adhoc - adhoc_b90fd8b1.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: 543.1 s
total steps: 132

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

partial

Grader notes

trial 02

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

I can see the blue puzzle piece with its knob in the right camera view, and the board with the circular groove to its left in the top view. I'll start by moving the right arm forward and down a bit to localize the piece relative to the gripper.

agent noteThe blue puzzle piece with a knob is visible ahead in the right camera. I'm moving the right arm forward and down to get closer and see how the piece is positioned relative to the gripper.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7925, 0.6041, -0.3782, -0.0216, -0.0383, 0.9995, -0.0151, 0.7914, 0.609, -0.3759, -0.0216, -0.0128, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1808 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2957 right_y=0.0029 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.3607, 10.3453, 1.8339, -0.022, 0.1783, -0.0659, -0.9641, -1.1419, 9.894, 1.7705, -0.0806, -0.0562, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.03, "right_z": 0.1, "right_gripper": 1}, "note": "The blue puzzle piece with a knob is visible ahead in the right camera. I'm moving the right arm forward and down to get closer and see how the piece is positioned relative to the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

The piece is visible ahead in the right wrist camera, slightly left of center. I'll move forward and lower to hover just above the knob.

agent noteThe blue piece with its knob is ahead and slightly left in the right wrist camera. Moving forward and down to hover just above the knob for a precise approach.

move_to

right_x0.4000right_y0.0350right_z0.0400right_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, 0.7982, 0.6056, -0.3809, -0.0216, -0.0418, 0.9994, 0.1097, 1.2285, 0.4683, 0.0822, 0.0601, 0.0338, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0072 left_roll=-0.0024 left_gripper=0.9994 right_x=0.341 right_y=0.0305 right_z=0.0809 right_yaw=0.0303 right_pitch=-0.118 right_roll=-0.0132 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.4701, 6.9265, 1.7314, -0.022, -0.0122, -0.0171, 0.3761, -4.8889, 5.9145, 1.9805, 0.2906, 0.1734, -0.105] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

The piece is visible ahead in the right wrist camera, slightly left of center. I'll move forward and lower to hover just above the knob.

move_to({"targets": {"right_x": 0.4, "right_y": 0.035, "right_z": 0.04, "right_gripper": 1}, "note": "The blue piece with its knob is ahead and slightly left in the right wrist camera. Moving forward and down to hover just above the knob for a precise approach."})

tool

executing move_to over 5 steps (0.5s)

step 11

assistant

The knob is nearly centered in the wrist camera, slightly beyond the gripper. I'll advance a bit more and drop to grasp height around the knob.

agent noteThe knob is nearly centered in the right wrist camera, just ahead of the fingertips. Advancing slightly and lowering to grasp height around the knob with the gripper open.

move_to

right_x0.4100right_y0.0350right_z0.0000right_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, 0.8021, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, 0.1108, 1.6039, 0.5457, 0.2829, 0.0498, 0.0288, 0.9991] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.002 left_pitch=-0.0126 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3756 right_y=0.0366 right_z=0.0194 right_yaw=0.0418 right_pitch=-0.2155 right_roll=-0.0174 right_gripper=0.9991 state[joint_eff]: [-0.3077, -1.4838, 7.1179, 1.7021, -0.0317, -0.0659, -0.0122, -0.7316, -6.8718, 7.2547, 1.9512, 0.0171, -0.0269, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

The knob is nearly centered in the wrist camera, slightly beyond the gripper. I'll advance a bit more and drop to grasp height around the knob.

move_to({"targets": {"right_x": 0.41, "right_y": 0.035, "right_z": 0.0, "right_pitch": 0, "right_gripper": 1}, "note": "The knob is nearly centered in the right wrist camera, just ahead of the fingertips. Advancing slightly and lowering to grasp height around the knob with the gripper open."})

tool

executing move_to over 8 steps (0.8s)

step 19

assistant

The knob sits low-center in the wrist camera, just between the fingertips. I'll nudge forward slightly and drop to the table to bracket the knob.

agent noteThe knob is low-center in the wrist camera between the fingertips. Nudging forward slightly and lowering to table height so the fingers straddle the knob before closing.

move_to

right_x0.4180right_y0.0380right_z-0.0100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1036, 1.8599, 0.4953, 0.7902, 0.0334, 0.0174, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4094 right_y=0.0402 right_z=0.0037 right_yaw=0.0561 right_pitch=-0.0154 right_roll=-0.0043 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.6342, 7.1043, 1.6972, -0.0708, -0.0659, -0.0122, -0.8684, -5.5863, 3.1385, 1.3895, 0.2076, -0.1001, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

The knob sits low-center in the wrist camera, just between the fingertips. I'll nudge forward slightly and drop to the table to bracket the knob.

move_to({"targets": {"right_x": 0.418, "right_y": 0.038, "right_z": -0.01, "right_gripper": 1}, "note": "The knob is low-center in the wrist camera between the fingertips. Nudging forward slightly and lowering to table height so the fingers straddle the knob before closing."})

tool

executing move_to over 1 steps (0.1s)

step 20

assistant

The knob is slightly left of center between the fingers. I'll push forward a touch more and drop down so the fingers surround the knob, then close.

agent noteThe knob sits just ahead and slightly left between the fingertips in the wrist camera. Advancing slightly and lowering so the open fingers straddle the knob.

move_to

right_x0.4250right_y0.0420right_z-0.0120right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1032, 1.8778, 0.4877, 0.8394, 0.0326, 0.0113, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4112 right_y=0.0404 right_z=0.0045 right_yaw=0.0596 right_pitch=0.0083 right_roll=-0.008 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.6889, 7.0906, 1.7118, -0.0708, -0.0757, -0.0073, -0.8957, -6.3248, 3.6034, 1.8339, 0.0952, -0.0464, -0.105] 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

The knob is slightly left of center between the fingers. I'll push forward a touch more and drop down so the fingers surround the knob, then close.

move_to({"targets": {"right_x": 0.425, "right_y": 0.042, "right_z": -0.012, "right_gripper": 1}, "note": "The knob sits just ahead and slightly left between the fingertips in the wrist camera. Advancing slightly and lowering so the open fingers straddle the knob."})

tool

executing move_to over 2 steps (0.2s)

step 22

assistant

The knob is now right at the bottom of the wrist view, between the fingers. The z stopped at ~0.003, possibly fingertips resting near the piece. I'll close the gripper on the knob.

agent noteThe knob appears directly between the fingertips at the bottom of the wrist camera view. Closing the gripper to grasp the knob.

move_to

right_gripper0.2500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.0998, 1.9511, 0.5293, 0.9104, 0.017, 0.0143, 0.9991] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4268 right_y=0.0433 right_z=0.0032 right_yaw=0.0678 right_pitch=0.0472 right_roll=0.0041 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.3607, 7.0906, 1.7509, -0.0757, -0.0415, -0.0122, 0.3214, -5.5453, 4.5744, 1.0818, 0.1001, -0.022, -0.105] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

The knob is now right at the bottom of the wrist view, between the fingers. The z stopped at ~0.003, possibly fingertips resting near the piece. I'll close the gripper on the knob.

move_to({"targets": {"right_gripper": 0.25}, "note": "The knob appears directly between the fingertips at the bottom of the wrist camera view. Closing the gripper to grasp the knob."})

tool

executing move_to over 8 steps (0.8s)

step 30

assistant

The gripper closed to 0.25; hard to tell if the knob is grasped. I'll lift and check whether the piece comes up.

