitch=-0.0297 left_roll=-0.0029 left_gripper=0.999 right_x=0.3796 right_y=0.0176 right_z=0.0748 right_yaw=0.0618 right_pitch=-0.0424 right_roll=-0.0165 right_gripper=0.9233\nstate[joint_eff]: [-0.1983, -1.3744, 7.2547, 1.6972, -0.0513, -0.0513, -0.0171, -0.2393, -5.0393, 5.9692, 1.6972, -0.0513, -0.0806, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d034828e7b89df9f84c2189b569749da55a73f53599626d469d4956a9cea08c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f1cea998894b6cc130f6ae31d01aa41d2adff34dd01e550c1443e6f90771405b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:53f4cdb9b3af77bbc45b6f41bd423543a34d69bd517c20eff355bd2b21a54b4a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}