agent noteThe gripper has closed near the knob but I can't confirm the grasp from the wrist view. Lifting to see if the blue piece comes up with the gripper.

move_to

right_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.9713, 0.5404, 0.9421, 0.025, 0.0055, 0.2547] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4323 right_y=0.0428 right_z=0.0052 right_yaw=0.0663 right_pitch=0.0699 right_roll=-0.0068 right_gripper=0.2547 state[joint_eff]: [-0.253, -1.1282, 7.0359, 1.6972, -0.0708, -0.0757, -0.0122, 0.0342, -6.2154, 3.7538, 1.3797, 0.0464, 0.0171, 0.1636] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

The gripper closed to 0.25; hard to tell if the knob is grasped. I'll lift and check whether the piece comes up.

move_to({"targets": {"right_z": 0.08}, "note": "The gripper has closed near the knob but I can't confirm the grasp from the wrist view. Lifting to see if the blue piece comes up with the gripper."})

tool

executing move_to over 5 steps (0.5s)

step 35

assistant

The wrist camera shows a bit of blue between the fingertips, suggesting the knob is grasped. I'll lift higher and move toward the board to confirm and position over the groove.

agent noteA blue sliver is visible between the fingertips, suggesting the piece is grasped. Lifting higher to confirm the piece has left the table before moving toward the board.

move_to

right_z0.1500

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, 0.8074, 0.6041, -0.3798, -0.0216, -0.0418, 0.9994, 0.1005, 1.7386, 0.5713, 0.6838, 0.02, 0.0017, 0.2539] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4319 right_y=0.0436 right_z=0.056 right_yaw=0.0726 right_pitch=0.0752 right_roll=-0.0076 right_gripper=0.2539 state[joint_eff]: [-0.1436, -1.1692, 7.1043, 1.8144, -0.0855, -0.0806, -0.0122, -0.0342, -8.0205, 7.6513, 2.0391, 0.0952, 0.0122, -0.1001] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

The wrist camera shows a bit of blue between the fingertips, suggesting the knob is grasped. I'll lift higher and move toward the board to confirm and position over the groove.

move_to({"targets": {"right_z": 0.15}, "note": "A blue sliver is visible between the fingertips, suggesting the piece is grasped. Lifting higher to confirm the piece has left the table before moving toward the board."})

tool

executing move_to over 7 steps (0.7s)

step 42

assistant

The piece is grasped and lifted—the top camera shows the blue disc held by the right gripper, and the board with the circular groove is to the left in the image. I'll translate toward the board.

agent noteThe blue piece is grasped and lifted; the board with the circular groove is farther from the right arm base in the top view. Moving forward toward the board while staying high.

move_to

right_x0.5500right_y0.0400right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.4841, 0.7235, 0.2668, 0.0174, -0.0055, 0.2539] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4311 right_y=0.044 right_z=0.1328 right_yaw=0.0787 right_pitch=0.0649 right_roll=-0.0131 right_gripper=0.2539 state[joint_eff]: [-0.1162, -1.2103, 7.0632, 1.7363, -0.0659, -0.0806, -0.0073, -0.3761, -7.9521, 8.6632, 1.8437, -0.0122, -0.0122, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

The piece is grasped and lifted—the top camera shows the blue disc held by the right gripper, and the board with the circular groove is to the left in the image. I'll translate toward the board.

move_to({"targets": {"right_x": 0.55, "right_y": 0.04, "right_z": 0.15}, "note": "The blue piece is grasped and lifted; the board with the circular groove is farther from the right arm base in the top view. Moving forward toward the board while staying high."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

The piece is held; the board with the circular groove lies farther forward, near the center of the table. I'll continue forward to the x limit and reassess with the wrist camera.

agent noteThe disc is held securely; the board appears farther forward toward the table center in the top view. Moving forward to the x limit while lowering slightly to bring the board into the wrist camera view.

move_to

right_x0.6000right_y0.0400right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8131, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0685, 1.8671, 1.2053, 0.1444, -0.0151, -0.025, 0.2539] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1743 left_yaw=0.002 left_pitch=-0.0244 left_roll=-0.002 left_gripper=0.9994 right_x=0.5401 right_y=0.0433 right_z=0.1394 right_yaw=0.0845 right_pitch=0.0412 right_roll=-0.0144 right_gripper=0.2539 state[joint_eff]: [-0.3487, -1.6068, 7.0496, 1.6972, -0.0562, -0.0513, -0.0122, -0.8957, -9.7846, 8.7316, 1.8388, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

The piece is held; the board with the circular groove lies farther forward, near the center of the table. I'll continue forward to the x limit and reassess with the wrist camera.

move_to({"targets": {"right_x": 0.6, "right_y": 0.04, "right_z": 0.12}, "note": "The disc is held securely; the board appears farther forward toward the table center in the top view. Moving forward to the x limit while lowering slightly to bring the board into the wrist camera view."})

tool

executing move_to over 5 steps (0.5s)

step 57

assistant

agent noteThe blue disc seems to still be on the table near the original spot in the top view, and no blue is visible between the fingertips. Raising and pulling back to check whether the disc moves with the gripper or was left behind.

move_to

right_x0.5000right_z0.2500

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, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0643, 2.0872, 1.4178, 0.1059, -0.0288, -0.0353, 0.2539] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0286 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5866 right_y=0.0464 right_z=0.105 right_yaw=0.0974 right_pitch=-0.0048 right_roll=-0.0151 right_gripper=0.2539 state[joint_eff]: [-0.335, -1.6889, 7.0085, 1.707, -0.0611, -0.0562, -0.0122, -1.306, -11.5487, 9.0872, 1.8681, -0.0562, -0.0415, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_z": 0.25}, "note": "The blue disc seems to still be on the table near the original spot in the top view, and no blue is visible between the fingertips. Raising and pulling back to check whether the disc moves with the gripper or was left behind."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe grasp failed—the blue disc is still on the table at its original spot in the top view. Returning to hover above the disc with the gripper open to retry.

move_to

right_x0.4300right_y0.0430right_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, 0.8204, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0742, 1.705, 1.3926, -0.2985, -0.0273, -0.0349, 0.2539] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.002 left_pitch=-0.0309 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5071 right_y=0.0461 right_z=0.2141 right_yaw=0.1059 right_pitch=-0.0521 right_roll=-0.0141 right_gripper=0.2539 state[joint_eff]: [-0.1846, -1.1282, 7.0359, 1.7411, -0.0806, -0.0611, -0.0122, 0.1026, -12.2188, 10.1675, 1.7949, 0.0952, 0.0171, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.043, "right_z": 0.05, "right_gripper": 1}, "note": "The grasp failed\u2014the blue disc is still on the table at its original spot in the top view. Returning to hover above the disc with the gripper open to retry."})

tool

executing move_to over 11 steps (1.1s)

step 78

assistant

agent noteThe blue disc is directly below the fingertips at the bottom of the wrist view. Lowering straight down to table level so the fingers straddle the center knob before closing more firmly this time.

move_to

right_x0.4280right_y0.0420right_z-0.0150right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8219, 0.6037, -0.3801, -0.0216, -0.0418, 0.9994, 0.0792, 1.6886, 0.6773, 0.3332, -0.0277, -0.0345, 0.9964] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1721 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0019 left_gripper=0.9994 right_x=0.4221 right_y=0.042 right_z=0.0438 right_yaw=0.1111 right_pitch=-0.1192 right_roll=-0.0114 right_gripper=0.9964 state[joint_eff]: [-0.2256, -1.4017, 7.1863, 1.7216, -0.0464, -0.0659, -0.0073, 0.4581, -6.4615, 5.8872, 1.9512, 0.0317, 0.0122, -0.1978] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.428, "right_y": 0.042, "right_z": -0.015, "right_gripper": 1}, "note": "The blue disc is directly below the fingertips at the bottom of the wrist view. Lowering straight down to table level so the fingers straddle the center knob before closing more firmly this time."})

tool

executing move_to over 4 steps (0.4s)

step 82

assistant

agent noteThe gripper is down at table level with the blue disc directly under the fingertips. Closing the gripper more firmly this time to capture the knob.

move_to

right_gripper0.1000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.8858, 0.646, 0.5869, -0.0231, -0.0494, 0.9989] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.171 left_yaw=0.002 left_pitch=-0.0362 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4323 right_y=0.042 right_z=0.0011 right_yaw=0.1151 right_pitch=-0.0941 right_roll=-0.0269 right_gripper=0.9989 state[joint_eff]: [-0.0752, -1.6752, 7.0906, 1.6874, -0.0366, -0.022, -0.0122, -0.0205, -5.4906, 4.2051, 0.7546, -0.0611, 0.2125, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.1}, "note": "The gripper is down at table level with the blue disc directly under the fingertips. Closing the gripper more firmly this time to capture the knob."})

tool

executing move_to over 9 steps (0.9s)

step 91

assistant

agent noteThe gripper stopped closing at 0.20 with rising effort, suggesting the knob is now pinched between the jaws. Lifting to verify the disc comes off the table.

move_to

right_z0.1200

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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0788, 1.9099, 0.6456, 0.6411, -0.0299, -0.0383, 0.1965] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1707 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4373 right_y=0.0434 right_z=0.0017 right_yaw=0.1146 right_pitch=-0.0642 right_roll=-0.0149 right_gripper=0.1965 state[joint_eff]: [-0.3624, -1.5111, 7.0359, 1.6777, -0.0464, -0.0562, -0.0122, -0.294, -6.4615, 3.7538, 1.4676, -0.0171, 0.0024, 0.4908] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "The gripper stopped closing at 0.20 with rising effort, suggesting the knob is now pinched between the jaws. Lifting to verify the disc comes off the table."})

tool

executing move_to over 8 steps (0.8s)

step 99

assistant

agent noteThe gripper closed to 0.20 with elevated gripper effort, but I can't confirm from the cameras whether the disc lifted. Raising higher so the disc, if grasped, becomes clearly visible off the table.

move_to

right_z0.2500

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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.5871, 0.7967, 0.1452, -0.0315, -0.0418, 0.1974] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4344 right_y=0.0436 right_z=0.0959 right_yaw=0.1181 right_pitch=-0.0863 right_roll=-0.016 right_gripper=0.1974 state[joint_eff]: [-0.2393, -1.6205, 7.0085, 1.707, -0.0562, -0.0757, -0.0073, -0.3897, -9.5248, 9.2513, 1.8828, -0.0269, -0.0122, 0.5641] 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]

assistant

move_to({"targets": {"right_z": 0.25}, "note": "The gripper closed to 0.20 with elevated gripper effort, but I can't confirm from the cameras whether the disc lifted. Raising higher so the disc, if grasped, becomes clearly visible off the table."})

tool

executing move_to over 10 steps (1.0s)

step 109

assistant

agent noteThe gripper stalled at 0.199 with grip effort, indicating the knob is pinched between the jaws; the blue oval on the board in the other cameras is the empty groove. Carrying the piece forward toward the board to locate the groove in the wrist camera.

move_to

right_x0.5500right_y0.0500right_z0.1200

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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.4761, 1.2545, -0.4431, -0.0315, -0.0422, 0.1989] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4394 right_y=0.044 right_z=0.2275 right_yaw=0.1184 right_pitch=-0.1057 right_roll=-0.0155 right_gripper=0.1989 state[joint_eff]: [-0.1573, -1.4701, 7.1179, 1.7363, -0.0659, -0.0269, -0.0122, -0.3487, -8.9094, 9.1692, 1.6728, -0.0513, -0.0317, 0.1392] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.55, "right_y": 0.05, "right_z": 0.12}, "note": "The gripper stalled at 0.199 with grip effort, indicating the knob is pinched between the jaws; the blue oval on the board in the other cameras is the empty groove. Carrying the piece forward toward the board to locate the groove in the wrist camera."})

tool

executing move_to over 9 steps (0.9s)

step 118

assistant

agent noteThe piece is still pinched (gripper held at 0.20), and the white board with its blue circular groove appears forward-right of the gripper in the wrist camera. Moving forward and right to center over the groove.

move_to

right_x0.6000right_y-0.0200right_z0.1000

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, 0.833, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.078, 1.9381, 1.3384, -0.1558, -0.033, -0.0425, 0.1993] state[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.9994 right_x=0.5282 right_y=0.0507 right_z=0.1007 right_yaw=0.1193 right_pitch=-0.1964 right_roll=-0.0111 right_gripper=0.1993 state[joint_eff]: [-0.2803, -1.812, 7.1863, 1.6972, -0.0415, -0.0513, -0.0073, -0.7863, -10.5368, 9.265, 1.7998, -0.0806, -0.0904, 0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.6, "right_y": -0.02, "right_z": 0.1}, "note": "The piece is still pinched (gripper held at 0.20), and the white board with its blue circular groove appears forward-right of the gripper in the wrist camera. Moving forward and right to center over the groove."})

tool

executing move_to over 6 steps (0.6s)

step 124

assistant

agent noteThe white board with its circular groove is ahead and slightly right of the gripper in the wrist camera, and the piece is still pinched. Moving right and lowering to bring the gripper over the groove.

move_to

right_x0.6000right_y-0.0600right_z0.0500

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, 0.8391, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, -0.0734, 2.1841, 1.6909, -0.2901, -0.1307, -0.141, 0.1999] state[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1668 left_yaw=0.002 left_pitch=-0.0511 left_roll=-0.0014 left_gripper=0.9994 right_x=0.5904 right_y=-0.0168 right_z=0.0918 right_yaw=0.1062 right_pitch=-0.2163 right_roll=-0.0115 right_gripper=0.1999 state[joint_eff]: [-0.0479, -1.7299, 7.5009, 1.707, -0.0366, -0.0415, -0.0122, -0.5675, -12.1641, 8.759, 1.5214, 0.0073, -0.0513, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.6, "right_y": -0.06, "right_z": 0.05}, "note": "The white board with its circular groove is ahead and slightly right of the gripper in the wrist camera, and the piece is still pinched. Moving right and lowering to bring the gripper over the groove."})

tool

executing move_to over 4 steps (0.4s)

step 128

assistant

agent noteThe gripper stalled at 0.20 so the knob is held; the white board appears to the right edge of the wrist camera. Moving right to the y limit and lowering to get the groove under the piece.

move_to

right_x0.6000right_y-0.0800right_z0.0300

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, 0.8398, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, -0.1444, 2.2673, 1.6955, -0.2478, -0.1787, -0.1925, 0.2006] state[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1666 left_yaw=0.002 left_pitch=-0.0519 left_roll=-0.0014 left_gripper=0.9994 right_x=0.5932 right_y=-0.0509 right_z=0.0542 right_yaw=0.1064 right_pitch=-0.2441 right_roll=-0.0062 right_gripper=0.2006 state[joint_eff]: [-0.3624, -1.5521, 7.0496, 1.6581, -0.0708, -0.0562, -0.0122, -0.6496, -12.4239, 7.1726, 1.9609, -0.188, 0.0122, 0.0562] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.6, "right_y": -0.08, "right_z": 0.03}, "note": "The gripper stalled at 0.20 so the knob is held; the white board appears to the right edge of the wrist camera. Moving right to the y limit and lowering to get the groove under the piece."})

tool

executing move_to over 3 steps (0.3s)

step 131

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, 0.8398, 0.6029, -0.3809, -0.0216, -0.0418, 0.9994, -0.1596, 2.2963, 1.6859, -0.2352, -0.1886, -0.1993, 0.2007] state[eef_state]: left_x=0.2973 left_y=0.0014 left_z=0.1666 left_yaw=0.002 left_pitch=-0.0515 left_roll=-0.0014 left_gripper=0.9994 right_x=0.5903 right_y=-0.0579 right_z=0.0361 right_yaw=0.1052 right_pitch=-0.2673 right_roll=0.0031 right_gripper=0.2007 state[joint_eff]: [-0.2667, -1.3607, 7.0085, 1.7216, -0.0464, -0.0415, -0.0073, -0.6769, -13.6, 8.0752, 1.4237, -0.1832, -0.1294, 0.0024] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [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 · 14.21 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.3782, -0.0216, -0.0383, 0.9995, -0.0151, 0.7914, 0.609, -0.3759, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1808 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2957 right_y=0.0029 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3607, 10.3453, 1.8339, -0.022, 0.1783, -0.0659, -0.9641, -1.1419, 9.894, 1.7705, -0.0806, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d2c4d532389442e5b5d44cf70920600012a31b46cb51275de1888b6150b6242f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f3d56008196bcbd37d444915aeaaa4d4152d7d5f99da2dd59ceadb80acc95368"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54133cb961464478cf142905ec666e3728e2e015cb22c8c8cabc726d4c259e9d"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 9.714 s

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

{
  "content": "I can see the blue puzzle piece with its knob in the right camera view, and the board with the circular groove to its left in the top view. I'll start by moving the right arm forward and down a bit to localize the piece relative to the gripper.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.03, \"right_z\": 0.1, \"right_gripper\": 1}, \"note\": \"The blue puzzle piece with a knob is visible ahead in the right camera. I'm moving the right arm forward and down to get closer and see how the piece is positioned relative to the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Qz435WJhKSBhiAqX7jVc1L",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Qz435WJhKSBhiAqX7jVc1L"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7982, 0.6056, -0.3809, -0.0216, -0.0418, 0.9994, 0.1097, 1.2285, 0.4683, 0.0822, 0.0601, 0.0338, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0072 left_roll=-0.0024 left_gripper=0.9994 right_x=0.341 right_y=0.0305 right_z=0.0809 right_yaw=0.0303 right_pitch=-0.118 right_roll=-0.0132 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4701, 6.9265, 1.7314, -0.022, -0.0122, -0.0171, 0.3761, -4.8889, 5.9145, 1.9805, 0.2906, 0.1734, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d070985334c139479ce15696906ef3e3cd9383ae78e2d5631c956a09129e8773"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:95af73e6dda72e14bc72c3d038e320b2a1adb7437f48dd5dfa5007e93f02fc88"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2fa39a86e53ec3767d65052ec6df94b234f001ce8b35255ce846597e3043e6f8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 9.601 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7925, 0.6041, -0.3782, -0.0216, -0.0383, 0.9995, -0.0151, 0.7914, 0.609, -0.3759, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1808 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2957 right_y=0.0029 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3607, 10.3453, 1.8339, -0.022, 0.1783, -0.0659, -0.9641, -1.1419, 9.894, 1.7705, -0.0806, -0.0562, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The piece is visible ahead in the right wrist camera, slightly left of center. I'll move forward and lower to hover just above the knob.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.035, \"right_z\": 0.04, \"right_gripper\": 1}, \"note\": \"The blue piece with its knob is ahead and slightly left in the right wrist camera. Moving forward and down to hover just above the knob for a precise approach.\"}",
        "name": "move_to"
      },
      "id": "toolu_014x4pt9rhTSooYWrN6rKcmu",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_014x4pt9rhTSooYWrN6rKcmu"
}

{
  "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, 0.8021, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, 0.1108, 1.6039, 0.5457, 0.2829, 0.0498, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.002 left_pitch=-0.0126 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3756 right_y=0.0366 right_z=0.0194 right_yaw=0.0418 right_pitch=-0.2155 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4838, 7.1179, 1.7021, -0.0317, -0.0659, -0.0122, -0.7316, -6.8718, 7.2547, 1.9512, 0.0171, -0.0269, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:882de7ff4306bc1dad060e84d2a56011e308c75ee8acb1c70822b2f53bd75070"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6ed1ff490b1d07d427f231d9c9facb07d5af95ecb69dc9d961e0f36155af3093"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c1425efec187f2faee8f5c7a95a150a6abf80ac507574d50720e80440a647d26"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 10.77 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, 0.7982, 0.6056, -0.3809, -0.0216, -0.0418, 0.9994, 0.1097, 1.2285, 0.4683, 0.0822, 0.0601, 0.0338, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0072 left_roll=-0.0024 left_gripper=0.9994 right_x=0.341 right_y=0.0305 right_z=0.0809 right_yaw=0.0303 right_pitch=-0.118 right_roll=-0.0132 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.4701, 6.9265, 1.7314, -0.022, -0.0122, -0.0171, 0.3761, -4.8889, 5.9145, 1.9805, 0.2906, 0.1734, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The knob is nearly centered in the wrist camera, slightly beyond the gripper. I'll advance a bit more and drop to grasp height around the knob.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.41, \"right_y\": 0.035, \"right_z\": 0.0, \"right_pitch\": 0, \"right_gripper\": 1}, \"note\": \"The knob is nearly centered in the right wrist camera, just ahead of the fingertips. Advancing slightly and lowering to grasp height around the knob with the gripper open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YFbJ5eN6BpsbPxjVQfXwKA",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01YFbJ5eN6BpsbPxjVQfXwKA"
}

{
  "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, 0.9994, 0.1036, 1.8599, 0.4953, 0.7902, 0.0334, 0.0174, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4094 right_y=0.0402 right_z=0.0037 right_yaw=0.0561 right_pitch=-0.0154 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.6342, 7.1043, 1.6972, -0.0708, -0.0659, -0.0122, -0.8684, -5.5863, 3.1385, 1.3895, 0.2076, -0.1001, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:225e33ef6212e2c1153f17cac5f92ed355b11242054d8c86ca18db95c3bd4707"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:37864212c3945c3fef9d9bd0059553de7c0aad553baa4afdd5786661e0c41b6f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b9f5f8994289be08bef8412021867dcea3a2226cdaff017e731ea671b5aab983"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 8.334 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, 0.8021, 0.6044, -0.3813, -0.0216, -0.0418, 0.9994, 0.1108, 1.6039, 0.5457, 0.2829, 0.0498, 0.0288, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1777 left_yaw=0.002 left_pitch=-0.0126 left_roll=-0.0023 left_gripper=0.9994 right_x=0.3756 right_y=0.0366 right_z=0.0194 right_yaw=0.0418 right_pitch=-0.2155 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4838, 7.1179, 1.7021, -0.0317, -0.0659, -0.0122, -0.7316, -6.8718, 7.2547, 1.9512, 0.0171, -0.0269, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The knob sits low-center in the wrist camera, just between the fingertips. I'll nudge forward slightly and drop to the table to bracket the knob.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.418, \"right_y\": 0.038, \"right_z\": -0.01, \"right_gripper\": 1}, \"note\": \"The knob is low-center in the wrist camera between the fingertips. Nudging forward slightly and lowering to table height so the fingers straddle the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_018Xq5seehQo3qvjFMDGFt2Y",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 1 steps (0.1s)",
  "role": "tool",
  "tool_call_id": "toolu_018Xq5seehQo3qvjFMDGFt2Y"
}

{
  "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, -0.3805, -0.0216, -0.0418, 0.9994, 0.1032, 1.8778, 0.4877, 0.8394, 0.0326, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4112 right_y=0.0404 right_z=0.0045 right_yaw=0.0596 right_pitch=0.0083 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6889, 7.0906, 1.7118, -0.0708, -0.0757, -0.0073, -0.8957, -6.3248, 3.6034, 1.8339, 0.0952, -0.0464, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8d4080f543be70c6391ee4cb97b30e3f52673564f1289b50e3d6c4acc46afea3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fc6151badb14ecc52bb58257cbae71ee809e127964d1c8500c9a295e5f14b12a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0508de7d9473273c15bff565dcf6e7596e52e7fdaa7792164df3e31935a704f5"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 10.37 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8066, 0.6041, -0.3809, -0.0216, -0.0418, 0.9994, 0.1036, 1.8599, 0.4953, 0.7902, 0.0334, 0.0174, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4094 right_y=0.0402 right_z=0.0037 right_yaw=0.0561 right_pitch=-0.0154 right_roll=-0.0043 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.6342, 7.1043, 1.6972, -0.0708, -0.0659, -0.0122, -0.8684, -5.5863, 3.1385, 1.3895, 0.2076, -0.1001, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The knob is slightly left of center between the fingers. I'll push forward a touch more and drop down so the fingers surround the knob, then close.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.042, \"right_z\": -0.012, \"right_gripper\": 1}, \"note\": \"The knob sits just ahead and slightly left between the fingertips in the wrist camera. Advancing slightly and lowering so the open fingers straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MSmn2KpBEwoUsMDXB5hYJv",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01MSmn2KpBEwoUsMDXB5hYJv"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.0998, 1.9511, 0.5293, 0.9104, 0.017, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4268 right_y=0.0433 right_z=0.0032 right_yaw=0.0678 right_pitch=0.0472 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 7.0906, 1.7509, -0.0757, -0.0415, -0.0122, 0.3214, -5.5453, 4.5744, 1.0818, 0.1001, -0.022, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bd948e8302c697def62e129254725c6f6cfd948b1c67b73f94b5fde0f47da897"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c7fc121cebacb9fc47e6d1cd82daf72d8706f89ac5afcfe2955eeb296d270857"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7a1005babfe07dbc0a9b33d15964d9073e7e16b0ad75ce42e3b49305a5ca5d27"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 7.332 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, 0.8066, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1032, 1.8778, 0.4877, 0.8394, 0.0326, 0.0113, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4112 right_y=0.0404 right_z=0.0045 right_yaw=0.0596 right_pitch=0.0083 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6889, 7.0906, 1.7118, -0.0708, -0.0757, -0.0073, -0.8957, -6.3248, 3.6034, 1.8339, 0.0952, -0.0464, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The knob is now right at the bottom of the wrist view, between the fingers. The z stopped at ~0.003, possibly fingertips resting near the piece. I'll close the gripper on the knob.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.25}, \"note\": \"The knob appears directly between the fingertips at the bottom of the wrist camera view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Tz3M3vUpHy1qYjm7puDXfY",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01Tz3M3vUpHy1qYjm7puDXfY"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.9713, 0.5404, 0.9421, 0.025, 0.0055, 0.2547]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4323 right_y=0.0428 right_z=0.0052 right_yaw=0.0663 right_pitch=0.0699 right_roll=-0.0068 right_gripper=0.2547\nstate[joint_eff]: [-0.253, -1.1282, 7.0359, 1.6972, -0.0708, -0.0757, -0.0122, 0.0342, -6.2154, 3.7538, 1.3797, 0.0464, 0.0171, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83897bd9409fb3d16a1b8858c805aea6f074a72fcf05b2d6429c2a32d498db7c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:fde0bf726ecddb37360db988f0c67a9f570d8c4a4d400f50092906123f4dcbfd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d182e395f3623319fbb88eade737b3fa60fdb46138cd1fc9ed07d9961a7894f6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 12.45 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, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.0998, 1.9511, 0.5293, 0.9104, 0.017, 0.0143, 0.9991]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4268 right_y=0.0433 right_z=0.0032 right_yaw=0.0678 right_pitch=0.0472 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.3607, 7.0906, 1.7509, -0.0757, -0.0415, -0.0122, 0.3214, -5.5453, 4.5744, 1.0818, 0.1001, -0.022, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The gripper closed to 0.25; hard to tell if the knob is grasped. I'll lift and check whether the piece comes up.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.08}, \"note\": \"The gripper has closed near the knob but I can't confirm the grasp from the wrist view. Lifting to see if the blue piece comes up with the gripper.\"}",
        "name": "move_to"
      },
      "id": "toolu_013GyFNdT126yjV6rLPB2RLB",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_013GyFNdT126yjV6rLPB2RLB"
}

{
  "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, 0.8074, 0.6041, -0.3798, -0.0216, -0.0418, 0.9994, 0.1005, 1.7386, 0.5713, 0.6838, 0.02, 0.0017, 0.2539]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4319 right_y=0.0436 right_z=0.056 right_yaw=0.0726 right_pitch=0.0752 right_roll=-0.0076 right_gripper=0.2539\nstate[joint_eff]: [-0.1436, -1.1692, 7.1043, 1.8144, -0.0855, -0.0806, -0.0122, -0.0342, -8.0205, 7.6513, 2.0391, 0.0952, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:132cfa511a193d4c8d49dd4fab8dd1b1b6f772fc940ccb95e610d430b19d92e1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:822ca1dcd4b7ba069916f189c1f6a6ea9252db3a2d3b00c2ed78e69fbccd6d84"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:02c1fa4761a9068a37506c88bce42aa1865365a8ab8f777c531a6213fc9bdc91"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 25.9 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, 0.807, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.9713, 0.5404, 0.9421, 0.025, 0.0055, 0.2547]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1763 left_yaw=0.002 left_pitch=-0.0172 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4323 right_y=0.0428 right_z=0.0052 right_yaw=0.0663 right_pitch=0.0699 right_roll=-0.0068 right_gripper=0.2547\nstate[joint_eff]: [-0.253, -1.1282, 7.0359, 1.6972, -0.0708, -0.0757, -0.0122, 0.0342, -6.2154, 3.7538, 1.3797, 0.0464, 0.0171, 0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The wrist camera shows a bit of blue between the fingertips, suggesting the knob is grasped. I'll lift higher and move toward the board to confirm and position over the groove.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.15}, \"note\": \"A blue sliver is visible between the fingertips, suggesting the piece is grasped. Lifting higher to confirm the piece has left the table before moving toward the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Gb3AHoDULQTcx2MmKftFP8",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01Gb3AHoDULQTcx2MmKftFP8"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.4841, 0.7235, 0.2668, 0.0174, -0.0055, 0.2539]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4311 right_y=0.044 right_z=0.1328 right_yaw=0.0787 right_pitch=0.0649 right_roll=-0.0131 right_gripper=0.2539\nstate[joint_eff]: [-0.1162, -1.2103, 7.0632, 1.7363, -0.0659, -0.0806, -0.0073, -0.3761, -7.9521, 8.6632, 1.8437, -0.0122, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d5ff97629985d16dcd66bbcc94c1b4dd4ee9e4cbe39261370403ea99b8f7e17"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b80c7afaef2a0d6323e78b2788eb0444e2bd7d12fa1b6e70b77d3a460a97aa9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3b061a2c6291bfbeb536852afd9359dee9e21cad8eba44a4644fa0a9d71877ba"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 34.17 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, 0.8074, 0.6041, -0.3798, -0.0216, -0.0418, 0.9994, 0.1005, 1.7386, 0.5713, 0.6838, 0.02, 0.0017, 0.2539]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1764 left_yaw=0.002 left_pitch=-0.0168 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4319 right_y=0.0436 right_z=0.056 right_yaw=0.0726 right_pitch=0.0752 right_roll=-0.0076 right_gripper=0.2539\nstate[joint_eff]: [-0.1436, -1.1692, 7.1043, 1.8144, -0.0855, -0.0806, -0.0122, -0.0342, -8.0205, 7.6513, 2.0391, 0.0952, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The piece is grasped and lifted—the top camera shows the blue disc held by the right gripper, and the board with the circular groove is to the left in the image. I'll translate toward the board.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.55, \"right_y\": 0.04, \"right_z\": 0.15}, \"note\": \"The blue piece is grasped and lifted; the board with the circular groove is farther from the right arm base in the top view. Moving forward toward the board while staying high.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UHYzQuUpzJrkCiP8YuUoXz",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01UHYzQuUpzJrkCiP8YuUoXz"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8131, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0685, 1.8671, 1.2053, 0.1444, -0.0151, -0.025, 0.2539]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1743 left_yaw=0.002 left_pitch=-0.0244 left_roll=-0.002 left_gripper=0.9994 right_x=0.5401 right_y=0.0433 right_z=0.1394 right_yaw=0.0845 right_pitch=0.0412 right_roll=-0.0144 right_gripper=0.2539\nstate[joint_eff]: [-0.3487, -1.6068, 7.0496, 1.6972, -0.0562, -0.0513, -0.0122, -0.8957, -9.7846, 8.7316, 1.8388, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c36ff174b4dcf2e212c98c0e7d1b02de1c07ea69d0f09cd94e93475f590be716"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aae20acc1bc0288abeaf92c134c60d665e85d120552da47966e88036ca6f9b27"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6dadc12b994e1352ac5f177efade7fce6dc7d87b03bc229c42f7668de9a8575b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 35.63 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, 0.8089, 0.6041, -0.3805, -0.0216, -0.0418, 0.9994, 0.1005, 1.4841, 0.7235, 0.2668, 0.0174, -0.0055, 0.2539]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1758 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0022 left_gripper=0.9994 right_x=0.4311 right_y=0.044 right_z=0.1328 right_yaw=0.0787 right_pitch=0.0649 right_roll=-0.0131 right_gripper=0.2539\nstate[joint_eff]: [-0.1162, -1.2103, 7.0632, 1.7363, -0.0659, -0.0806, -0.0073, -0.3761, -7.9521, 8.6632, 1.8437, -0.0122, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "The piece is held; the board with the circular groove lies farther forward, near the center of the table. I'll continue forward to the x limit and reassess with the wrist camera.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.6, \"right_y\": 0.04, \"right_z\": 0.12}, \"note\": \"The disc is held securely; the board appears farther forward toward the table center in the top view. Moving forward to the x limit while lowering slightly to bring the board into the wrist camera view.\"}",
        "name": "move_to"
      },
      "id": "toolu_01RcDKFNjx3q3how8C4PECax",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01RcDKFNjx3q3how8C4PECax"
}

{
  "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, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0643, 2.0872, 1.4178, 0.1059, -0.0288, -0.0353, 0.2539]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0286 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5866 right_y=0.0464 right_z=0.105 right_yaw=0.0974 right_pitch=-0.0048 right_roll=-0.0151 right_gripper=0.2539\nstate[joint_eff]: [-0.335, -1.6889, 7.0085, 1.707, -0.0611, -0.0562, -0.0122, -1.306, -11.5487, 9.0872, 1.8681, -0.0562, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b3844ce2e23f3d4e6258cea799a897f905bcc1f833a043968b380be4eb8cfaa"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6b1316cbf9e9a720d842b23053c078aaf4ed98d12200d0ec4795e88a06c5f42c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9275dc56d2f9cf46cae33f7d45a4439e6230d06bb563ba8de95adad96a004f2b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 15.67 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, 0.8131, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0685, 1.8671, 1.2053, 0.1444, -0.0151, -0.025, 0.2539]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1743 left_yaw=0.002 left_pitch=-0.0244 left_roll=-0.002 left_gripper=0.9994 right_x=0.5401 right_y=0.0433 right_z=0.1394 right_yaw=0.0845 right_pitch=0.0412 right_roll=-0.0144 right_gripper=0.2539\nstate[joint_eff]: [-0.3487, -1.6068, 7.0496, 1.6972, -0.0562, -0.0513, -0.0122, -0.8957, -9.7846, 8.7316, 1.8388, -0.0611, -0.0659, -0.0171]",
      "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_z\": 0.25}, \"note\": \"The blue disc seems to still be on the table near the original spot in the top view, and no blue is visible between the fingertips. Raising and pulling back to check whether the disc moves with the gripper or was left behind.\"}",
        "name": "move_to"
      },
      "id": "toolu_01L85Nv7g363GMHLTZiDXfrF",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01L85Nv7g363GMHLTZiDXfrF"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0742, 1.705, 1.3926, -0.2985, -0.0273, -0.0349, 0.2539]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.002 left_pitch=-0.0309 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5071 right_y=0.0461 right_z=0.2141 right_yaw=0.1059 right_pitch=-0.0521 right_roll=-0.0141 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.1282, 7.0359, 1.7411, -0.0806, -0.0611, -0.0122, 0.1026, -12.2188, 10.1675, 1.7949, 0.0952, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:86d1f832f7808ade162b7f3e22423b787f49890aef491c5ba9aab291f9c78a03"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0309db9265298a2888fceea4b810f936f9e00c3b7f4a82934e708a7987f96aeb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c367b2677da313704a3257dc7106516f7f64fed8c56b83e8580b946a0c19b0d4"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 14.54 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, 0.8173, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.0643, 2.0872, 1.4178, 0.1059, -0.0288, -0.0353, 0.2539]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0286 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5866 right_y=0.0464 right_z=0.105 right_yaw=0.0974 right_pitch=-0.0048 right_roll=-0.0151 right_gripper=0.2539\nstate[joint_eff]: [-0.335, -1.6889, 7.0085, 1.707, -0.0611, -0.0562, -0.0122, -1.306, -11.5487, 9.0872, 1.8681, -0.0562, -0.0415, -0.0171]",
      "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\": 0.043, \"right_z\": 0.05, \"right_gripper\": 1}, \"note\": \"The grasp failed\\u2014the blue disc is still on the table at its original spot in the top view. Returning to hover above the disc with the gripper open to retry.\"}",
        "name": "move_to"
      },
      "id": "toolu_019nVYygGVYEEoh6rzgDceqg",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 11 steps (1.1s)",
  "role": "tool",
  "tool_call_id": "toolu_019nVYygGVYEEoh6rzgDceqg"
}

{
  "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, 0.8219, 0.6037, -0.3801, -0.0216, -0.0418, 0.9994, 0.0792, 1.6886, 0.6773, 0.3332, -0.0277, -0.0345, 0.9964]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1721 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0019 left_gripper=0.9994 right_x=0.4221 right_y=0.042 right_z=0.0438 right_yaw=0.1111 right_pitch=-0.1192 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -1.4017, 7.1863, 1.7216, -0.0464, -0.0659, -0.0073, 0.4581, -6.4615, 5.8872, 1.9512, 0.0317, 0.0122, -0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:38c791c22e0c783f2dd74d273e0fc2f19c902406d23769c04ee3100dae80c607"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6d37e3abd858966230040dd1a0d737bcbe9f14ca82554e45ddfa77a120b2c848"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0d05f4f182ba673b1885627a5ef8d50d0515360801d134620912f070a4b6ee9f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 24.18 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, 0.8204, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0742, 1.705, 1.3926, -0.2985, -0.0273, -0.0349, 0.2539]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1725 left_yaw=0.002 left_pitch=-0.0309 left_roll=-0.0019 left_gripper=0.9994 right_x=0.5071 right_y=0.0461 right_z=0.2141 right_yaw=0.1059 right_pitch=-0.0521 right_roll=-0.0141 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.1282, 7.0359, 1.7411, -0.0806, -0.0611, -0.0122, 0.1026, -12.2188, 10.1675, 1.7949, 0.0952, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.428, \"right_y\": 0.042, \"right_z\": -0.015, \"right_gripper\": 1}, \"note\": \"The blue disc is directly below the fingertips at the bottom of the wrist view. Lowering straight down to table level so the fingers straddle the center knob before closing more firmly this time.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Eup6LMkfSdLFioJkR2b7zE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01Eup6LMkfSdLFioJkR2b7zE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.8858, 0.646, 0.5869, -0.0231, -0.0494, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.171 left_yaw=0.002 left_pitch=-0.0362 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4323 right_y=0.042 right_z=0.0011 right_yaw=0.1151 right_pitch=-0.0941 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.6752, 7.0906, 1.6874, -0.0366, -0.022, -0.0122, -0.0205, -5.4906, 4.2051, 0.7546, -0.0611, 0.2125, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1e00fd9f856ce281f1f6e0107342d1ff19984b90047290e0b41706b3eb7ddb16"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e037aa736e524c91a6b2ae623132e86232697947f9904ddcb63b5b75756f1978"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0185181fb4a0d27e591ac19764b283563f0887ff859a35e7149d2a5b9200188e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 15.53 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, 0.8219, 0.6037, -0.3801, -0.0216, -0.0418, 0.9994, 0.0792, 1.6886, 0.6773, 0.3332, -0.0277, -0.0345, 0.9964]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1721 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0019 left_gripper=0.9994 right_x=0.4221 right_y=0.042 right_z=0.0438 right_yaw=0.1111 right_pitch=-0.1192 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -1.4017, 7.1863, 1.7216, -0.0464, -0.0659, -0.0073, 0.4581, -6.4615, 5.8872, 1.9512, 0.0317, 0.0122, -0.1978]\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_gripper\": 0.1}, \"note\": \"The gripper is down at table level with the blue disc directly under the fingertips. Closing the gripper more firmly this time to capture the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BGKV3c9CAFs1wV64EkWRoE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01BGKV3c9CAFs1wV64EkWRoE"
}

{
  "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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0788, 1.9099, 0.6456, 0.6411, -0.0299, -0.0383, 0.1965]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1707 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4373 right_y=0.0434 right_z=0.0017 right_yaw=0.1146 right_pitch=-0.0642 right_roll=-0.0149 right_gripper=0.1965\nstate[joint_eff]: [-0.3624, -1.5111, 7.0359, 1.6777, -0.0464, -0.0562, -0.0122, -0.294, -6.4615, 3.7538, 1.4676, -0.0171, 0.0024, 0.4908]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:680d2aeffbfb01670b772fa2bdfb1f43f3a89ca769d430fad93596034bb0360a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e35cb1e92ebb07e69e29e4ace69bc5419138de0b1b2fff4617444beba9fbcbea"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2b07d4ed698d78282379b098fe91286a075884ab085894b21170e87ca6d29f9a"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 32.91 s

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

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8257, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.8858, 0.646, 0.5869, -0.0231, -0.0494, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.171 left_yaw=0.002 left_pitch=-0.0362 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4323 right_y=0.042 right_z=0.0011 right_yaw=0.1151 right_pitch=-0.0941 right_roll=-0.0269 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.6752, 7.0906, 1.6874, -0.0366, -0.022, -0.0122, -0.0205, -5.4906, 4.2051, 0.7546, -0.0611, 0.2125, -0.1245]\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_z\": 0.12}, \"note\": \"The gripper stopped closing at 0.20 with rising effort, suggesting the knob is now pinched between the jaws. Lifting to verify the disc comes off the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01YFyCDvtBLw6QtyhE1BpPAr",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01YFyCDvtBLw6QtyhE1BpPAr"
}

{
  "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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.5871, 0.7967, 0.1452, -0.0315, -0.0418, 0.1974]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4344 right_y=0.0436 right_z=0.0959 right_yaw=0.1181 right_pitch=-0.0863 right_roll=-0.016 right_gripper=0.1974\nstate[joint_eff]: [-0.2393, -1.6205, 7.0085, 1.707, -0.0562, -0.0757, -0.0073, -0.3897, -9.5248, 9.2513, 1.8828, -0.0269, -0.0122, 0.5641]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0d5a94fe3391e5e4520591e1a27dfcfdec687a3ddf146c603fa3a55f3dd85bc7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a76b15f365cd62c4767f2d703896fb6a9151d98bad1283a07f774d35b8b2df23"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e5253640f539c923a84a2161ffb23f41f8f015abe9ba26d192a60332f125fcf8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 61.16 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, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0788, 1.9099, 0.6456, 0.6411, -0.0299, -0.0383, 0.1965]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1707 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0018 left_gripper=0.9994 right_x=0.4373 right_y=0.0434 right_z=0.0017 right_yaw=0.1146 right_pitch=-0.0642 right_roll=-0.0149 right_gripper=0.1965\nstate[joint_eff]: [-0.3624, -1.5111, 7.0359, 1.6777, -0.0464, -0.0562, -0.0122, -0.294, -6.4615, 3.7538, 1.4676, -0.0171, 0.0024, 0.4908]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.25}, \"note\": \"The gripper closed to 0.20 with elevated gripper effort, but I can't confirm from the cameras whether the disc lifted. Raising higher so the disc, if grasped, becomes clearly visible off the table.\"}",
        "name": "move_to"
      },
      "id": "toolu_01UgNkWK1gpPYrmnVx1hnZMh",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01UgNkWK1gpPYrmnVx1hnZMh"
}

{
  "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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.4761, 1.2545, -0.4431, -0.0315, -0.0422, 0.1989]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4394 right_y=0.044 right_z=0.2275 right_yaw=0.1184 right_pitch=-0.1057 right_roll=-0.0155 right_gripper=0.1989\nstate[joint_eff]: [-0.1573, -1.4701, 7.1179, 1.7363, -0.0659, -0.0269, -0.0122, -0.3487, -8.9094, 9.1692, 1.6728, -0.0513, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:32f158eb1213bfb43867b5eec6f068cd487c2c55b93981463daf8e0bb480f329"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:20031d4e80795612cf4f1262b9974328ffd236ee5ac43454533b0f312cf8a5a7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:19a64e54fff155ea4b9e15eb29957070b15641521d5dba99e7351ea349599cc6"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 17 attempt 0 · /chat/completions · status 200 · 15.99 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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.5871, 0.7967, 0.1452, -0.0315, -0.0418, 0.1974]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4344 right_y=0.0436 right_z=0.0959 right_yaw=0.1181 right_pitch=-0.0863 right_roll=-0.016 right_gripper=0.1974\nstate[joint_eff]: [-0.2393, -1.6205, 7.0085, 1.707, -0.0562, -0.0757, -0.0073, -0.3897, -9.5248, 9.2513, 1.8828, -0.0269, -0.0122, 0.5641]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.55, \"right_y\": 0.05, \"right_z\": 0.12}, \"note\": \"The gripper stalled at 0.199 with grip effort, indicating the knob is pinched between the jaws; the blue oval on the board in the other cameras is the empty groove. Carrying the piece forward toward the board to locate the groove in the wrist camera.\"}",
        "name": "move_to"
      },
      "id": "toolu_01LfLvhg8VF3LgswmSDjRVhN",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_01LfLvhg8VF3LgswmSDjRVhN"
}

{
  "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, 0.833, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.078, 1.9381, 1.3384, -0.1558, -0.033, -0.0425, 0.1993]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.9994 right_x=0.5282 right_y=0.0507 right_z=0.1007 right_yaw=0.1193 right_pitch=-0.1964 right_roll=-0.0111 right_gripper=0.1993\nstate[joint_eff]: [-0.2803, -1.812, 7.1863, 1.6972, -0.0415, -0.0513, -0.0073, -0.7863, -10.5368, 9.265, 1.7998, -0.0806, -0.0904, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:52f1737b77654fbc7185cb867a1268602f477835ce73d8c82f25f89b20c5e091"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c7a0b4b424cce2794186bcc72c3df25efb66017a05091297d6721a5dc5122d6e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c45719e8ad955c1ec1f9a568da7e462a332d6d77554294dcc2afed31a1deff66"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 18 attempt 0 · /chat/completions · status 200 · 22.96 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, 0.8288, 0.6037, -0.3805, -0.0216, -0.0418, 0.9994, 0.0792, 1.4761, 1.2545, -0.4431, -0.0315, -0.0422, 0.1989]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1701 left_yaw=0.002 left_pitch=-0.0393 left_roll=-0.0017 left_gripper=0.9994 right_x=0.4394 right_y=0.044 right_z=0.2275 right_yaw=0.1184 right_pitch=-0.1057 right_roll=-0.0155 right_gripper=0.1989\nstate[joint_eff]: [-0.1573, -1.4701, 7.1179, 1.7363, -0.0659, -0.0269, -0.0122, -0.3487, -8.9094, 9.1692, 1.6728, -0.0513, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.6, \"right_y\": -0.02, \"right_z\": 0.1}, \"note\": \"The piece is still pinched (gripper held at 0.20), and the white board with its blue circular groove appears forward-right of the gripper in the wrist camera. Moving forward and right to center over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Xb3Hiwo4jedwWMBrQYpN9M",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Xb3Hiwo4jedwWMBrQYpN9M"
}

{
  "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, 0.8391, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, -0.0734, 2.1841, 1.6909, -0.2901, -0.1307, -0.141, 0.1999]\nstate[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1668 left_yaw=0.002 left_pitch=-0.0511 left_roll=-0.0014 left_gripper=0.9994 right_x=0.5904 right_y=-0.0168 right_z=0.0918 right_yaw=0.1062 right_pitch=-0.2163 right_roll=-0.0115 right_gripper=0.1999\nstate[joint_eff]: [-0.0479, -1.7299, 7.5009, 1.707, -0.0366, -0.0415, -0.0122, -0.5675, -12.1641, 8.759, 1.5214, 0.0073, -0.0513, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b12857526cba6f0c47c3ac45234679eeb09f3e9c826fbd22cb76aced9e3674d7"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:00c33ed9b401a77819bfc5499ac58489cc8faaa2d000b6edb5c782269115352d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:61cdbc75bfbbf87c272db44a61d99b856b0adc50b243fef665db710d76788ec8"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 19 attempt 0 · /chat/completions · status 200 · 50.49 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, 0.833, 0.6037, -0.3813, -0.0216, -0.0418, 0.9994, 0.078, 1.9381, 1.3384, -0.1558, -0.033, -0.0425, 0.1993]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1688 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0016 left_gripper=0.9994 right_x=0.5282 right_y=0.0507 right_z=0.1007 right_yaw=0.1193 right_pitch=-0.1964 right_roll=-0.0111 right_gripper=0.1993\nstate[joint_eff]: [-0.2803, -1.812, 7.1863, 1.6972, -0.0415, -0.0513, -0.0073, -0.7863, -10.5368, 9.265, 1.7998, -0.0806, -0.0904, 0.022]\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\": 0.6, \"right_y\": -0.06, \"right_z\": 0.05}, \"note\": \"The white board with its circular groove is ahead and slightly right of the gripper in the wrist camera, and the piece is still pinched. Moving right and lowering to bring the gripper over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01T67RD1YXavD4yfq9DoBPR3",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01T67RD1YXavD4yfq9DoBPR3"
}

{
  "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, 0.8398, 0.6029, -0.3813, -0.0216, -0.0418, 0.9994, -0.1444, 2.2673, 1.6955, -0.2478, -0.1787, -0.1925, 0.2006]\nstate[eef_state]: left_x=0.2972 left_y=0.0014 left_z=0.1666 left_yaw=0.002 left_pitch=-0.0519 left_roll=-0.0014 left_gripper=0.9994 right_x=0.5932 right_y=-0.0509 right_z=0.0542 right_yaw=0.1064 right_pitch=-0.2441 right_roll=-0.0062 right_gripper=0.2006\nstate[joint_eff]: [-0.3624, -1.5521, 7.0496, 1.6581, -0.0708, -0.0562, -0.0122, -0.6496, -12.4239, 7.1726, 1.9609, -0.188, 0.0122, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01c956da26da1a89b716a18656860d2ac47895947a9f45545a3935180736b462"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c406251ec879ce4c40f6edac43292e064591d3a7a0725c5f061e5a0fbcdbd4d2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5c081f7fd6cb953bfa8833761215ee20f8d5d478c425a7ff547d7b06c4892184"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}